Lifting and automation equipment

Abstract

To provide a lifting mechanism which can hold an article in a proper state regardless of the operation state of a mounting table on which the article is placed.SOLUTION: A lifting device includes: a mounting table 32 on which an article 10 is placed; a lifting mechanism 34 which moves up or down the mounting table 32; and a suction part 36 which suctions the article 10 placed on the mounting table 32. The suction part 36 is a portion which suctions the article 10 by negative pressure and has a pad part expanding in a dish-like shape. The suction part 36 is connected to a vacuum pump through a pipe 39a. A negative pressure is generated in the suction part 36 by the vacuum pump suctioning and the article 10 is suctioned by the negative pressure.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a lifting device and an automated facility. [Background technology]

[0002] Patent Document 1 discloses an automated warehouse that includes a lifting mechanism that lifts and moves a plurality of articles to positions corresponding to a plurality of levels, a support platform provided corresponding to each level of the storage shelf, and a movable carrier that supports the articles and moves them in a horizontal direction. The articles are transferred from the lifting mechanism to the support platform. The objects on the support platform are transferred to the movable carrier, and then transferred to the storage shelf by the movable carrier. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-159340 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the lifting mechanism, it is required that the article be held in an appropriate state regardless of the operating state (for example, lifting speed, lifting acceleration, etc.) of the platform on which the article is placed. [Means for solving the problem]

[0005] The lifting device of the present disclosure is a lifting device that lifts and lowers an object, and is equipped with a platform on which an object is placed, a lifting mechanism that raises and lowers the platform, and an suction portion that adsorbs the object placed on the platform.

[0006] In addition, the automated equipment of the present disclosure is an automated equipment including the lifting device, a movable transport body that transfers the object between the lifting device and the movable transport body and moves the object along a horizontal direction, and a storage shelf in which a plurality of storage spaces are formed and aligned along the movement direction of the movable transport body. Effect of the Invention

[0007] According to this lifting device and automated equipment, the object is attracted to the suction portion on the mounting table, so that the object being lifted or lowered can be supported in an appropriate state. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic side view showing an automated warehouse. [Diagram 2] FIG. 2 is a schematic plan view showing an automated warehouse. [Diagram 3] FIG. 2 is a plan view showing the lifting device, the transfer device, and the movable transport body. [Figure 4] FIG. 4 is a partial side view showing the lifting device and the transfer device. [Diagram 5] FIG. 2 is a functional block diagram of the automated warehouse and transfer device. [Figure 6] 13 is a flowchart showing an example of a process of a suction operation. [Figure 7] 11A and 11B are explanatory diagrams showing the operation of a suction unit on a mounting table. [Figure 8] 11A and 11B are explanatory diagrams showing the operation of a suction unit on a mounting table. [Figure 9] FIG. 4 is a partial side view showing a first modified example of the lifting device. [Figure 10] FIG. 11 is a plan view showing a second modified example of the lifting device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a lifting device and an automated equipment according to an embodiment will be described. In this embodiment, an example in which the automated equipment is an automated warehouse will be described.

[0010] <Overall structure> The overall configuration of the automated warehouse 20 will be described below. Fig. 1 is a schematic side view showing the automated warehouse 20, and Fig. 2 is a schematic plan view showing the automated warehouse 20.

[0011] The automated warehouse 20 includes a lifting device 30, a movable carrier 40, a storage shelf 50, and a transfer device 60.

[0012] The storage shelves 50 are provided on at least one side of the travel path 48 of the moving conveyor 40. Here, a pair of storage shelves 50 are provided on both sides of the travel path 48. The storage shelves 50 have multiple tiers of shelves 52 supported at intervals in the vertical direction. Each tier of shelves 52 can support an object 10. The shelves 52 in each tier can also support multiple objects 10. Therefore, when viewed as a whole, the multiple objects 10 are stored in a state of being arranged vertically and horizontally. In the storage shelf 50, the space in which the objects 10 are stored is the storage space. Therefore, in the storage shelf 50, multiple storage spaces are formed that are aligned along the movement direction of the moving conveyor 40 traveling on the travel path 48. Each storage space may be continuous without any partitions, or may be partitioned.

[0013] The running paths 48 are provided along the extension direction of the storage shelves 50, here between a pair of storage shelves 50, along the extension direction between them. The running paths 48 extend along the extension direction of the storage shelves 50 and up to the transfer device 60. The running paths 48 are provided corresponding to each of the multiple upper and lower shelf levels. Each running path 48 may be configured with, for example, a pair of rails. The rails may also serve as the horizontal frame of the storage shelves 50, or may be configured as separate entities from the storage shelves 50.

[0014] The movable conveyance body 40 is a device also called a picker, and is configured to be able to travel back and forth on the travel path 48. The movable conveyance body 40 is provided with an object insertion / removal mechanism for inserting and removing the object 10 into and from the storage shelf 50 and the transfer device 60. The object 10 is inserted and removed from the storage shelf 50 from the travel path 48 side. The movable conveyance body 40 traveling on the travel path 48 can insert and remove the object 10 into and from both of the pair of storage shelves 50.

[0015] In this embodiment, an example will be described in which a plurality of running paths 48 and a plurality of moving conveyors 40 are provided corresponding to each of the upper and lower shelf levels, but this is not essential. For example, one running path common to the upper and lower shelf levels may be provided, and the transfer cart may run on this running path. In this case, it is preferable to provide the transfer cart with a lifting mechanism so that stored items can be put in and taken out of the upper and lower shelves. Also, a plurality of transfer carts may run on one running path.

[0016] For example, the movable transport body 40 takes in and out the object 10 by an insertion / removal mechanism including a pair of arms 43 (see FIG. 3) and a hook portion. The pair of arms 43 are configured to be extendable and retractable from both sides of the support portion of the movable transport body 40 toward the storage shelf 50 or the transfer device 60. The hook portion is configured at the end of the pair of arms 43 to be able to rise and fall between a position protruding toward the pair of arms 43 and a position retracted from the protruding position.

[0017] When the movable conveyor 40 takes in the object 10 on the storage shelf 50 or the support platform 62, the movable conveyor 40 travels along the travel path 48 to a position facing the storage shelf 50 or the support platform 62. In this state, when the pair of arms 43 extend toward the storage shelf 50 or the support platform 62, the pair of arms 43 are positioned on both outer sides of the object 10 on the storage shelf 50 or the support platform 62. In this state, when the hooking parts in the retracted position change position to the protruding position, the hooking parts are positioned on the opposite side of the movable conveyor 40 with respect to the object 10. In this state, when the pair of arms 43 retract while contracting, the object 10 on which the hooking parts are hooked moves as if it is pushed toward the support part. As a result, the object 10 is transferred from the storage shelf 50 or the support platform 62 toward the movable conveyor 40 as if it is retracted. After the object 10 has been taken into the movable carrier 40, the movable carrier 40 moves along the travel path 48 to a position opposite the support platform 62 or a predetermined intended storage position on the storage shelf 50. Thereafter, the pair of arms 43 advance toward the support platform 62 or the predetermined storage position with the hooks on the opposite side in the transfer direction protruding, whereby the object 10 on the movable carrier 40 is transferred toward the support platform 62 or the predetermined storage position.

[0018] A lifting device 30 and a transfer device 60 are provided at a part of the extension direction of the storage shelf 50. In this embodiment, a transfer device 60 for entry and a lifting device 30 for entry are provided at one end of each of the pair of storage shelves 50. A transfer device 60 for retrieval and a lifting device 30 for retrieval are provided at the other end of each of the pair of storage shelves 50. The transfer device and the lifting device may be provided at the middle part in the longitudinal direction of the pair of storage shelves 50. The transfer device and the lifting device do not need to be separated for entry and retrieval, and may be used for both entry and retrieval.

[0019] The transfer device 60 is also called a temporary storage shelf, and is a device that relays the object 10 between the lifting device 30 and the movable transport body 40. The transfer device 60 has a plurality of support tables 62 corresponding to each of the plurality of shelf levels. The plurality of support tables 62 are provided at positions adjacent to the storage shelf 50 and at the same height as the corresponding shelves 52. Therefore, the movable transport body 40 provided corresponding to each shelf level can transfer the object 10 to the support tables 62 and shelves 52 at that shelf level.

[0020] The lifting device 30 is a device for lifting and lowering the object 10, and includes a mounting table 32 that lifts and lowers while supporting the object 10. The mounting table 32 is driven to lift and lower by a lifting mechanism 34. The lifting mechanism 34 may have, for example, a motor and a sprocket or a circulating belt, and the sprocket or the circulating belt is rotated by rotating the motor, thereby lifting and lowering the mounting table 32 connected to the sprocket or the circulating belt. By driving the mounting table 32 to lift and lower, the mounting table 32 is lifted and lowered to a position corresponding to each of the multiple support tables 62 at a position next to the transfer device 60. By placing the mounting table 32 next to the object 10 at a height position corresponding to one of the support tables 62, the object 10 can be transferred by moving horizontally between the mounting table 32 and the support table 62.

[0021] The control unit 90 controls the lifting and lowering operation of the lifting device 30, the transfer operation of the transfer device 60, the traveling operation of the movable carrier 40, and the loading and unloading operation of the item 10. In this automated warehouse 20, the item 10 is stored and unloaded under the control of the control unit 90.

[0022] Focusing on the item 10 to be stored, the item 10 is transferred to the lifting device 30 by the warehousing conveyor 16 or the like. The lifting device 30 then lifts and moves the item 10 to a position corresponding to the shelf level where the item 10 is to be stored. After this, the item 10 supported on the placement platform 32 is transferred to the transfer device 60. The item 10 supported by the transfer device 60 is transferred to the moving conveyor 40. The moving conveyor 40 travels along the travel path 48 while supporting the item 10, and moves toward the planned storage position of the item 10 on the storage shelf 50. When the moving conveyor 40 reaches the planned storage position, the item 10 is transferred from the moving conveyor 40 to the storage shelf 50, and the item 10 is stored in the storage shelf 50. After the item 10 is lifted and lowered by the lifting device 30 to the position of the shelf level where the item 10 is to be stored, the item 10 is temporarily supported by the transfer device 60 until the moving conveyor 40 takes in the item 10. This reduces the waiting time of the lifting device 30 and the movable conveyor 40, and allows the item 10 to be stored efficiently.

[0023] Focusing on the item 10 to be unloaded, the mobile conveyor 40 of the shelf corresponding to the storage position of the item 10 travels to the position corresponding to the storage position of the item 10. After this, the mobile conveyor 40 takes in the item 10 from the storage shelf 50. The mobile conveyor 40 that has taken in the item 10 moves toward the unloading transfer device 60 and transfers the item 10 to the transfer device 60. The unloading lifting device 30 lifts and moves the placement platform 32 to the position of the shelf corresponding to the item 10 to be unloaded. Then, the item 10 on the transfer device 60 is transferred to the placement platform 32 at that shelf. The unloading lifting device 30 moves the placement platform 32 to a position suitable for unloading, for example, to the height position of the unloading conveyor 16, and transfers the item 10 to the unloading conveyor 16. The item 10 is unloaded to the outside by the unloading conveyor 16. After the movable conveyance body 40 moves toward the retrieval transfer device 60, the object 10 can be temporarily supported by the transfer device 60 until the platform 32 moves to a height position for retrieval. Therefore, even during retrieval, the waiting time of the lifting device 30 and the movable conveyance body 40 can be reduced, and the object 10 can be efficiently retrieved.

[0024] In addition, in this automated warehouse 20, when an item 10 is stored, a database that associates specific information of the item 10 (the identification code or identification name of the item 10) with a storage location is generated and updated. When the item 10 is stored, vacant locations on the storage shelf 50 are identified by referring to the database, and one of the vacant locations is selected as the planned storage location. In addition, when the item 10 is removed from the warehouse, the storage location of the item 10 is identified by referring to the database. The database may be stored in the memory unit 93 in the control unit 90, or in another memory unit.

[0025] <About the lifting device> The following description focuses on the lifting device 30. Fig. 3 is a plan view showing the conveyor 16, the lifting device 30, the transfer device 60, and the moving transport body 40. The transfer device 60 and the moving transport body 40 are shown at one of the shelves. Fig. 4 is a partial side view showing the conveyor 16, the lifting device 30, and the transfer device 60.

[0026] In Fig. 3 and Fig. 4, the flow of the object 10 entering the warehouse via the lifting device 30 is indicated by a solid line, and the flow of the object 10 leaving the warehouse via the lifting device 30 is indicated by a two-dot chain line. Also, in Fig. 4, the state where the loading platform 32 is located on the first shelf level is indicated by a solid line, and the state where the loading platform 32 is located on the second shelf level is indicated by a solid line. When the loading platform 32 is located on the first shelf level, the loading platform 32 and the support platform 62 on the shelf level are disposed at the same height position, and the object 10 is transferred only between the loading platform 32 and the support platform 62. When the loading platform 32 is located on the second shelf level, the loading platform 32 and the support platform 62 on the shelf level and the conveyor 16 are disposed at the same height position, and the object 10 is transferred not only between the loading platform 32 and the support platform 62, but also between the loading platform 32 and the conveyor 16. In this example, the loading section and the unloading section are provided separately. In the following, when it is necessary to distinguish between the entrance section and the delivery section, the entrance section and the delivery section will be described separately, and when it is not necessary to distinguish between the entrance section and the delivery section, the entrance section and the delivery section will be described together.

[0027] The conveyor 16 is a so-called roller conveyor, and is configured such that a plurality of rollers 17a are rotatably supported in parallel on a frame portion 17f. At one end of the conveyor 16 on the side of the mounting table 32, the plurality of rollers 17a are aligned in a direction from the conveyor 16 to the mounting table 32. Some or all of the plurality of rollers 17a are driven to rotate by a motor as drive rollers. With an object 10 placed on the conveyor 16, the drive roller is driven to rotate, so that the object 10 on the conveyor 16 moves in the horizontal direction toward or away from the mounting table 32.

[0028] The support base 62 is a so-called roller conveyor, and is configured such that a plurality of rollers 63a are rotatably supported in parallel on a frame portion 63f. The plurality of rollers 63a are aligned in a direction from the support base 62 toward the mounting base 32. Some or all of the plurality of rollers 63a are driven to rotate by a motor as drive rollers. With the object 10 placed on the support base 62, the drive rollers are driven to rotate, whereby the object 10 on the support base 62 moves in the horizontal direction toward or away from the mounting base 32.

[0029] The lifting device 30 includes a mounting table 32, a lifting mechanism 34, and an adsorption portion 36.

[0030] The lifting device 30 is provided on each of the entrance side and the exit side. On each of the entrance side and the exit side, the object 10 is transferred from the upstream equipment relative to the mounting platform 32 to the lifting device 30. Also, on each of the entrance side and the exit side, the lifting device 30 transfers the transferred object 10 to the downstream equipment relative to the mounting platform 32. In this disclosure, the transfer of the object 10 from the upstream equipment relative to the mounting platform 32 to the lifting device 30 may be referred to as "carrying in," and the transfer of the object 10 from the lifting device 30 to the downstream equipment relative to the mounting platform 32 may be referred to as "carrying out." Also, on the entrance side, the upstream equipment and downstream equipment relative to the mounting platform 32 are the entrance conveyor 16 and the entrance transfer device 60, respectively. Also, on the exit side, the upstream equipment and downstream equipment relative to the mounting platform 32 are the exit transfer device 60 and the exit conveyor 16, respectively. Therefore, the upstream equipment with respect to the mounting table 32 is the warehousing conveyor 16 or the warehousing transfer device 60. In addition, the downstream equipment with respect to the mounting table 32 is the warehousing transfer device 60 or the warehousing conveyor 16.

[0031] The mounting table 32 is a portion that is raised and lowered by the lifting mechanism 34 while supporting the object 10. In this embodiment, the mounting table 32 is a so-called roller conveyor, and is configured such that a plurality of rollers 33a are supported rotatably in parallel on a frame portion 33f. The plurality of rollers 33a are aligned in a direction from the mounting table 32 toward the support table 62. Some or all of the plurality of rollers 33a are driven to rotate by a motor as driving rollers. When the object 10 on the support table 62 is sent to the mounting table 32, the driving rollers are driven to rotate, so that the object 10 moves to a position away from the support table 62. For example, the object 10 moves to a position such that its center of gravity is as close to the center of the mounting table 32 as possible.

[0032] In this embodiment, the placement table 32 has a size capable of placing one object 10 thereon, and the support table 62 has a size capable of placing multiple (e.g., two) objects 10 thereon. If the support table 62 is capable of placing multiple (e.g., two) objects 10 thereon, the multiple objects 10 transferred from the placement table 32 can be temporarily supported on the support table 62 until they are taken in by the moving conveying body 40. This further improves the operating efficiency of the lifting device 30 and the moving conveying body 40. The placement table 32 and the support table 62 may have any size. The placement table 32 may have a size capable of supporting multiple objects 10, and the support table 62 may have a size capable of supporting one object 10.

[0033] In the present embodiment, an example has been described in which the object 10 is transferred between the mounting table 32 and the conveyor 16, or between the mounting table 32 and the support table 62, by the driving roller of the rollers 17a, 33a, 63a, but this is not necessarily required. For example, the object 10 may be pushed by a pusher or the like that can advance and retreat by driving an actuator, and the object 10 may be transferred between the mounting table 32 and the conveyor 16, or between the mounting table 32 and the support table 62. In this case, at least one of the end of the conveyor 16, the mounting table 32, and the support table 62 may not be a conveyor, but may simply be a plate.

[0034] As described above, when the object 10 is transferred from the mounting table 32 to the downstream equipment, a transfer mechanism such as a conveyor or a pusher is used. When the height at which the object 10 is taken in from the upstream equipment is different from the height at which the taken-in object 10 is delivered to the downstream equipment, the mounting table 32 moves up and down toward the downstream equipment after the object 10 is transferred from the upstream equipment to the mounting table 32. At this time, if the object 10 floats off the mounting table 32 while the mounting table 32 is moving up and down, the object 10 may tilt or shift from an appropriate position. In this case, during the transfer of the object 10 from the mounting table 32 to the downstream equipment or during the transfer of the object 10 in the equipment downstream of the mounting table 32, the object 10 may interfere with surrounding members, and the transfer operation may not be performed properly. Furthermore, if the object 10 floats off the platform 32 while the platform 32 is rising or falling, the floating object 10 may hit the platform 32 when the platform 32 stops, causing an impact on the object 10. In that case, the object 10 may require additional packaging that has impact resistance to absorb the impact.

[0035] The suction unit 36 ​​suctions the object 10 placed on the mounting table 32 in at least one direction, and holds the object 10 in an appropriate state on the mounting table 32. The suction unit 36 ​​may suction the object 10 placed on the mounting table 32 in at least one direction. The suction direction may be a vertical direction or a horizontal direction. When the suction unit 36 ​​suctions from a plurality of suction directions, the combination of the plurality of suction directions may be both up and down in the vertical direction, may be a plurality of horizontal directions, or may be a combination of the horizontal direction and the vertical direction. In this embodiment, the suction unit 36 ​​is provided at a position where it can suction the bottom surface of the object 10. The suction unit 36 ​​is an example of a bottom suction unit. The appropriate state is a state suitable for transfer to downstream equipment, and in this embodiment, it is a state before lifting. In other words, the appropriate state of the object 10 may be defined by at least one of the position and posture of the object 10.

[0036] More specifically, the suction portion 36 is provided between the rollers 33a and the mounting table 32. The suction portion 36 is a portion that suctions the object 10 by negative pressure, and has a pad portion 36a that spreads in a dish shape. The suction portion 36 may have a bellows portion 36b that is connected to the small diameter side opening of the pad portion 36a (see Figs. 5, 7, and 8). The pad portion 36a and the bellows portion 36b may be formed of an elastic material such as rubber. The suction portion 36 may be a part called a suction pad. The suction portion 36 is connected to a vacuum pump 38 via a pipe 39a. A negative pressure is generated in the suction portion 36 by the suction of the vacuum pump 38, and the object 10 is sucked by this negative pressure. The suction portion does not need to be configured to perform suction by suction of a vacuum pump or the like. For example, the suction portion may be configured such that the suction portion suctions the object 10 by pressing the object 10 against a dish-shaped suction cup portion, and the suction cup portion is deformed into a flat state by driving an actuator or the like to release the suction state.

[0037] The suction unit 36 ​​is supported by the mounting table 32 in a position in which the large diameter side opening of the pad portion 36a faces vertically upward. Therefore, when the object 10 moves from the upstream equipment toward the mounting table 32, it faces the large diameter side opening of the pad portion 36a. Then, by generating a negative pressure within the pad portion 36a, the object 10 is sucked onto the pad portion 36a.

[0038] In this embodiment, the suction portion 36 in its natural state where no negative pressure is generated waits at a position below the placement surface. The suction portion 36 in its natural state is located at a position away from the direction perpendicular to the movement direction of the object 10 being transferred toward the placement table 32, and the object 10 can move forward and backward on the placement surface without interfering with the suction portion 36. Then, by generating negative pressure in the pad portion 36a while the object 10 is positioned above the pad portion 36a, the pad portion 36a can be stretched and deformed toward the object 10. This causes the peripheral portion of the large diameter side opening of the pad portion 36a to come into contact with the object 10 on the placement surface, and a state of suction between the object 10 and the suction portion 36 can be created.

[0039] The suction portion 36 is formed to be expandable and retractable. When a gap is present between the pad portion 36a and the suction surface of the object 10 and negative pressure is applied between the pad portion 36a and the suction surface, the suction portion 36 expands and can be attached to the suction surface. Here, the suction portion 36 is made of an elastic material such as rubber, and thus is expandable and retractable. Furthermore, the suction portion 36 is provided with a bellows portion 36b, and thus is expandable and retractable.

[0040] A state in which there is a gap between the pad portion 36a and the suction surface of the object 10 may be assumed, for example, when the suction portion 36 is provided away from the suction surface, when the suction surface is not flat, etc.

[0041] As an example of a case where the suction unit 36 ​​is provided apart from the suction surface, the suction unit 36 ​​may be provided below the placement surface of the placement table 32. In this case, the suction unit 36 ​​does not protrude on the transport trajectory of the object 10. As an example of a case where the suction unit 36 ​​is provided apart from the suction surface, the suction surface of the object 10 may be located higher than the placement surface of the placement table 32. For example, a case where the bottom surface of the object 10 has a recess that is recessed vertically upward, the edge of the recess contacts the placement surface, and the bottom of the recess serves as the suction surface, may be assumed. In this case, the suction unit 36 ​​may or may not protrude on the transport trajectory of the object 10 (on the transport trajectory of the edge of the recess). In either case, when the suction portion 36 is provided below the mounting surface of the mounting table 32, or when the suction surface of the object 10 is located higher than the mounting surface of the mounting table 32, the suction portion 36 can be prevented from protruding too far onto the transport trajectory of the object 10, and the suction portion 36 can be prevented from getting in the way when the object 10 is loaded and unloaded.

[0042] In addition, as an example of a case where the suction surface is not flat, it is possible to imagine a case where the suction surface is originally curved. In addition, as an example of a case where the suction surface is not flat, it is possible to imagine a case where the object 10 includes a storage member and an object stored in the storage member, and the suction surface set on the surface of the storage member is deformed by the object. For example, if the storage member is a material with a relatively low rigidity such as cardboard, the suction surface set on the surface of the storage member is likely to be deformed by the object.

[0043] There may be one or more suction parts 36. Here, a plurality of suction parts 36 (three in the figure) are provided so as to be aligned at intervals along a horizontal direction intersecting with the moving direction of the object 10 on the mounting table 32 and two horizontal directions perpendicular to the moving direction. Therefore, the object 10 transferred to the mounting table 32 is likely to be suctioned by at least one of the plurality of suction parts 36.

[0044] 3, when the object 10 is rectangular in plan view and has a side surface parallel to the direction of movement, it is preferable that the object 10 be adsorbed by two or more of the multiple adsorption parts 36. This allows the diagonal parts of the bottom surface of the object 10 to be adsorbed, and the state of the adsorbed object 10 is likely to be maintained in an appropriate state.

[0045] The mounting table 32 may also be provided with a position sensor for detecting the proper position of the object 10. The position sensor may be an optical sensor. Depending on the physical properties of the object 10, other types of position sensors such as a magnetic sensor or an inductive proximity sensor may also be used.

[0046] Fig. 5 is a functional block diagram of the automated warehouse 20 and the lifting device 30. Fig. 5 shows functional blocks focusing on the function when transferring the object 10 from an upstream facility (the incoming conveyor 16 or the outgoing transfer device 60) via the lifting device 30 to a downstream facility (the incoming transfer device 60 or the outgoing conveyor 16).

[0047] As shown in the figure, the control unit 90 is configured by a computer including a processor 92 such as a CPU (Central Processing Unit), a storage unit 93, and the like. The storage unit 93 is configured by a non-volatile storage device such as a flash memory or a hard disk device. The processor 92 controls operations related to storage and retrieval of the automated warehouse 20 by performing processing according to a program 93a prestored in the storage unit 93. A part of the operations related to storage and retrieval of the automated warehouse 20 is an operation when transferring an object 10 from an upstream facility (the storage conveyor 16 or the retrieval transfer device 60) to a downstream facility (the storage transfer device 60 or the retrieval conveyor 16) via the lifting device 30. The processor 92 may be a single-core processor or a multi-core processor. The processing by the control unit 90 may be performed by a single computer or by multiple computers connected to each other.

[0048] The control unit 90 is connected to the conveyor 16, the lifting device 30, and the transfer device 60 so as to be able to communicate with each other. Under the control of the control unit 90, the transfer operation in the conveyor 16, the lifting operation, the suction operation and the transfer operation in the lifting device 30, and the transfer operation in the transfer device 60 are controlled. When the lifting device 30 is provided with a position sensor or the like, the detection outputs of the various sensors are output to the control unit 90.

[0049] The vacuum pump 38 is connected to the suction unit 36 ​​of the mounting table 32 via a pipe 39a. In the mounting table 32, an electromagnetic valve 39b and a pressure sensor 39c are provided on the pipe 39a. The electromagnetic valve 39b is, for example, an electromagnetic valve having three ports connected to the vacuum pump 38, the suction unit 36, and the outside space, and capable of switching the port on the suction unit 36 ​​side between a port on the vacuum pump 38 side and a port on the outside space side. By switching the port on the suction unit 36 ​​side to the port on the vacuum pump 38 side, the vacuum pump 38 sucks the space in the suction unit 36, generating negative pressure in the suction unit 36, and the suction unit 36 ​​is in a state in which it can suck the object 10. By switching the port on the suction unit 36 ​​side to the port on the outside space side, the space in the suction unit 36 ​​is opened to the outside space, and the suction state is released. The pressure sensor 39c is, for example, a sensor that detects the pressure in the pipe 39a between the electromagnetic valve 39b and the suction unit 36. When the suction portion 36 sucks the object 10, it becomes difficult for the outside air to be sucked through the suction portion 36, and the pressure detected by the pressure sensor 39c becomes smaller.

[0050] The pipe 39a extends from the outside of the mounting table 32 toward the mounting table 32. The pipe 39a is provided, for example, in parallel with wiring that supplies power to electrical devices (for example, the driving roller of the roller 33a, the solenoid valve 39b, various sensors, etc.) provided on the mounting table 32. The pipe 39a and the wiring (hereinafter referred to as the pipes 39a, etc.) have a first portion 39a1, a second portion 39a2, and a third portion 39a3 from one end position on the mounting table 32 side toward the other end outside the mounting table 32. The first portion 39a1 is a portion supported by the mounting table 32. The first portion 39a1 moves up and down in accordance with the vertical movement of the mounting table 32. The third portion 39a3 is a portion closer to the other end side along the extension direction of the pipes 39a, than the first portion 39a1. The third portion 39a3 is supported by the support column 31 or the like at an intermediate position along the height direction of the lifting device 30. The third portion 39a3 is stationary with respect to the lifting and lowering movement of the mounting table 32. The second portion 39a2 is a portion between the first portion 39a1 and the third portion 39a3 along the extension direction of the pipes 39a. The second portion 39a2 deforms in accordance with the lifting and lowering movement of the first portion 39a1.

[0051] Specifically, here, the second portion 39a2 extends downward from the first portion 39a1 and the third portion 39a3, respectively, and is in a hanging state. The second portion 39a2 is provided with a curved portion that is curved in a U-shape. As the first portion 39a1 moves up and down, the second portion 39a2 is deformed so that the position of the curved portion transitions to the first portion 39a1 side or the third portion 39a3 side along the extension direction of the second portion 39a2. For example, in the state of FIG. 3, the position of the curved portion is located near the third portion 39a3 along the extension direction of the second portion 39a2. When the mounting table 32 moves down from this state, the position of the curved portion transitions to the first portion 39a1 side along the extension direction of the second portion 39a2. This allows the mounting table 32 to move up and down while maintaining a proper state of being connected to the piping 39a.

[0052] In the example shown in FIG. 3, a cable carrier is attached to the second portion 39a2. The cable carrier includes a plurality of link mechanisms. Adjacent link mechanisms among the plurality of link mechanisms are connected to be capable of relative rotation. As the first portion 39a1 moves up and down, the link mechanisms among the plurality of link mechanisms that rotate relatively and the amount of relative rotation change. This prevents the second portion 39a2 from bending when the curved portion of the second portion 39a2 undergoes deformation in transition. This prevents the pipe 39a from bending, thereby preventing the flow path in the pipe 39a from becoming narrow or blocked.

[0053] The solenoid valve 39b and the pressure sensor 39c are connected to the control unit 90. The control unit 90 can control the solenoid valve 39b based on the detection output of the pressure sensor 39c. The control unit 90 has a function as an adsorption control unit that controls the adsorption operation of the adsorption unit 36. The adsorption control unit controls the adsorption unit 36 ​​to be in an adsorbed state at least when the object 10 transferred to the mounting table 32 reaches an appropriate position, and to be in a released state at least when the object 10 is transferred from the mounting table 32 to another location (here, the support table 62 or the conveyor 16).

[0054] A more specific description will now be given of an example of the suction operation performed by the control unit 90. FIG 6 is a flow chart showing an example of the suction operation process performed by the control unit 90.

[0055] In step S1, in the equipment upstream of the loading platform 32, a lifting command is given to the lifting device 30 according to the carry-in height of the stage where the next item 10 to be received by the loading platform 32 is located. That is, in the storing process, a lifting command is given to the lifting device 30 so that it moves to a position at the same carry-in height as the storing conveyor 16 that supported the item 10 to be stored. Also, in the unloading process, a lifting command is given to the lifting device 30 so that it moves to a position at the same carry-in height as the support platform 62 that supported the item 10 to be unloaded.

[0056] In the next step S2, it is determined whether or not the platform 32 is located at the carry-in height based on the operation signal of the lifting device 30. If the determination is NO, this process is repeated, and if it is determined that the platform 32 is located at the carry-in height, the process proceeds to the next step S3.

[0057] In the next step S3, the control unit 90 issues a transfer command to the equipment upstream of the mounting table 32 and the mounting table 32. As a result, the rollers of the equipment upstream of the mounting table 32 (the rollers 17a of the conveyor 16 in the storing process, and the rollers 63a of the support table 62 in the unloading process) and the driving rollers among the rollers 33a of the mounting table 32 are rotated, and the object 10 moves from the equipment upstream of the mounting table 32 toward the mounting table 32.

[0058] In the next step S4, it is determined whether or not the object 10 is located at the placement position on the placement table 32. If the determination is NO, the present process is repeated, and if it is determined that the object 10 is located at the placement position, the process proceeds to the next step S3.

[0059] For example, in the next step S4, whether or not the object 10 is located at the placement position on the placement table 32 may be determined based on the detection output of the position sensor to determine whether or not the object 10 is detected. The position sensor is provided in a part of the path along which the object 10 moves from the upstream side to the downstream side on the placement table 32. For example, the detection of the object 10 by the position sensor may be based on the side surface of the object 10 facing the downstream side. That is, in the placement table 32, the position sensor is provided at a downstream position along the movement direction of the object 10. Then, when the position sensor detects the object 10, the side surface of the object 10 facing the downstream side is located beyond the position sensor on the downstream side. As a result, it is determined that the object 10 is located at the placement position on the placement table 32. Also, for example, the detection of the object 10 by the position sensor may be based on the side surface of the object 10 facing the upstream side. That is, in the placement table 32, the position sensor is provided at an upstream position along the movement direction of the object 10. Then, when the position sensor detects the object 10 once, it is determined that the side surface of the object 10 facing the downstream side has passed the position sensor on the downstream side. After that, the object 10 continues to be detected until it passes the position sensor, and when the object 10 passes the position sensor, the detection signal is discontinued. In this case, the side surface of the object 10 facing the upstream side has passed the position sensor on the downstream side. This determines that the object 10 is located at the placement position on the placement table 32.

[0060] Also, for example, the determination in step S4 as to whether or not the object 10 has been placed at the placement position on the placement table 32 may be made based on an operation signal of the drive roller, etc. In other words, the drive conditions (e.g., drive time, etc.) for the drive roller to position the object 10 from the upstream equipment to a predetermined placement position on the placement table 32 during carrying-in may be determined in advance, and the determination as to whether or not the object 10 has been placed at the placement position on the placement table 32 may be made as to whether or not the drive conditions have been achieved.

[0061] In step S5, the control unit 90 issues a command to the solenoid valve 39b so that the suction unit 36 ​​performs the suction operation. The solenoid valve 39b switches the valve body so that the vacuum pump 38 and the suction unit 36 ​​are connected via the pipe 39a. As a result, the space inside the suction unit 36 ​​is sucked by the vacuum pump 38. At this time, in this embodiment, a negative pressure is created between the pad portion 36a and the suction surface on the bottom surface of the object 10 with a gap between the pad portion 36a and the suction surface. Then, by creating a negative pressure, the pad portion 36a expands and is adsorbed to the suction surface.

[0062] In step S6, it is determined whether or not the object 10 has been suctioned. That is, when the object 10 is placed at the placement position and is suctioned by the suction unit 36, the opening of the suction unit 36 ​​is closed by the suction surface of the object 10. Therefore, the air pressure between the suction unit 36 ​​and the solenoid valve 39b approaches a vacuum state, and the pressure detected by the pressure sensor 39c decreases. The presence or absence of suction by the suction unit 36 ​​is determined when the pressure detected by the pressure sensor 39c becomes equal to or less than a predetermined reference value. When multiple suction units 36 are provided on the placement table 32, the pressure sensor 39c may be provided for each of the multiple suction units 36, or one pressure sensor 39c common to the multiple suction units 36 may be provided. In the former case, the presence or absence of suction may be determined by comparing all the detection values ​​by the multiple pressure sensors with a reference value. If it is determined in step S6 that the object 10 has not been suctioned, this step S6 is repeated, and if it is determined that the object 10 has been suctioned, the process proceeds to step S7.

[0063] In step S7, a lift command is given to the lift device 30 in accordance with the position of the unloading height. In the storing process, when the item 10 is taken into the platform 32, a planned storage position of the item 10 is determined by referring to a database that has been generated and updated in advance. In step S7, a lift command is given to the lift device 30 in accordance with the determined planned storage position. That is, a lift command is given to the lift device 30 so that the platform 32 supporting the item 10 to be stored moves to a position of the unloading height corresponding to the planned storage position. Also, in step S7 in the unloading process, a lift command is given to the lift device 30 so that the platform 32 supporting the item 10 to be unloaded moves to a position of the unloading height corresponding to the unloading conveyor 16.

[0064] In the next step S8, it is determined whether or not the platform 32 is at the unloading height based on the operation signal of the lifting device 30. If the determination is NO, this process is repeated, and if it is determined that the platform 32 is at the unloading height, the process proceeds to the next step S9.

[0065] In step S9, the control unit 90 issues a command to the solenoid valve 39b to release the suction unit 36. The solenoid valve 39b switches the valve body so that the space inside the suction unit 36 ​​is connected to the outside space. This releases the space inside the suction unit 36 ​​to the outside space, and the suction state of the object 10 by the suction unit 36 ​​is released. At this time, the pad portion 36a returns from the stretched state to its natural state, and the opening periphery of the pad portion 36a retreats below the placement surface. In addition, since the object 10 itself is placed on the placement table 32, the object 10 maintains the above-mentioned appropriate position and appropriate posture even when the suction by the suction unit 36 ​​is released.

[0066] In the next step S10, the control unit 90 issues a transfer command to the mounting table 32 and the downstream equipment. As a result, the roller 33a of the mounting table 32 and the driving roller among the rollers 17a, 63a of the downstream equipment are rotated, and the object 10 moves from the mounting table 32 toward the downstream equipment. At this time, the opening periphery of the pad portion 36a is retracted below the mounting surface, so that the object 10 moving on the mounting table is prevented from interfering with the pad portion 36a.

[0067] The suction unit 36 ​​is turned off during the completion of steps S1 to S3. That is, the suction unit 36 ​​is turned off when the mounting table 32 on which the object 10 is not placed is moved up and down in step S1, and when the object 10 is carried into the mounting table 32 in step S3. Then, by going through steps S4 to S6, the suction unit 36 ​​performs suction. Thereafter, in step S7, the mounting table 32 on which the object 10 is placed is moved up and down. For this reason, the suction unit 36 ​​is controlled to be in an adsorbed state at least at the timing when the mounting table 32 on which the object 10 is placed starts to be moved up and down.

[0068] Furthermore, the suction unit 36 ​​is turned on during the period from step S7 to the completion of S8. That is, the suction unit 36 ​​is turned on when the mounting table 32 on which the object 10 is placed is moved up and down in step S7. Then, by going through step S9, the suction by the suction unit 36 ​​is released. Thereafter, in step S10, the object 10 is transported from the mounting table 32 to downstream equipment. For this reason, the suction unit 36 ​​is controlled so as to be in the released state at least at the timing when the object 10 is transported from the mounting table 32.

[0069] According to the lifting device 30 configured in this manner and the automated warehouse 20 equipped with the same, the object 10 placed on the mounting platform 32 is attracted by the suction portion 36, thereby preventing the object 10 and the mounting platform 32 from moving relative to each other during lifting. This makes it possible to maintain the object 10 in an appropriate state during lifting and lowering in the lifting device 30. For example, this prevents the object 10 from floating up on the mounting platform 32, tipping over, or becoming displaced.

[0070] The appropriate state may be an appropriate position for the next process, for example, for transferring the object 10 to the downstream equipment, the incoming support table 62 or the outgoing conveyor 16. This allows the object 10 to be smoothly transferred from the placement table 32 to the incoming support table 62 or the outgoing conveyor 16.

[0071] In particular, consider a case where the moving speed of the object 10 in the lifting device 30 is increased in order to increase the speed of the object 10 entering and leaving the warehouse. In this case, the faster the moving speed of the object 10, the greater the acceleration or the longer the acceleration time, which makes it easier for the object 10 to float up, shift from a predetermined position, or tilt. Depending on the state of the object 10, it is also possible to stop the operation of the lifting device 30 and have a person manually eliminate the improper state of the object 10. In this case, the operation of the entire automated warehouse 20 may be stopped due to the stop of the operation of the lifting device 30. In addition, even if the lifting device 30 can transport the object 10 to the downstream equipment without any problems, an error may occur in the downstream equipment based on a deviation in the posture of the object 10 caused by the lifting device 30.

[0072] By adsorbing the object 10 in an appropriate state by the suction unit 36 ​​as described above, the object 10 can be maintained in an appropriate state during lifting and lowering, and the object 10 is less likely to float or tilt excessively. In addition, the floating object 10 is prevented from colliding with the mounting table 32 when the mounting table 32 stops, so damage to the object 10 and the lifting device 30 is also reduced. Furthermore, the object 10 can be maintained in an appropriate state in the lifting device 30, and the automated warehouse 20 is prevented from stopping due to an error based on the state of the object 10 in the lifting device 30.

[0073] Furthermore, by controlling the suction operation of the suction unit 36 ​​by the control unit 90, the suction unit 36 ​​can easily suction the object 10 at an appropriate timing during the lifting operation of the lifting device 30. For example, the suction and release states can be controlled in accordance with the movement timing of the object 10, and the object 10 can be transferred smoothly.

[0074] For example, the control unit 90 may control the suction unit 36 ​​so that the suction unit 36 ​​is in an adsorbed state at least when the mounting table 32 on which the object 10 is placed starts to rise or fall, and is in a released state at least when the object 10 is carried out from the mounting table 32. This allows the suction unit 36 ​​to adhere to the object 10 before acceleration occurs in the stationary mounting table 32, and more reliably maintains the posture of the object 10 during the lifting or lowering. In addition, the suction unit 36 ​​can be prevented from interfering with the work of carrying out the object 10 from the mounting table 32.

[0075] In addition, since the suction portion 36 includes a pad portion 36a that generates a negative pressure between the object 10 and the pad portion 36a and adsorbs to the object 10, restrictions on the material of the object 10 are reduced, and various types of object 10 can be adsorbed by the suction portion 36.

[0076] In addition, the pad portion 36a is formed to be expandable, so that when a negative pressure is applied between the pad portion 36a and the adsorption surface of the object 10 with a gap therebetween, the pad portion 36a expands and can be adsorbed to the adsorption surface. This allows the pad portion 36a to be adsorbed to the object 10 even if the adsorption portion 36 is provided away from the adsorption surface or the adsorption surface is not flat.

[0077] In addition, a plurality of rollers 33a are provided for carrying the object 10 onto the mounting table 32 and carrying the object 10 out of the mounting table 32, and the suction unit 36 ​​is provided between the plurality of rollers 33a. This allows the suction unit 36 ​​and the rollers 33a for carrying in and out to coexist.

[0078] Moreover, the suction portion 36 is a bottom suction portion provided at a position where it can suction the bottom surface of the object 10. As a result, the bottom surface of the object 10 is suctioned to the suction portion 36, thereby maintaining the posture of the object 10. Since the object 10 is placed on the placement platform 32, the suction surface of the bottom surface of the object 10 often contacts the placement surface or is only located slightly above the placement surface. For this reason, the suction portion 36 makes it easy to suction various types of object 10.

[0079] {Variation} FIG. 9 is a partial side view showing a first modified example of the lifting device 30. As shown in FIG.

[0080] In the embodiment, an example has been described in which the suction unit 36 ​​is provided at a position where it does not come into contact with the object 10 moving on the mounting table 32, but this is not necessarily required. As in the lifting device 130 of the example shown in FIG. 9, the suction unit 36 ​​may be provided at a position where it comes into contact with the object 10 moving on the mounting table 32. In this case, the suction unit 36 ​​is preferably provided so as to be elastically deformable in a direction away from the object 10 when it comes into contact with the object 10 when the object 10 is carried into the mounting table 32 or carried out from the mounting table 32. This makes it difficult for the suction unit 36 ​​to interfere with the carrying in and carrying out of the object 10, even if a part of the suction unit 36 ​​protrudes to a position where it comes into contact with the object 10 when the object 10 is carried in and carried out. In addition, the suction unit 36 ​​can properly adhere to the object 10 during the suction operation.

[0081] Specifically, the suction portion 36 of this example includes a pad portion 36a and a bellows portion 36b, and is formed of an elastic material such as rubber, similar to the suction portion 36 described above. The suction portion 36 is arranged such that the tip of the pad portion 36a protrudes vertically upward from the placement surface. Therefore, the tip of the pad portion 36a may come into contact with the object 10 when the object 10 is carried in and out. The suction portion 36 is elastically deformable vertically downward because the suction portion 36 itself is an elastic body. When the suction portion 36 comes into contact with the object 10 moving on the placement surface, it elastically deforms vertically downward, and is therefore unlikely to interfere with the carrying in and out of the object 10.

[0082] In cases where the suction surface of the object 10 is located higher than the bottommost part of the object 10 (e.g., a frame), if the suction part 36 is located below the placement surface, a large stroke is required for the suction part 36 to be stretched significantly when it adheres to the suction surface. In contrast, as in this example, if the tip of the suction part 36 protrudes to a position where it will come into contact with the object 10 and can be retracted when it comes into contact with the object 10, a large stroke is not required for the suction part 36 to be adhered to the suction surface.

[0083] The suction portion 36 may be provided so as to be elastically deformable in a direction away from the object 10 by being supported by an elastic body such as a spring.

[0084] FIG. 10 is a plan view showing a second modified example of the lifting device 30. As shown in FIG.

[0085] In the embodiment, an example has been described in which the suction portion 36 suctions the bottom surface of the object 10, but this is not necessarily required. The suction portion 36 may suction the side surface or the top surface of the object 10. The example shown in Fig. 10 illustrates a lifting device 230 in which the suction portion 36 is a side suction portion that suctions the side surface of the object 10. As a result, the side surface of the object 10 is suctioned to the side suction portion, thereby maintaining the posture of the object 10.

[0086] 10, the suction unit 36 ​​is provided so as to be suctioned to a side surface of the object 10 that faces a direction intersecting the movement direction. For example, the mounting table 32 may be provided with a frame 37 that supports the suction unit 36.

[0087] As the suction portion 36, both the bottom suction portion shown in FIG. 7 and the side suction portion shown in FIG. 10 may be provided.

[0088] In addition, in the embodiment, the lifting command is issued to the lifting device 30 when the suction unit 36 ​​detects the suction of the object 10, but this is not necessarily required. For example, the lifting command may be issued after a predetermined time has elapsed after the suction command in step S5. In this case, the predetermined time may be set to be, for example, a time longer than the time required for the suction unit 36 ​​to reach the suction state after the suction command (hereinafter referred to as the suction response time). The suction response time is a value determined depending on the performance of the vacuum pump 38, the size of the flow path in the pipe 39a, the size of the pad portion 36a, etc., and can be obtained empirically or experimentally. Also, for example, when the suction response time is short, the suction command and the lifting command may be issued at the same timing.

[0089] In the embodiment, the configuration in which the attraction unit 36 ​​attracts the object 10 by negative pressure has been described, but this is not necessarily the case. The attraction unit may be configured to attract the object 10 by magnetic force, such as an electromagnet. In this case, the object 10 may be made of an attractable material (iron, etc.) that can be attracted by magnetic force, or such an attractable material may be attached to the object 10.

[0090] In the embodiment, the vacuum pump 38 is used to create a negative pressure in the pad portion 36a, but this is not necessarily required. For example, compressed air may be fed to the pad portion 36a to create a negative pressure using the Venturi law. In this case, the vacuum pump is also called an ejector.

[0091] In addition, in the embodiment, the suction portion 36 itself can be extended or shortened to change the distance from the object 10, but this is not necessarily required. For example, the pad portion 36a may be configured to move toward or away from the object 10 by a moving mechanism. That is, when the pad portion 36a adheres to the bottom surface of the object 10 as in the embodiment, the moving mechanism may support the pad portion 36a so that it can move along the vertical direction. Such a moving mechanism may be any type, and may be, for example, an actuator such as a cylinder or a ball screw.

[0092] In addition, in this embodiment, the movable transport body 40 transfers the object 10 between the lifting device 30 and the moving transport body 40 via the transfer device 60, but this is not necessarily required. For example, the automated warehouse 20 may be configured so that the transfer device 60 is omitted and the lifting device 30 and the movable transport body 40 directly transfer the object 10.

[0093] In addition, when transferring object 10 from the upstream equipment to the downstream equipment, if the lifting device 30 does not rise and fall, that is, if the loading platform 32 is interposed between the conveyor 16 and the support platform 62 at the same height as the conveyor 16 to transfer object 10, steps S4 to S9 may be omitted.

[0094] Also, when the difference in height between the upstream equipment where the object 10 to be brought in is located and the downstream equipment from which the object 10 is transported is small, i.e., when the distance to be moved up and down in the vertical direction in the lift command in step S7 is short, steps S4 to S6 may be omitted. Specifically, for example, when the shelves 52 are provided in multiple stages, and the difference in height between the upstream equipment where the object 10 to be brought in is located and the downstream equipment from which the object 10 is transported is equal to or less than half the height of the multiple shelves 52, steps S4 to S6 may be omitted. Also, for example, when the shelves 52 are provided in seven stages or more, and the difference in height between the upstream equipment where the object 10 to be brought in is located and the downstream equipment from which the object 10 is transported is equal to or less than three stages, steps S4 to S6 may be omitted.

[0095] Furthermore, it is not necessary for the suction unit 36 ​​to operate both when the platform 32 on which the object 10 is placed is rising and when it is falling. The suction unit 36 ​​may be configured to operate only when the platform 32 on which the object 10 is placed is rising, or may be configured to operate only when the platform 32 on which the object 10 is placed is falling. Steps S4 to S6 may be omitted, and the suction unit 36 ​​may not operate either when the platform 32 on which the object 10 is placed is rising or when it is falling.

[0096] In addition, it is not necessary to provide the suction unit 36 ​​in both the entrance lifting device 30 and the outgoing lifting device 30. The suction unit 36 ​​may be provided only in the entrance lifting device 30, or the suction unit 36 ​​may be provided only in the outgoing lifting device 30.

[0097] Furthermore, the receiving conveyor 16 and the outgoing conveyor 16 do not need to be at the same height. The receiving conveyor 16 may be disposed at a higher position than the outgoing conveyor 16, and the outgoing conveyor 16 may be disposed at a higher position than the receiving conveyor 16.

[0098] The configurations described in the above embodiment and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0099] The present specification and drawings disclose the following aspects.

[0100] The first aspect is a lifting device that raises and lowers an object, comprising a platform on which an object is placed, a lifting mechanism that raises and lowers the platform, and an adsorption portion that adsorbs the object placed on the platform.

[0101] According to this lifting device, the object placed on the platform is attracted to the suction unit, thereby preventing the object and the platform from moving relative to each other during lifting. This allows the object to be held in an appropriate state during lifting in the lifting device. For example, this prevents the object from floating up, falling over, or shifting out of position on the platform.

[0102] In a second aspect, the lifting device according to the first aspect further includes a control unit that controls a suction operation of the suction unit, which makes it easier for the suction unit to suction an object at an appropriate timing during the lifting operation of the lifting device.

[0103] A third aspect is the lifting device according to the second aspect, in which the control unit controls the suction unit so that the suction unit is in an adsorbed state at least when the lifting or lowering of the stage on which the object is placed starts, and is in a released state at least when the object is carried out from the stage. This allows the suction unit to adhere to the object before acceleration occurs on the stationary stage, and more reliably maintains the position of the object during lifting or lowering. In addition, the suction unit can be prevented from interfering with the work of carrying out the object from the stage.

[0104] A fourth aspect is the lifting device according to any one of the first to third aspects, in which the suction unit includes a pad unit that generates a negative pressure between the pad unit and the object to suction the object. This allows various objects to be suctioned by the pad unit.

[0105] In a fifth aspect, in the lifting device according to the fourth aspect, the suction part is formed to be expandable and contractible, and when a gap is present between the pad part and the suction surface of the object and a negative pressure is applied between the pad part and the suction surface, the suction part expands and can be attached to the suction surface. This allows the suction part to be attached to the object even if the suction part is provided away from the suction surface or the suction surface is not flat.

[0106] A sixth aspect is a lifting device according to any one of the first to fifth aspects, in which the suction portion is provided so as to be elastically deformable in a direction away from the object when it comes into contact with the object when the object is carried in or removed from the placement table. This makes it difficult for the suction portion to interfere with the carrying in or removal of the object even if a part of the suction portion protrudes to a position where it comes into contact with the object when the object is carried in or removed. In addition, the suction portion can properly adhere to the object during the suction operation.

[0107] A seventh aspect is the lifting device according to any one of the first to sixth aspects, wherein a plurality of rollers are provided for carrying the object onto the stage and carrying the object out from the stage, and the suction unit is provided between the plurality of rollers, thereby allowing the suction unit and the rollers for carrying the object in and out to coexist.

[0108] An eighth aspect is the lifting device according to any one of the first to seventh aspects, in which the suction portion includes a bottom suction portion provided at a position capable of suctioning a bottom surface of the object, whereby the bottom surface of the object is suctioned to the bottom suction portion, thereby maintaining the posture of the object.

[0109] A ninth aspect is the lifting device according to any one of the first to eighth aspects, in which the suction parts include side suction parts provided at positions capable of suctioning a side surface of the object, whereby the side surface of the object is suctioned to the side suction parts, thereby maintaining the posture of the object.

[0110] The automated equipment of the tenth aspect is an automated equipment comprising: a lifting device of any one of the first to ninth aspects; a movable conveying body that transfers the object between the lifting device and the lifting device and moves the object along a horizontal direction; and a storage shelf in which a plurality of storage spaces are formed and aligned along the movement direction of the movable conveying body.

[0111] According to the tenth aspect, an object can be maintained in an appropriate state in a lifting device in the automated equipment, and the automated equipment is prevented from being stopped due to an error based on the state of the object in the lifting device.

[0112] 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]

[0113] 10 Things 20 Automated Warehouse 30 Lifting device 32 Placement table 33a Lola 34 Lifting mechanism 36 Adsorption part 36a Pad section 36b Bellows section 40 Mobile carrier 50 Storage Shelf 52 Shelf 60 Transfer equipment 62 Support stand 90 Control section

Claims

1. A lifting device for lifting and lowering an object, A platform on which an object is placed; a lifting mechanism for lifting and lowering the mounting table; a suction unit that suctions the object placed on the placement table; Equipped with The placement table is provided with a plurality of rollers for carrying the object onto the placement table and carrying the object out of the placement table, The suction portion is provided between the rollers, The lifting device, wherein the suction portion includes a bottom suction portion provided at a position capable of suctioning the bottom surface of an object.

2. The lifting device according to claim 1, The lifting device further includes a control unit that controls a suction operation of the suction unit.

3. The lifting device according to claim 2, The control unit controls the suction unit so that the suction unit is in an adsorption state at least at the timing when the lifting or lowering of the stage on which the object is placed begins, and so that the suction unit is in a released state at least at the timing when the object is transported out of the stage.

4. The lifting device according to any one of claims 1 to 3, A lifting device, wherein the suction portion includes a pad portion that generates negative pressure between the pad portion and the object to adsorb the object.

5. The lifting device according to claim 4, The suction portion is formed to be expandable and contractible, A lifting device in which, when a gap is present between the pad portion and an adsorption surface of the object and negative pressure is applied between the pad portion and the adsorption surface, the adsorption portion extends and is capable of adsorbing to the adsorption surface.

6. The lifting device according to any one of claims 1 to 5, The suction portion is provided so as to be elastically deformable in a direction away from the object when it comes into contact with the object when the object is carried in or removed from the placement table.

7. The lifting device according to any one of claims 1 to 6, A lifting device, wherein the suction portion includes a side suction portion provided at a position capable of suctioning the side of an object.

8. A lifting device according to any one of claims 1 to 7; a moving conveying body that transfers the object between the lifting device and the moving conveying body and moves the object along a horizontal direction; a storage shelf having a plurality of storage spaces arranged along the moving direction of the moving conveyor; Equipped with automated equipment.

Images