Transfer device

Abstract

A transfer device is desired that can appropriately transfer items between a support section that holds the item and the location to be transferred. [Solution] A transfer device comprising a first retractable section 13 supported by a first retractable support section 11, a second retractable section 23 supported by a second retractable support section 21, a spacing change mechanism, and a first restricting section 6 and a second restricting section 7 for restricting the position of a supported article, wherein the first restricting section 6 has a first opposing surface 6a facing the supported article, and the second restricting section 7 has a second opposing surface 7a facing the supported article, the first restricting section 6 is supported by the first retractable support section 11 such that the first opposing surface 6a is located on the second side Y2 in the width direction of the first retractable section 13, and the second restricting section 7 is supported by the second retractable support section 21 such that the second opposing surface 7a is located on the first side Y1 in the width direction of the second retractable section 23.

Description

Technical Field

[0005] , ,

[0001] The present invention relates to a transfer device.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2023-70355 (Patent Document 1) discloses a technique related to a transfer device. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The transfer device (1) of Patent Document 1 includes a pair of advancing / retreating portions (31, 41) that advance and retreat along the transfer direction (Y), a plurality of hooks (5, 6) attached to each of the pair of advancing / retreating portions (31, 41), and a support portion (21) that supports an article (W). The hooks (5, 6) are configured to be able to change their posture freely between an overlapping posture that overlaps the article (W) supported by the support portion (21) and a retracted posture that does not overlap the article (W) when viewed in the transfer direction (Y). In this transfer device (1), the hooks (5, 6) are set in the overlapping posture and the pair of advancing / retreating portions (31, 41) are moved forward and backward, thereby transferring the article (W) between the support portion (21) and the transfer target location (11).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the transfer device of Patent Document 1, when moving an article between a support portion and a transfer target location, the pair of advancing / retreating portions are advanced and retreated with the interval between the pair of advancing / retreating portions set to an interval corresponding to the load width of the article. At this time, if there is a deviation in the position of the article arranged at the transfer target location or the posture of the article arranged at the transfer target location is not appropriate, the advancing / retreating portion and the article may interfere with each other, and the transfer of the article may not be properly performed.

[0006] Therefore, a transfer device is desired that can appropriately transfer items between a support section that holds the items and the location to be transferred. [Means for solving the problem]

[0007] The transfer device relating to this disclosure is a transfer device that performs a transfer operation in which an article is moved along the transfer direction between a support part that supports an article and a location to be transferred, In a vertical view along the vertical direction, the direction perpendicular to the transfer direction is defined as the width direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side. A first retractable part is supported by a first retractable support part and moves in and out relative to the support part along the transfer direction, A second retractable section is supported by a second retractable support section, positioned on the second side in the width direction relative to the first retractable section, and moves in and out relative to the support section along the transfer direction, A spacing changing mechanism for changing the spacing in the width direction between the first extension / retraction support section and the second extension / retraction support section, A locking portion is supported by the first and second extension portions, respectively, and is capable of changing its orientation between an overlapping orientation in which it overlaps with the article when viewed in the direction of transfer, and a retracted orientation in which it does not overlap with the article when viewed in the direction of transfer. The system includes a first restricting section and a second restricting section that restrict the position in the width direction of the support article, which is the article supported by the support section, The first restricting portion comprises a surface extending along the transfer direction and a first opposing surface facing the support article from the first side in the width direction, The second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, The first regulating portion is supported by the first retraction support portion such that the first opposing surface is located on the second side in the width direction relative to the first retraction portion. The second regulating portion is supported by the second retraction support portion such that the second opposing surface is located on the first side in the width direction relative to the second retraction portion. 、 The spacing adjustment mechanism is configured to change the spacing between the first and second retractable sections in the width direction by moving both the first and second retractable support sections in the width direction. .

[0008] In this configuration, the first opposing surface of the first restricting section and the second opposing surface of the second restricting section are positioned inward in the width direction relative to the first and second retracting sections. Therefore, when transferring an item between the transfer target location and the support section, the distance in the width direction between the first and second retracting sections can be made larger than the width of the item (width dimension), while the movement of the item in the width direction can be restricted by the first and second opposing surfaces. Consequently, it is easier to position the item in the appropriate position and orientation at the transfer target location and the support section. Furthermore, with this configuration, since the distance in the width direction between the first and second extension sections can be made larger than the width of the goods being transferred, the possibility of the first and second extension sections interfering with goods placed at the transfer location while they are protruding or retracting can be reduced. In addition, even when multiple goods are arranged in a line in the transfer direction at the transfer location, the possibility of the first and second extension sections interfering with goods other than the goods being transferred during the transfer operation can be reduced. Furthermore, with this configuration, the distance in the width direction between the first and second entry / exit sections is changed, as is the distance in the width direction between the first and second opposing surfaces, making it possible to transfer items of various widths. Thus, with this configuration, items can be properly transferred between the support unit and the transfer target location.

[0009] Another transfer device relating to this disclosure is a transfer device that performs a transfer operation in which an article is moved along the transfer direction between a support part that supports an article and a location to be transferred, In a vertical view along the vertical direction, the direction perpendicular to the transfer direction is defined as the width direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side. A first retractable part is supported by a first retractable support part and moves in and out relative to the support part along the transfer direction, A second retractable section is supported by a second retractable support section, positioned on the second side in the width direction relative to the first retractable section, and moves in and out relative to the support section along the transfer direction, A spacing changing mechanism for changing the spacing in the width direction between the first extension / retraction support section and the second extension / retraction support section, A locking portion is supported by the first and second extension portions, respectively, and is capable of changing its orientation between an overlapping orientation in which it overlaps with the article when viewed in the direction of transfer, and a retracted orientation in which it does not overlap with the article when viewed in the direction of transfer. The system includes a first restricting section and a second restricting section that restrict the position in the width direction of the support article, which is the article supported by the support section, The first restricting portion comprises a surface extending along the transfer direction and a first opposing surface facing the support article from the first side in the width direction, The second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, The first regulating portion is supported by the first retraction support portion such that the first opposing surface is located on the second side in the width direction relative to the first retraction portion. The second regulating portion is supported by the second retraction support portion such that the second opposing surface is located on the first side in the width direction relative to the second retraction portion. Occasionally, Equipped with a control unit, The surface of the first extension / recess facing the support article from the first side in the width direction shall be defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction shall be defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface shall be defined as the first interval, the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface shall be defined as the second interval, the gap between the first opposing surface and the surface of the support article facing the first side in the width direction shall be defined as the first gap, and the gap between the second opposing surface and the surface of the support article facing the second side in the width direction shall be defined as the second gap. The sum of the lengths of the first gap and the second gap is set to be less than the sum of the first interval and the second interval. The control unit is configured to set the distance in the width direction between the first extension / retraction section and the second extension / retraction section to a first set distance that is wider than the width direction dimension of the article by a set distance. The set distance is set to the sum of the first interval and the second interval, plus the length of the first gap and the length of the second gap. When the control unit moves the item between the transfer target location and the support unit, it moves the first and second extension / retraction sections in the transfer direction while the distance between the first and second extension / retraction sections in the width direction is set to the first set interval. .

[0010] Another transfer device relating to this disclosure is a transfer device that performs a transfer operation in which an article is moved along the transfer direction between a support part that supports an article and a location to be transferred, In a vertical view along the vertical direction, the direction perpendicular to the transfer direction is defined as the width direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side. A first retractable part is supported by a first retractable support part and moves in and out relative to the support part along the transfer direction, A second loading and unloading section that is supported by the second loading and unloading support section, is disposed on the second side in the width direction with respect to the first loading and unloading section, and moves in and out with respect to the support section along the transfer direction; An interval changing mechanism that changes the interval in the width direction between the first loading and unloading support section and the second loading and unloading support section; Locking portions that are respectively supported by the first loading and unloading section and the second loading and unloading section, and can change their postures between an overlapping posture that overlaps the article in the transfer direction view along the transfer direction and a retracted posture that does not overlap the article in the transfer direction view; A first restricting portion and a second restricting portion that regulate the position in the width direction of a supported article that is the article supported in the supported state by the support section; The first restricting portion is a surface that extends along the transfer direction and includes a first opposing surface that faces the supported article from the first side in the width direction; The second restricting portion is a surface that extends along the transfer direction and includes a second opposing surface that faces the supported article from the second side in the width direction; The first restricting portion is supported by the first loading and unloading support section such that the first opposing surface is located on the second side in the width direction rather than the first loading and unloading section; The second restricting portion is supported by the second loading and unloading support section such that the second opposing surface is located on the first side in the width direction rather than the second loading and unloading section Occasionally, Equipped with a control unit, The spacing changing mechanism is configured to change the spacing between the first and second extension support portion and the second extension support portion in the width direction by moving both the first and second extension support portions in the width direction. The control unit is configured to change the distance in the width direction between the first extension portion and the second extension portion to a first set interval that is wider by a set distance than the width dimension of the article, and a second set interval that is greater than or equal to the width dimension of the article but narrower than the first set interval. The surface of the first extension / recess facing the support article from the first side in the width direction shall be defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction shall be defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface shall be defined as the first interval, the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface shall be defined as the second interval, the gap between the first opposing surface and the surface of the support article facing the first side in the width direction shall be defined as the first gap, and the gap between the second opposing surface and the surface of the support article facing the second side in the width direction shall be defined as the second gap. The sum of the lengths of the first gap and the second gap is set to be less than the sum of the first interval and the second interval. The set distance is set to the sum of the first interval and the second interval, plus the length of the first gap and the length of the second gap. The second setting interval is set to the size obtained by adding the length of the first gap and the length of the second gap to the width dimension of the article. The control unit, in at least one of the cases where it receives the article from the transfer target location to the support unit and when it delivers the article from the support unit to the transfer target location, A protrusion control that causes the first and second protrusion sections to protrude while the distance in the width direction between the first and second protrusion sections is set to the first set interval, Retirement control that retires the first and second exit sections while the distance in the width direction between the first and second exit sections is set to the first set interval, After the aforementioned protrusion control and before the aforementioned retraction control, position adjustment control is performed to change the distance in the width direction between the first extension / retraction section and the second extension / retraction section from the first set interval to the second set interval, and then to return it from the second set interval to the first set interval. ;

[0011] Further features and advantages of the transfer device will become clear from the following description of exemplary and non-limiting embodiments described with reference to the drawings. [Brief explanation of the drawing]

[0012] [Figure 1] Perspective view of the conveying equipment [Figure 2] Perspective view of the transfer device in its retired state. [Figure 3] Perspective view of the transfer device in its protruding state. [Figure 4] Front view of the transfer device [Figure 5] Control block diagram [Figure 6] A schematic plan view illustrating the process of receiving an item from the transfer target to the support unit. [Figure 7] A schematic plan view illustrating the process of receiving an item from the transfer target to the support unit. [Figure 8] A schematic plan view illustrating the process of transferring an item from the support unit to the transfer target location. [Modes for carrying out the invention]

[0013] In the following, an embodiment of the transfer device 1 will be described using an example where a transport vehicle 10 equipped with a transfer device 1 is provided in a transport facility 100 where goods W are transported and stored.

[0014] As shown in Figure 1, the transport equipment 100 includes a transport vehicle 10 equipped with a transfer device 1, a storage shelf 3 equipped with a plurality of shelf sections 31, and a travel path R on which the transport vehicle 10 travels.

[0015] The storage shelf 3 has a multi-tiered structure with multiple shelves 31 arranged in the vertical direction. Multiple travel paths R are arranged, each corresponding to one of the multiple shelves 31. The transport vehicle 10 is configured to travel along each of the multiple travel paths R. In this example, the travel paths R are formed in a straight line.

[0016] The shelf section 31 is configured to accommodate multiple items W side by side. Here, the shelf section 31 is a shelf board on which items W can be placed. The shelf board is arranged along the direction in which the travel path R extends. The shelf section 31 can accommodate multiple items W side by side along the direction in which the travel path R extends. Each of the multiple levels of shelf section 31 (shelf board) is supported by multiple support columns 32 provided on the storage shelf 3. The transport vehicle 10 is positioned along the travel path R of each level. The transport vehicle 10 travels along the travel path R and transfers items W between it and the shelf section 31. That is, each of the multiple levels of shelf section 31 is designated as a transfer target location 4. Figure 1 shows the transport vehicle 10 positioned along the travel path R of the uppermost level of the storage shelf 3.

[0017] In the example shown in Figure 1, the multi-tiered shelf section 31 is arranged on both sides of the travel path R. The transport vehicle 10 transfers goods W to both shelf sections 31 located on both sides of the travel path R. The storage shelf 3 further includes a lifting device 43 and multiple loading / unloading conveyors 9. The lifting device 43 is installed adjacent to the travel path R and one end of the shelf section 31. The loading / unloading conveyors 9 are installed at one end of the shelf section 31 (specifically, the end on the side of the travel path R where the lifting device 43 is located). The lifting device 43 transfers goods W to and from each loading / unloading conveyor 9. The transport vehicle 10 transfers goods W to and from the loading / unloading conveyors 9, as well as to and from the shelf section 31. That is, the transport vehicle 10 transports goods W between the loading / unloading conveyors 9 and the shelf section 31 at each level. Therefore, each of the multiple loading / unloading conveyors 9 is also designated as a transfer target location 4. In the illustrated example, each shelf section 31 is a single-deep storage shelf 3 in which one item W is arranged in the shelf depth direction (a direction perpendicular to the direction in which the travel path R extends when viewed vertically), but a multi-deep storage shelf 3 in which two or more items W are arranged in the shelf depth direction may also be used. Furthermore, each shelf may be arranged so that two travel paths R intersect.

[0018] As shown in Figures 2 and 3, the transfer device 1 and the support unit 2 are provided on the transport vehicle 10. The transport vehicle 10 also comprises a vehicle body 18 and a traveling device 16. The traveling device 16 is equipped with a traveling motor 16M as a drive source. The traveling motor 16M provides the driving force that allows the vehicle body 18 to travel along the travel path R. The transfer device 1 is configured to perform a transfer operation in which the item W is moved along the transfer direction X between the support unit 2, which supports the item W, and the transfer target location 4. In this embodiment, the transfer device 1 is supported by the vehicle body 18. The support unit 2 is configured to support the item W from below in the transfer device 1.

[0019] The transfer device 1 includes an extension / retraction section (first extension / retraction section 13 and second extension / retraction section 23), a locking section 8, a regulating section (first regulating section 6 and second regulating section 7), and a spacing change mechanism 5. In this embodiment, the transfer device 1 further includes a control unit H. Hereinafter, the direction perpendicular to the transfer direction X in a vertical view along the vertical direction will be defined as the width direction Y, one side of the width direction Y will be defined as the first width direction side Y1, and the opposite side will be defined as the second width direction side Y2. Furthermore, the side on which the transfer target location 4 is positioned relative to the support section 2 in the transfer direction X will be defined as the first transfer direction side X1, and the opposite side will be defined as the second transfer direction side X2.

[0020] The first retractable section 13 is supported by the first retractable support section 11 and is configured to move in and out relative to the support section 2 along the transfer direction X. The second retractable section 23 is supported by the second retractable support section 21 and is positioned on the second side Y2 in the width direction relative to the first retractable section 13 and is configured to move in and out relative to the support section 2 along the transfer direction X. The first retractable support section 11 and the second retractable support section 21 are positioned separately in the width direction Y. More specifically, the first retractable support section 11 and the second retractable support section 21 are positioned so as to sandwich the mounting surface 2a of the support section 2 in the width direction Y. The transfer device 1 includes a first retractable drive section 14 that drives the first retractable section 13 to move in and out, and a second retractable drive section 24 that drives the second retractable section 23 to move in and out. In this embodiment, the first retractable section 13 and the second retractable section 23 retract in the transfer direction X between a reference position T1 corresponding to the support section 2 and a protruding target position T2 corresponding to the transfer target location 4. In this example, the first retractable section 13 further comprises a first relay section 62 supported by the first retractable support section 11 so as to be able to retract in the transfer direction X, and a first main body section 61 supported by the first relay section 62 so as to be able to retract in the transfer direction X. Similarly, the second retractable section 23 further comprises a second relay section 72 supported by the second retractable support section 21 so as to be able to retract in the transfer direction X, and a second main body section 71 supported by the second relay section 72 so as to be able to retract in the transfer direction X. In this embodiment, the reference position T1 is the position where the first retractable support section 11 and the second retractable support section 21 are located. The protruding target position T2 is the position in the transfer target location 4 corresponding to the location area of ​​the item W to be transferred. In the example shown in Figure 2, the reference position T1 is the position where the first main body 61 and the first relay section 62 are retired and housed inside the first retraction support section 11 (second side Y2 in the width direction) (the position where the first main body 61 and the first relay section 62 overlap with the first retraction support section 11 when viewed in the width direction along the width direction Y), and also the position where the second main body 71 and the second relay section 72 are retired and housed inside the second retraction support section 21 (first side Y1 in the width direction) (the position where the second main body 71 and the second relay section 72 overlap with the second retraction support section 21 when viewed in the width direction).

[0021] In this embodiment, as shown in Figures 2 to 4, the surface of the first extension / retraction section 13 that faces the supported article Wt from the first side Y1 in the width direction is defined as the inner surface 13a of the first extension / retraction section. The supported article Wt is the article W in the state supported by the support section 2. Similarly, the surface of the second extension / retraction section 23 that faces the supported article Wt from the second side Y2 in the width direction is defined as the inner surface 23a of the second extension / retraction section. More specifically, the inner surface 13a of the first extension / retraction section is the surface of the first main body 61 facing the second side Y2 in the width direction. The inner surface 23a of the second extension / retraction section is the surface of the second main body 71 facing the first side Y1 in the width direction.

[0022] The locking portion 8 is supported by the first extension / retraction portion 13 and the second extension / retraction portion 23, respectively, and is configured to change its orientation between an overlapping orientation S1 in which it overlaps with the article W when viewed in the transfer direction X, and a retracted orientation S2 in which it does not overlap with the article W when viewed in the transfer direction. In this embodiment, multiple locking portions 8 are provided on each of the first extension / retraction portion 13 and the second extension / retraction portion 23. More specifically, the locking portions 8 are provided at both ends of the first extension / retraction portion 13 (here, the first main body portion 61) in the transfer direction X. Similarly, the locking portions 8 are provided at both ends of the second extension / retraction portion 23 (here, the second main body portion 71) in the transfer direction X. In this example, the locking portion 8 provided on the first extension / retraction portion 13 is configured to pivot around a first axis P1 along the transfer direction X. The locking parts 8 provided on the second extension / retraction section 23 are configured to be rotatable around the second axis P2 along the transfer direction X. Each locking part 8 rotates by the drive of a locking motor 8M (Figures 3 and 5). As shown in Figure 4, the locking portion 8 is a rod-shaped member (hook) positioned along the vertical direction in the retracted position S2. In the overlapping position S1 of the locking portion 8, the tip of the locking portion 8 protrudes inward in the width direction Y (towards the supported article Wt) relative to the first extension / retraction portion 13 or the second extension / retraction portion 23. The locking portion 8 may be configured to change its position between the overlapping position S1 and the retracted position S2 by sliding in the width direction Y.

[0023] The spacing change mechanism 5 is configured to change the spacing in the width direction Y between the first retraction support section 11 and the second retraction support section 21. In this embodiment, the spacing change mechanism 5 includes a spacing change drive unit 51, which changes the spacing between the first retraction support section 11 and the second retraction support section 21. In the examples of Figures 2, 3, and 5, a spacing change motor 5M is provided as the spacing change drive unit 51. The spacing change mechanism 5 is configured to move at least one of the first retraction support section 11 and the second retraction support section 21 in the width direction Y. In this embodiment, the spacing change mechanism 5 is configured to change the spacing in the width direction Y between the first retraction section 13 and the second retraction section 23 by moving both the first retraction support section 11 and the second retraction support section 21 in the width direction Y. In this example, the spacing change mechanism 5 includes a guide member 52 that guides the movement of the first retraction support section 11 and the second retraction support section 21 in the width direction Y (Figure 4). The guide member 52 is a rod-shaped member arranged along the width direction Y and is fixed to the vehicle body 18. The first retraction support section 11 and the second retraction support section 21 are supported by the guide member 52 so as to be slidable in the width direction Y. As described above, the first exit / exit section 13 is supported by the first exit / exit support section 11. The second exit / exit section 23 is supported by the second exit / exit support section 21. Therefore, the distance between the first exit / exit section 13 and the second exit / exit section 23 is changed by the movement of both the first exit / exit support section 11 and the second exit / exit support section 21.

[0024] In this example, the first retraction drive unit 14 is provided on the first retraction support unit 11 and the first retraction unit 13. The second retraction drive unit 24 is provided on the second retraction support unit 21 and the second retraction unit 23. A slide base 20 is also supported on the first retraction support unit 11 and the second retraction support unit 21, respectively. Each slide base 20 is positioned below the first retraction unit 13 and the second retraction unit 23. The pair of slide bases 20 are plate-shaped members arranged to protrude inward in the width direction (towards the side facing the supported article Wt) relative to the respective retraction support units (first retraction support unit 11 and second retraction support unit 21). The pair of slide bases 20 are configured to be able to place the supported article Wt on them. In this example, the pair of slide bases 20 constitute the support unit 2. That is, the support unit 2 is supported on both the first retraction support unit 11 and the second retraction support unit 21. Furthermore, the mounting surface 2a of the support section 2 is the upper surface of each of the pair of slide bases 20. Because of the above configuration, the spacing change mechanism 5 slides the first retraction support section 11, the first retraction section 13, and the slide base 20 provided on the first retraction support section 11 (hereinafter sometimes referred to as "first slide base 20a") in the width direction Y as a single unit. Similarly, the spacing change mechanism 5 slides the second retraction support section 21, the second retraction section 23, and the slide base 20 provided on the second retraction support section 21 (hereinafter sometimes referred to as "second slide base 20b"). . The first retraction drive unit 14 and the second retraction drive unit 24 are equipped with a common retraction motor 14M (Figure 5).

[0025] In this embodiment, when transferring an item W from the support unit 2 to the transfer target location 4, the locking parts 8 of the first extension / retraction part 13 and the second extension / retraction part 23 (here, the end on the second side X2 in the transfer direction, i.e., the locking part 8 located on the side furthest from the transfer target location 4) are set to an overlapping position S1 (locking control). Then, the first extension / retraction part 13 and the second extension / retraction part 23 are extended toward the projection target position T2. ​​As a result, the locking parts 8 lock (contact) with the surface of the item W facing the second side X2 in the transfer direction. Consequently, the item W moves toward the transfer target location 4 and is placed upon the transfer target location 4. After that, when the locking parts 8 in the overlapping position S1 are set to a retracted position S2 (locking release control), the first extension / retraction part 13 and the second extension / retraction part 23 are retracted toward the reference position T1. When receiving an item W from the transfer target location 4 to the support unit 2, the first retractable section 13 and the second retractable section 23 are extended toward the target position T2. ​​Then, when the locking parts 8 of the first retractable section 13 and the second retractable section 23 are set to the overlapping position S1 (locking control), the first retractable section 13 and the second retractable section 23 are retracted toward the reference position T1. As a result, the locking parts 8 lock (contact) with the surface of the item W facing the first side X1 in the transfer direction. Consequently, the item W moves toward the support unit 2 and is placed on the support unit 2. The spacing between the first retractable section 13 and the second retractable section 23 is changed by the spacing changing mechanism 5 according to the width of the item W to be transferred. The transfer operation of such a transfer device 1 will be explained in detail later.

[0026] As shown in Figures 4 and 6 to 8, the first restricting section 6 and the second restricting section 7 restrict the position in the width direction Y of the support article Wt, which is an article W supported by the support section 2. In this embodiment, the first restricting section 6 and the second restricting section 7 also serve to guide the support article Wt as it moves in the transfer direction X. The first restricting section 6 is a surface that extends along the transfer direction X and has a first opposing surface 6a that faces the support article Wt from the first side Y1 in the width direction. The first restricting section 6 is supported by the first retraction support section 11 such that the first opposing surface 6a is located on the second side Y2 in the width direction relative to the first retraction section 13. The second restricting section 7 is a surface that extends along the transfer direction X and has a second opposing surface 7a that faces the support article Wt from the second side Y2 in the width direction. Furthermore, the second restricting portion 7 is supported by the second retraction support portion 21 such that the second opposing surface 7a is located on the first side Y1 in the width direction relative to the second retraction portion 23.

[0027] In this embodiment, the first restricting section 6 and the second restricting section 7 are supported by the retraction support section (first retraction support section 11, second retraction support section 21) via the support section 2 (here, a pair of slide bases 20). More specifically, the first restricting section 6 is fixed to the first slide base 20a, which is the support section 2. This fixes the relative position of the first restricting section 6 and the first retraction section 13 in the width direction Y in this embodiment. The second restricting section 7 is fixed to the second slide base 20b, which is the support section 2. This fixes the relative position of the second restricting section 7 and the second retraction section 23 in the width direction Y in this embodiment. The first opposing surface 6a and the second opposing surface 7a are flat surfaces (here, rectangular surfaces) that are aligned with the transfer direction X and the vertical direction. Note that the first opposing surface 6a and the second opposing surface 7a are not limited to flat surfaces as described above, but may be curved surfaces, for example. The shape and size of the first opposing surface 6a and the second opposing surface 7a can be changed as appropriate. In this embodiment, the first restricting section 6 includes a first inclined surface 6b that is provided on the first side X1 in the transfer direction, continuously from the end of the first opposing surface 6a on the first side X1 in the transfer direction. The first inclined surface 6b is inclined so as it moves toward the first side Y1 in the width direction as it moves toward the first side X1 in the transfer direction. In this example, the first restricting section 6 includes a plurality (two) of first inclined surfaces 6b. Specifically, the first inclined surface 6b is further formed continuously from the end of the first opposing surface 6a on the second side X2 in the transfer direction. The first inclined surface 6b is inclined so as it moves toward the first side Y1 in the width direction as it moves toward the second side X2 in the transfer direction. Furthermore, in this embodiment, the second restricting portion 7 includes a second inclined surface 7b that is provided on the first side X1 in the transfer direction, continuously from the end of the second opposing surface 7a on the first side X1 in the transfer direction. Furthermore, the second inclined surface 7b is inclined so as it moves toward the first side X1 in the transfer direction, it moves toward the second side Y2 in the width direction. In this example, the second restricting section 7 is provided with a plurality (two) of second inclined surfaces 7b. Specifically, the second inclined surface 7b is further formed continuously from the end of the second side X2 in the transfer direction of the second opposing surface 7a. The second inclined surface 7b is inclined so as it moves toward the second side X2 in the transfer direction, it moves toward the second side Y2 in the width direction. Here, the first inclined surface 6b and the second inclined surface 7b are each flat inclined surfaces, but they may also be curved inclined surfaces.

[0028] In this embodiment, the distance in the width direction Y between the end of the first inclined surface 6b (the first inclined surface 6b formed continuously from the end of the first side X1 in the transfer direction of the first opposing surface 6a) and the end of the second inclined surface 7b (the second inclined surface 7b formed continuously from the end of the first side X1 in the transfer direction of the second opposing surface 7a) is set to be greater than or equal to the distance in the width direction Y between the first retraction section 13 (inner surface 13a of the first retraction section) and the second retraction section 23 (inner surface 23a of the second retraction section). Here, the distance in the width direction Y between the end of the first inclined surface 6b on the first side X1 in the transfer direction and the end of the second inclined surface 7b on the first side X1 in the transfer direction is greater than the distance in the width direction Y between the first retraction section 13 and the second retraction section 23. Therefore, the end of the first inclined surface 6b on the first side X1 in the transfer direction is positioned on the first side Y1 in the width direction relative to the inner surface 13a of the first extension / retraction section. Similarly, the end of the second inclined surface 7b on the first side X1 in the transfer direction is positioned on the second side Y2 in the width direction relative to the inner surface 23a of the second extension / retraction section. In this example, the distance in the width direction Y between the first inclined surface 6b, which is formed continuously from the end of the first opposing surface 6a on the second side X2 in the transfer direction, and the second inclined surface 7b, which is formed continuously from the end of the second opposing surface 7a on the second side X2 in the transfer direction, is configured in the same way.

[0029] In the illustrated example, the first opposing surface 6a and the first inclined surface 6b are positioned on the mounting surface 2a of the first slide base 20a (support portion 2) between the supported article Wt (more specifically, the surface of the supported article Wt facing the first side Y1 in the width direction) and the first extension / retraction portion 13 (more specifically, the inner surface 13a of the first extension / retraction portion at the reference position T1). Similarly, the second opposing surface 7a and the second inclined surface 7b are positioned on the mounting surface 2a of the second slide base 20b (support portion 2) between the supported article Wt (more specifically, the surface of the supported article Wt facing the second side Y2 in the width direction) and the second extension / retraction portion 23 (more specifically, the inner surface 23a of the second extension / retraction portion at the reference position T1). Naturally, the inner surface 13a of the first extension / retraction portion at the reference position T1 faces the supported article Wt (article W placed on a pair of slide bases 20) from the first side Y1 in the width direction. Furthermore, the inner surface 23a of the second protrusion / recess at the reference position T1 faces the support article Wt from the second side Y2 in the width direction.

[0030] In this example, a gap (first gap L3) is formed as a clearance between the first opposing surface 6a and the surface of the supported article Wt facing the first side Y1 in the width direction. Similarly, a gap (second gap L4) is formed as a clearance between the second opposing surface 7a and the surface of the supported article Wt facing the second side Y2 in the width direction. Here, the first gap L3 and the second gap L4 are set to the same length. Note that in the example in Figure 4, the first gap L3 and the second gap L4 are depicted as relatively large for clarity. In the illustrated example, the first restricting part 6 and the second restricting part 7 are arranged so as not to interfere with the locking part 8 in the overlapping position S1. Also, the first restricting part 6 and the second restricting part 7 are arranged over the entire range of the transfer direction X on the pair of slide bases 20. The first inclined surface 6b and the second inclined surface 7b may be arranged so as to protrude outwards in the transfer direction X relative to the pair of slide bases 20, or they may be arranged so as not to protrude outwards in the transfer direction X. Here, if we define the distance in the width direction Y between the inner surface 13a of the first extension / recess and the first opposing surface 6a as the first interval L1, and the distance in the width direction Y between the inner surface 23a of the second extension / recess and the second opposing surface 7a as the second interval L2, then in this example, the first restricting section 6 and the second restricting section 7 are arranged such that the size of the first interval L1 and the second interval L2 are the same, but this is not the only option.

[0031] The control unit H is configured to control each element of the transfer device 1, as well as elements of the transport vehicle 10 other than the transfer device 1 (such as the travel device 16 and various sensors such as obstacle sensors). The control unit H includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the processor such as a computer. The control unit H is configured to communicate with a higher-level controller (not shown) that controls the entire transport equipment 100. The control unit H controls the travel device 16 based on command information from the higher-level controller. As a result, the transport vehicle 10 travels toward the designated transfer target location 4. In the example in Figure 1, the control unit H makes the transport vehicle 10 travel between the loading / unloading conveyor 9 and the shelf section 31 based on a command from the higher-level controller. The above command information includes at least the stopping position of the transport vehicle 10 on the travel path R, information on the transfer target location 4 corresponding to the stopping position (for example, identification information indicating the area of ​​a specific transfer target location 4, or information on whether or not an item W is placed in that area), and work information at the stopping position (for example, information on receiving and handing over the item W). The transport vehicle 10 travels toward the stopping position on the travel path R commanded by the higher-level controller. Multiple stopping positions are pre-set on the travel path R. These stopping positions are stored, for example, in the higher-level controller or the control unit H of the transport vehicle 10. Each stopping position is set to correspond to the placement area of ​​each item W that is arranged side by side at the transfer target location 4. Therefore, when the transport vehicle 10 stops at a predetermined stopping position, the transfer device 1 can appropriately transfer the item W between it and the transfer target location 4.

[0032] On the other hand, when the transport vehicle 10 stops at a position deviated from the set stop position and the transfer operation is performed in that state, or when the posture and position of the article W placed at the transfer target location 4 are not appropriate, there is a possibility that the retracting / extending part (the first retracting / extending part 13 and the second retracting / extending part 23) and the article W will interfere with each other. Specifically, when performing an operation of delivering the article W from the support part 2 to the transfer target location 4, after placing the article W at the transfer target location 4, there is a possibility that the retracting / extending part moving backward toward the reference position T1 and the article W placed at the transfer target location 4 will interfere with each other. When the support part 2 performs an operation of receiving the article W from the transfer target location 4, there is a possibility that the retracting / extending part protruding toward the protruding target position T2 will interfere with the article W placed at the transfer target location 4. Also, when a plurality of articles W are arranged in the depth direction of the shelf part 31 like the storage shelf 3 having the multi-deep structure described above, there is also a possibility that the retracting / extending part will interfere with another article W arranged on the back side with respect to the article W to be transferred. Thus, when the retracting / extending part and the article W interfere with each other, there is a risk that the article W cannot be appropriately transferred or that the transfer device 1 will be damaged. Therefore, in the present embodiment, in order to reduce the possibility of interference between the retracting / extending part and the article W, the control described below is performed.

[0033] As shown in FIG. 4, the control unit H is configured such that the interval in the width direction Y between the first retracting / extending part 13 and the second retracting / extending part 23 can be set to a first set interval D1 that is wider than the dimension W1 in the width direction Y of the article W by a set distance. Here, the set distance is set to be greater than or equal to the sum of the first interval L1 and the second interval L2. In this example, the set distance is set to be larger than the sum of the first interval L1 and the second interval L2. Specifically, the set distance is the size obtained by adding the lengths of the first gap L3 and the second gap L4 as a margin to the sum of the first interval L1 and the second interval L2. Therefore, in this example, the size of the first set interval D1 can be expressed by the formula "D1 = W1 + L1 + L2 + L3 + L4". Note that the margin is set to be smaller than the sum of the first interval L1 and the second interval L2 (L3 + L4 < L1 + L2). Thus, in the present embodiment, the first set interval D1 can be set according to the sum of the first interval L1 and the second interval L2.

[0034] Furthermore, the control unit H is configured to change the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 to a second setting interval D2 that is greater than or equal to the width direction Y dimension W1 of the article W and narrower than the first setting interval D1. In this example, the second setting interval D2 is the size obtained by adding the lengths of the first gap L3 and the second gap L4, which are margins, to the width direction Y dimension W1 of the article W (D2 = W1 + L3 + L4). Thus, the control unit H is configured to change the distance between the first extension / retraction section 13 and the second extension / retraction section 23 to at least the first setting interval D1 and the second setting interval D2. In this embodiment, the first setting interval D1 and the second setting interval D2 are intervals that change according to the load width (width direction Y dimension W1) of the supported article Wt, but if the size of the article W placed on the transfer target location 4 is fixed, the first setting interval D1 and the second setting interval D2 may be constant intervals that do not change.

[0035] As shown in Figures 6 to 8, the control unit H performs protrusion control, retraction control, and locking control in at least one of the following cases: when receiving the item W from the transfer target location 4 to the support unit 2, and when transferring the item W from the support unit 2 to the transfer target location 4. In this embodiment, the control unit H performs at least protrusion control, retraction control, and locking control in both cases: when receiving the item W from the transfer target location 4 to the support unit 2, and when transferring the item W from the support unit 2 to the transfer target location 4.

[0036] In the protrusion control, when the control unit H moves the item W between the transfer target location 4 and the support unit 2, the control unit H moves the first retractable part 13 and the second retractable part 23 in the transfer direction X while the distance between them in the width direction Y is set to the first set interval D1. As shown in Figure 6, when the control unit H receives the item W from the transfer target location 4 to the support unit 2, it first performs protrusion control. Specifically, the control unit H controls the first retractable part 13 and the second retractable part 23, which are in the state of the first set interval D1, to protrude from the reference position T1 to the target protrusion position T2. ​​At the target protrusion position T2, the tips of the first retractable part 13 and the second retractable part 23 are positioned behind the item W to be transferred at the transfer target location 4 (first side in the transfer direction X1). In the case of the storage rack 3 with a multi-deep structure, the tips of the first extension section 13 and the second extension section 23 are positioned behind the item W to be transferred, and in front of another item W (dotted line in Figure 6) located further behind the said item W (second side X2 in the transfer direction). After the protrusion control is completed, the control unit H performs locking control. In the locking control, as described above, the control unit H changes the posture of the pair of locking sections 8 from the retracted posture S2 to the overlapping posture S1. After the locking control is completed, the control unit H performs retirement control.

[0037] In retirement control, the control unit H retires the first retraction section 13 and the second retraction section 23 with the distance between them in the width direction Y set to a first set interval D1. When an item W is received from the transfer target location 4 to the support section 2, in retirement control, the item W moves while being guided by the first opposing surface 6a of the first restricting section 6 and the second opposing surface 7a of the second restricting section 7, and is placed on the mounting surface 2a (in this case, the upper surface of the pair of sliding tables 20). Furthermore, if there is a misalignment in the position of the item W placed at the transfer target location 4, or if the orientation of the item W is not appropriate, the item W is guided by the first inclined surface 6b and the second inclined surface 7b while moving, and is placed between the first opposing surface 6a and the second opposing surface 7a on the mounting surface 2a.

[0038] In this embodiment, as shown in Figures 7 and 8, the control unit H can further perform position adjustment control. In position adjustment control, after the protrusion control and before the retraction control, the control unit H changes the distance in the width direction Y between the first retraction section 13 and the second retraction section 23 from the first set interval D1 to the second set interval D2, and then returns it from the second set interval D2 to the first set interval D1. As shown in Figure 7, when the control unit H receives an item W from the transfer target location 4 to the support section 2, after the completion of the protrusion control, in position adjustment control, it changes the distance in the width direction Y between the first retraction section 13 and the second retraction section 23 from the first set interval D1 to the second set interval D2. This makes it possible to correct the position and orientation of the item W even if there is a misalignment in the position of the item W placed at the transfer target location 4 or if the orientation of the item W is not appropriate. Subsequently, in position adjustment control, the control unit H returns the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 from the second set interval D2 to the first set interval D1. After the position adjustment control is completed, the control unit H performs locking control with the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 set to the first set interval D1. Here, the control unit H can swap the execution order of the position adjustment control and the locking control, and can also overlap the execution periods of the position adjustment control and the locking control.

[0039] Thus, when receiving an item W from the transfer target location 4 to the support unit 2, the control unit H can execute the protrusion control, locking control, and retraction control in the order described, as well as the protrusion control, position adjustment control, and retraction control in the order described. Furthermore, if only the protrusion control, locking control, and retraction control are executed without executing the position adjustment control, the time cycle in the transfer operation can be shortened. Therefore, the transport efficiency of the item W can be increased.

[0040] When transferring an item W from the support unit 2 to the transfer target location 4, the control unit H executes locking control, ejection control, locking release control, position adjustment control, and retraction control in the order shown in Figure 8. The control unit H executes locking control while the item W (supported item Wt) is placed on the mounting surface 2a. Then, the control unit H executes ejection control to transfer the item W to the transfer target location 4. The item W is placed on the transfer target location 4 while being guided by the first opposing surface 6a and the second opposing surface 7a. Next, the control unit H executes locking release control. That is, the control unit H changes the locking unit 8 from the overlapping position S1 to the retracted position S2. Then, the control unit H executes position adjustment control. This allows the item to be placed in an appropriate position and in the correct orientation at the transfer target location 4. Then, the control unit H executes retraction control. Here, the control unit H can swap the execution order of the lock release control and the position adjustment control, and can also overlap the execution periods of the lock release control and the position adjustment control. Whether or not the control unit H executes the position adjustment control when transferring the item W can be set as appropriate. Furthermore, the system can be configured to execute the position adjustment control if the posture or position of the item W to be transferred to the transfer target location 4 is not appropriate, or if the posture or position of the item W already placed at the transfer target location 4 is not appropriate. In addition, when the control unit H transfers the item W from the support unit 2 to the transfer target location 4, it can also execute the lock control, protrusion control, lock release control, and retraction control in the order described without executing the position adjustment control. In this case, the time cycle in the transfer operation can be shortened. Therefore, the transport efficiency of the item W can be increased.

[0041] [Other Embodiments] (1) In the above embodiment, the configuration in which the first restricting section 6 is supported by the first sliding base 20a as a support section 2 and the second restricting section 7 is supported by the second sliding base 20b as a support section 2 was described as an example, but the invention is not limited to this configuration. The first restricting section 6 may be directly supported by the first retraction support section 11, and the second restricting section 7 may be directly supported by the second retraction support section 21. In that case, it is not necessarily required to provide a pair of sliding bases 20 as support sections 2. For example, instead of a pair of sliding bases 20, a support base that does not move in the width direction Y may be provided between the first retraction support section 11 and the second retraction support section 21. In this case, the supported article Wt is supported by the support base as a support section 2. Also, in the above embodiment, the configuration in which the restricting sections (first restricting section 6 and second restricting section 7) and the retraction support sections (first retraction support section 11 and second retraction support section 21) slide together by a common spacing change motor 5M was described as an example, but the invention is not limited to this configuration. The restricting unit and the retraction / retraction support unit may be configured to slide in the width direction Y by separate drive motors. In this case, the relative positions of the restricting unit and the retraction / retraction support unit do not need to be fixed. For example, the timing of the sliding movements of the restricting unit and the retraction / retraction support unit may be staggered. Alternatively, the position of the restricting unit in the width direction Y may change in conjunction with the position of the retraction / retraction support unit in the width direction Y.

[0042] (2) In the above embodiment, the first inclined surface 6b is provided continuously from both ends of the first opposing surface 6a in the transfer direction X, and the second inclined surface 7b is provided continuously from both ends of the second opposing surface 7a in the transfer direction X. However, the embodiment is not limited to this configuration. The first inclined surface 6b may be provided only at the end of the first side X1 in the transfer direction of the first opposing surface 6a, and the second inclined surface 7b may be provided only at the end of the first side X1 in the transfer direction of the second opposing surface 7a. Furthermore, the first restricting section 6 and the second restricting section 7 do not necessarily have such inclined surfaces.

[0043] (3) In the above embodiment, the control unit H is configured to set the distance between the first extension / retraction section 13 and the second extension / retraction section 23 in the width direction Y to a first set interval D1 that is wider than the width direction Y dimension W1 of the article W by a set distance, and the set distance is described as being the sum of the first interval L1 and the second interval L2 plus a margin (first gap L3 and second gap L4), but is not limited to this. For example, the set distance may be set to the sum of the first interval L1 and the second interval L2. Also, the set distance may be set so that the margin is, for example, a few percent of the length of the first interval L1. Thus, when setting the first set interval D1, it is preferable that the size of the margin can be set as appropriate.

[0044] (4) In the above embodiment, the spacing changing mechanism 5 was described as changing the spacing in the width direction Y between the first entrance / exit section 13 and the second entrance / exit section 23 by moving both the first entrance / exit support section 11 and the second entrance / exit support section 21 in the width direction Y, but it is not limited to this. The spacing changing mechanism 5 may also be configured to move either the first entrance / exit support section 11 or the second entrance / exit support section 21 in the width direction Y.

[0045] (5) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments), as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0046] [Summary of the above embodiments] The following is a summary of the transfer device described above.

[0047] The transfer device relating to this disclosure is a transfer device that performs a transfer operation in which an article is moved along the transfer direction between a support part that supports an article and a location to be transferred, In a vertical view along the vertical direction, the direction perpendicular to the transfer direction is defined as the width direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side. A first retractable part is supported by a first retractable support part and moves in and out relative to the support part along the transfer direction, A second retractable section is supported by a second retractable support section, positioned on the second side in the width direction relative to the first retractable section, and moves in and out relative to the support section along the transfer direction, A spacing changing mechanism for changing the spacing in the width direction between the first extension / retraction support section and the second extension / retraction support section, A locking portion is supported by the first and second extension portions, respectively, and is capable of changing its orientation between an overlapping orientation in which it overlaps with the article when viewed in the direction of transfer, and a retracted orientation in which it does not overlap with the article when viewed in the direction of transfer. The system includes a first restricting section and a second restricting section that restrict the position in the width direction of the support article, which is the article supported by the support section, The first restricting portion comprises a surface extending along the transfer direction and a first opposing surface facing the support article from the first side in the width direction, The second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, The first regulating portion is supported by the first retraction support portion such that the first opposing surface is located on the second side in the width direction relative to the first retraction portion. The second restricting portion is supported by the second retraction support portion such that the second opposing surface is located on the first side in the width direction relative to the second retraction portion.

[0048] In this configuration, the first opposing surface of the first restricting section and the second opposing surface of the second restricting section are positioned inward in the width direction relative to the first and second retracting sections. Therefore, when transferring an item between the transfer target location and the support section, the distance in the width direction between the first and second retracting sections can be made larger than the width of the item (width dimension), while the movement of the item in the width direction can be restricted by the first and second opposing surfaces. Consequently, it is easier to position the item in the appropriate position and orientation at the transfer target location and the support section. Furthermore, with this configuration, since the distance in the width direction between the first and second extension sections can be made larger than the width of the goods being transferred, the possibility of the first and second extension sections interfering with goods placed at the transfer location while they are protruding or retracting can be reduced. In addition, even when multiple goods are arranged in a line in the transfer direction at the transfer location, the possibility of the first and second extension sections interfering with goods other than the goods being transferred during the transfer operation can be reduced. Furthermore, with this configuration, the distance in the width direction between the first and second entry / exit sections is changed, as is the distance in the width direction between the first and second opposing surfaces, making it possible to transfer items of various widths. Thus, with this configuration, items can be properly transferred between the support unit and the transfer target location.

[0049] Here, a control unit is provided, The surface of the first extension / recess facing the support article from the first side in the width direction is defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction is defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface is defined as the first interval, and the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface is defined as the second interval. The control unit is configured to set the distance in the width direction between the first extension / retraction section and the second extension / retraction section to a first set distance that is wider than the width direction dimension of the article by a set distance. The set distance is set to be greater than or equal to the sum of the first interval and the second interval. When the control unit moves the item between the item to be transferred and the support unit, it is preferable to move the first and second retractable sections in the transfer direction while the distance between the first and second retractable sections in the width direction is set to the first set interval.

[0050] With this configuration, when transferring an item, the distance between the first and second entry / exit sections is set to be greater than the width of the item by a set distance, allowing the item to be transferred. Therefore, when transferring an item between the transfer target location and the support section, the possibility of the first and second entry / exit sections interfering with the item placed at the transfer target location is reduced. Furthermore, even when multiple items are arranged in a line in the transfer direction at the transfer target location, the possibility of the first and second entry / exit sections interfering with items other than the item being transferred is reduced.

[0051] It also includes a control unit, The spacing changing mechanism is configured to change the spacing between the first and second extension support portion and the second extension support portion in the width direction by moving both the first and second extension support portions in the width direction. The control unit is configured to change the distance in the width direction between the first extension portion and the second extension portion to a first set interval that is wider by a set distance than the width dimension of the article, and a second set interval that is greater than or equal to the width dimension of the article but narrower than the first set interval. The surface of the first extension / recess facing the support article from the first side in the width direction is defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction is defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface is defined as the first interval, and the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface is defined as the second interval. The set distance is set to be greater than or equal to the sum of the first interval and the second interval. The control unit, in at least one of the cases where it receives the article from the transfer target location to the support unit and when it delivers the article from the support unit to the transfer target location, A protrusion control that causes the first and second protrusion sections to protrude while the distance in the width direction between the first and second protrusion sections is set to the first set interval, Retirement control that retires the first and second exit sections while the distance in the width direction between the first and second exit sections is set to the first set interval, It is preferable to perform position adjustment control after the protrusion control and before the retraction control, which involves changing the distance in the width direction between the first extension / retraction section and the second extension / retraction section from the first set interval to the second set interval, and then returning it from the second set interval to the first set interval.

[0052] With this configuration, even if the orientation or position of an item is not appropriate at the transfer point, the orientation and position of the item can be corrected by performing position adjustment control. Therefore, when performing a scooping operation, the possibility of interference between the item being transferred to the support unit and the first and second restricting units can be reduced. In addition, when performing a lowering operation (the operation of moving an item from the support unit to the transfer point), the item can be placed at the transfer point in the appropriate position and orientation.

[0053] Furthermore, the side on which the object to be transferred is located relative to the support portion in the transfer direction is defined as the first transfer direction side. The first restricting portion includes a first inclined surface provided on the first side in the transfer direction, continuous with the end of the first opposing surface on the first side in the transfer direction, The first inclined surface is inclined so as it moves toward the first side in the transfer direction, it moves toward the first side in the width direction. The second restricting portion includes a second inclined surface provided on the first side in the transfer direction, continuous with the end of the second opposing surface on the first side in the transfer direction, Preferably, the second inclined surface is inclined so as it moves toward the first side in the transfer direction, it moves toward the second side in the width direction.

[0054] With this configuration, since inclined surfaces are formed at the first end of the first transfer direction side of the first regulating section and the second regulating section, even if there is a misalignment in the width direction of the article placed at the transfer target location, when moving the article towards the support section, the first and second inclined surfaces guide the article in the width direction, and the article can be supported at the appropriate position on the support section. Therefore, even when the distance between the first and second entry / exit sections is greater than the width of the article, the scooping operation (the operation of moving the article from the transfer target location to the support section) can be performed stably.

[0055] Furthermore, it is preferable that the distance in the width direction between the end of the first inclined surface on the first side in the transfer direction and the end of the second inclined surface on the first side in the transfer direction is set to be greater than or equal to the distance in the width direction between the first extension / retraction section and the second extension / retraction section.

[0056] With this configuration, when moving an item placed at the transfer target location towards the support unit, it is possible to avoid interference between the item and the first end of the first transfer direction in the first transfer direction of the first and second restricting units. Therefore, the scooping operation of the item can be performed more stably.

[0057] The transfer device relating to this disclosure only needs to be able to achieve at least one of the effects described above. [Explanation of Symbols]

[0058] 1:Transfer device 2: Support part 3: Storage shelves 4: Sections to be reprinted 5: Interval change mechanism 6: First Regulatory Department 6a: 1st opposing surface 6b: 1st slope 7: Second Regulatory Department 7a: Second facing surface 7b: 2nd slope 8: Locking part 10: Transport vehicle 11: 1st egress support part 13:First exit / exit section 13a: Inner surface of the first entrance / exit section 21:Second egress support part 23:Second exit / exit section 23a: Inner surface of the second entrance / exit section D1: First setting interval D2: Second setting interval H:Control unit L1: 1st interval L2: Second interval W:Goods Wt: Supporting article X: Transfer direction X1: First side of the transfer direction Y: width direction Y1: Side 1 in the direction of amplitude Y2: Second side in the direction of amplitude

Claims

1. A transfer device that performs a transfer operation to move an article along the transfer direction between a support part that supports the article and the location to be transferred, In a vertical view along the vertical direction, the direction perpendicular to the transfer direction is defined as the width direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side. A first retractable part is supported by a first retractable support part and moves in and out relative to the support part along the transfer direction, A second retractable section is supported by a second retractable support section, positioned on the second side in the width direction relative to the first retractable section, and moves in and out relative to the support section along the transfer direction, A spacing changing mechanism for changing the spacing in the width direction between the first extension / retraction support section and the second extension / retraction support section, A locking portion is supported by the first and second extension portions, respectively, and is capable of changing its orientation between an overlapping orientation in which it overlaps with the article when viewed in the direction of transfer, and a retracted orientation in which it does not overlap with the article when viewed in the direction of transfer. The system includes a first restricting section and a second restricting section that restrict the position in the width direction of the support article, which is the article supported by the support section, The first regulating portion has a surface that extends along the transfer direction and has a first opposing surface that faces the support article from the first side in the width direction, The second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, The first regulating portion is supported by the first retraction support portion such that the first opposing surface is located on the second side in the width direction relative to the first retraction portion. A transfer device in which the second restricting portion is supported by the second retraction support portion such that the second opposing surface is located on the first side in the width direction relative to the second retraction portion.

2. Equipped with a control unit, The surface of the first extension / recess facing the support article from the first side in the width direction is defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction is defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface is defined as the first interval, and the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface is defined as the second interval. The control unit is configured to set the distance in the width direction between the first extension portion and the second extension portion to a first set distance that is wider than the width dimension of the article by a set distance. The set distance is set to be greater than or equal to the sum of the first interval and the second interval. The transfer device according to claim 1, wherein when the control unit moves the item between the item to be transferred and the support unit, the control unit moves the first retractable section and the second retractable section in the transfer direction while the distance between the first retractable section and the second retractable section in the width direction is set to a first set distance.

3. Equipped with a control unit, The spacing changing mechanism is configured to change the spacing between the first and second extension support portion and the second extension support portion in the width direction by moving both the first and second extension support portions in the width direction. The control unit is configured to change the distance in the width direction between the first extension portion and the second extension portion to a first set interval that is wider by a set distance than the width dimension of the article, and a second set interval that is greater than or equal to the width dimension of the article but narrower than the first set interval. The surface of the first extension / recess facing the support article from the first side in the width direction is defined as the inner surface of the first extension / recess, the surface of the second extension / recess facing the support article from the second side in the width direction is defined as the inner surface of the second extension / recess, the distance in the width direction between the inner surface of the first extension / recess and the first opposing surface is defined as the first interval, and the distance in the width direction between the inner surface of the second extension / recess and the second opposing surface is defined as the second interval. The set distance is set to be greater than or equal to the sum of the first interval and the second interval. The control unit, in at least one of the cases where it receives the article from the transfer target location to the support unit and when it delivers the article from the support unit to the transfer target location, A protrusion control that causes the first and second protrusion sections to protrude while the distance in the width direction between the first and second protrusion sections is set to the first set interval, Retirement control that retires the first and second exit sections while the distance in the width direction between the first and second exit sections is set to the first set interval, The transfer device according to claim 1, wherein, after the protrusion control and before the retraction control, position adjustment control is performed to change the distance in the width direction between the first extension / retraction section and the second extension / retraction section from a first set interval to a second set interval, and then to return it from the second set interval to the first set interval.

4. With respect to the support portion in the transfer direction, the side on which the object to be transferred is located is designated as the first transfer direction side. The first restricting portion includes a first inclined surface provided on the first side in the transfer direction, continuous with the end of the first opposing surface on the first side in the transfer direction, The first inclined surface is inclined so as it moves toward the first side in the transfer direction, it moves toward the first side in the width direction. The second restricting portion includes a second inclined surface provided on the first side in the transfer direction, continuous with the end of the second opposing surface on the first side in the transfer direction, The transfer device according to any one of claims 1 to 3, wherein the second inclined surface is inclined toward the second side in the width direction as it moves toward the first side in the transfer direction.

5. The transfer device according to claim 4, wherein the distance in the width direction between the end of the first inclined surface on the first side in the transfer direction and the end of the second inclined surface on the first side in the transfer direction is set to be greater than or equal to the distance in the width direction between the first extension portion and the second extension portion.

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