Container handling equipment

Abstract

To realize a container conveyance facility which enables improvement of conveyance efficiency.SOLUTION: A container conveyance facility F includes: a transport vehicle 100 which transports containers each configured to enable stacking in a vertical direction; storage shelves 8 for storing the containers; and a work area 9A at which object work is conducted. A stacking storage area 6A is provided in a place other than the work area 9A and the storage shelves 8. The stacking storage area 6A includes: an arrangement area 60 in which a plurality of stacking container groups Gc can be arranged; a second delivery part 62 where delivery of the stacking container groups Gc is performed between itself and a support part; and a container group transport device which performs take-out operation in which the stacking container groups Gc are moved from the arrangement area 60 to the second delivery part 62 and take-in operation in which the stacking container groups Gc are moved from the second delivery part 62 to the arrangement area 60.SELECTED DRAWING: Figure 1

Description

Technical Field

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[0001] The present invention relates to a container conveying facility including a conveying vehicle configured to be stackable in the vertical direction for conveying containers, a storage shelf for storing the containers, and a work area where a target operation, which is at least one of an operation of taking out an article from the container and an operation of putting an article into the container, is performed.

Background Art

[0002] Such a facility constitutes a part of a logistics system. In the logistics system, the demand for which has been increasing in recent years, various devices have been made to achieve smooth logistics.

[0003] As one of such devices, for example, in Japanese Patent Application Laid-Open No. 2001-297140 (Patent Document 1), articles with a high frequency of incoming and outgoing in the articles handled by the facility are stored at a position where they can be taken out more easily than articles with a low frequency of incoming and outgoing. Thereby, an improvement in the conveying efficiency within the facility can be expected. However, Patent Document 1 does not disclose a specific configuration for improving the conveying efficiency.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In view of the above situation, it is desired to realize a container conveying facility capable of improving the conveying efficiency.

Means for Solving the Problems

[0006] A container transport system comprising: a transport vehicle for transporting containers configured to be stackable in the vertical direction; storage shelves for storing the containers; and a work area where at least one of the operations of removing articles from the containers and loading articles into the containers is performed, Each of the storage shelves is provided with multiple shelves in the vertical direction to support the containers, and is configured to store multiple containers separately from each other. The aforementioned transport vehicle is A moving vehicle and A support unit mounted on the aforementioned traveling body supports a plurality of the containers as a stacked container group, which is a group of containers in a stacked state, A first transfer device mounted on the traveling body, which transfers the containers between the storage rack and the stacked container group supported by the support section, A second transfer device mounted on the aforementioned traveling body for transferring the stacked container group, Equipped with, The work area is provided with a first transfer section where the stacked containers are transferred between the support section and the work area. A stacking storage area is provided in a location separate from the aforementioned work area and storage shelves. The aforementioned stacking storage area is A layout area in which multiple stacked container groups can be arranged, A second transfer section where the stacked container group is transferred between the support section and the second transfer section, The system includes a container group transport device that performs an retrieval operation to move the stacked container group from the arrangement area to the second transfer unit, and an intake operation to move the stacked container group from the second transfer unit to the arrangement area.

[0007] This configuration allows for the temporary storage of stacked containers in the stacked storage area. Therefore, by storing specific containers, such as those scheduled for transport to the work area or those frequently transported to the work area, in the stacked storage area, the frequency of operations required by the transport vehicle to return containers to or from storage shelves can be reduced. This makes it easier to improve the efficiency of container transport by the transport vehicle. Furthermore, with this configuration, since the stacked containers are stored in the stacked storage area, multiple stacked containers can be transferred at once between the support section of the transport vehicle and the second transfer section of the stacked storage area. In addition, the stacked containers are also transferred at the first transfer section of the work area. Therefore, these aspects also make it easier to improve the efficiency of container transport by the transport vehicle.

[0008] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0009] [Figure 1] Plan view of container handling equipment [Figure 2] Front view of the storage shelf [Figure 3] Control block diagram [Figure 4] View of the transport vehicle in the direction of its body width [Figure 5] Plan view showing the first and second positions of the transfer device. [Figure 6] Diagram showing the transfer operation to the stacking area. [Figure 7] Diagram showing the transfer operation to the stacking area. [Figure 8] Diagram showing the transfer operation to the stacking area. [Figure 9] Diagram showing the holding part in the holding area. [Figure 10] Plan view showing the transfer of stacked containers between the transport vehicle and the holding unit. [Figure 11] Perspective view of the stacking storage area [Figure 12] Diagram showing the operation of the gripping mechanism [Figure 13] Figure showing the separation operation of containers by the container group transfer device [Figure 14] Figure showing the combination operation of containers by the container group transfer device [Figure 15] Figure showing an example of the transfer destination of the stacked container group by the transfer vehicle [Figure 16] Plan view of the container transfer facility according to the second embodiment

Mode for Carrying Out the Invention

[0010] 〔First Embodiment〕 First, a first embodiment of the container transfer facility will be described.

[0011] As shown in FIG. 1, the container transfer facility F includes a transfer vehicle 100 that transfers a container C (see FIG. 2), a storage shelf 8 that stores the container C, and a work area 9A where a target operation, which is at least one of an operation of taking out an article (not shown) from the container C and an operation of putting an article into the container C, is performed. In the present embodiment, the container transfer facility F includes a storage area 8A. A plurality of storage shelves 8 are provided in the storage area 8A. The container transfer facility F further includes a control device H that controls the transfer vehicle 100. In this specification, the control device H corresponds to a "control system". However, the control device H only needs to constitute at least a part of the control system. The control device H is configured to communicate with a transfer vehicle control unit (not shown) mounted on each of the plurality of transfer vehicles 100 (see also FIG. 3).

[0012] The container C is configured to be able to contain an article. The container C has an open upper shape. The article is put into or taken out from the inside of the container C through the upper opening of the container C. The article includes, for example, various commodities such as foodstuffs and daily necessities, or parts and work-in-progress used in a factory production line or the like. One container C is configured to contain the same type of article.

[0013] Container C is configured to be stackable vertically when it contains items inside (see Figure 4, etc.). Multiple containers C are stacked vertically to form a stacked container group Gc. In this example, the bottom of one container C fits into the opening of another container C from above, thereby stacking two containers C vertically.

[0014] The work area 9A is provided with a first transfer section 91 where the stacked container group Gc is transferred between the support section 2 (see Figure 4) of the transport vehicle 100. Containers C are loaded and unloaded at the first transfer section 91. The transport vehicle 100 transports the containers C loaded into the first transfer section 91 to the storage rack 8, or transports containers C stored in the storage rack 8 to the first transfer section 91 for unloading.

[0015] In this embodiment, the work area 9A is provided with a separation device 90 for separating each container C that constitutes the stacked container group Gc. The stacked container group Gc, which has been handed over to the first handover section 91, is separated into multiple containers C by the separation device 90. In the work area 9A, operations such as removing items from each of the separated containers C and loading items into each of the containers C are performed. However, the separation device 90 is not an essential component. Separating each container C from the stacked container group Gc may be done manually.

[0016] In this embodiment, multiple storage shelves 8 are arranged parallel to each other with a predetermined interval between them. Each of the multiple storage shelves 8 has at least an open front, through which containers C are loaded and unloaded. In this example, a pair of storage shelves 8 are arranged close together with their backs facing each other. Multiple pairs of these pairs of storage shelves 8 with their backs facing each other are arranged in the storage area 8A.

[0017] A portion of the transport vehicle's travel path is set to extend along each of the multiple storage shelves 8. In this embodiment, the path of the transport vehicle 100 extending along the storage shelves 8 is defined as the shelf area path R8. By being able to travel along the shelf area path R8, the transport vehicle 100 can move within the storage area 8A and transfer containers C to the storage shelves 8. In this example, the shelf area path R8 is provided along the front of each of the multiple storage shelves 8 (the side where containers C are loaded and unloaded). Between a pair of storage shelves 8 that are arranged with their fronts facing each other, one shelf area path R8 is shared.

[0018] As shown in Figure 2, the storage rack 8 is configured to store multiple containers C in a separated manner, with multiple shelves 80 arranged vertically, each supporting a container C. Multiple shelves 80 are provided on each level. Each of the multiple shelves 80 can store one container C.

[0019] As shown in Figure 3, the control device H is configured to communicate with the transport vehicle 100. The control device H is configured to issue transport commands to the transport vehicle 100 specifying the container C to be transported, as well as the source and destination of the container C. The control device 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.

[0020] The control device H is configured to manage containers C that are transported to the work area 9A at a frequency equal to or greater than a first threshold, based on the type of items contained in each container C, as Type 1 containers C1, and containers C whose frequency is less than the first threshold but equal to or greater than a second threshold, as Type 2 containers C2. In this embodiment, the control device H is configured to manage containers C that are transported to the work area 9A at a frequency less than the second threshold, as general containers C3. The above transport frequency can also be rephrased as the number of planned transports.

[0021] The first and second thresholds are set based on the level of necessity for performing the target operation (item retrieval or item loading) in the work area 9A. Of the first type container C1, second type container C2, and general container C3, the first type container C1, which is transported to the work area 9A most frequently and is above the first threshold, can be said to have the highest necessity for performing the target operation in the work area 9A among these various types of container C. The next most necessary container for performing the target operation is the second type container C2, which is transported to the work area 9A less frequently than the first threshold but above the second threshold. Among these various types of container C, the one with a relatively low necessity for performing the target operation is the general container C3, which is transported to the work area 9A less frequently than the second threshold.

[0022] In this embodiment, the control device H is configured to periodically review the management of Type 1 containers C1 and Type 2 containers C2. In addition, in this example, the control device H is also configured to periodically review the management of general containers C3. As a result, a container C that was previously determined to be a Type 1 container C1 may be changed to a Type 2 container C2 or a general container C3. The same applies to Type 2 containers C2 and general containers C3; they may be changed to a different type of container C through a review of management by the control device H. The cycle for reviewing management should be determined appropriately according to the use, capacity, and scale of the container transport equipment F.

[0023] Next, the configuration of the transport vehicle 100 will be described in detail. In the following, the direction in which the vehicle body 10 travels will be referred to as the "vehicle body longitudinal direction L," and the direction perpendicular to the vehicle body longitudinal direction L when viewed from above and below will be referred to as the "vehicle body width direction W."

[0024] As shown in Figure 4, the transport vehicle 100 is configured to transport containers C that are stackable in the vertical direction.

[0025] The transport vehicle 100 comprises a mobile body 10, a support unit 2 mounted on the mobile body 10 that supports a plurality of containers C as a stacked container group Gc, a first transfer device 4 mounted on the mobile body 10 that transfers containers C between the storage rack 8 and the stacked container group Gc supported by the support unit 2, and a second transfer device 22 mounted on the mobile body 10 that transfers the stacked container group Gc. In this embodiment, the transport vehicle 100 further comprises a lifting device 3 mounted on the mobile body 10 that can lift some or all of the containers C of the stacked container group Gc supported by the support unit 2.

[0026] The running body 10 is configured to run on the floor. The running body 10 is equipped with a plurality of running wheels 11. The plurality of running wheels 11 include a pair of drive wheels 11a and a plurality of driven wheels 11b, which are spaced apart in the width direction W of the vehicle body.

[0027] Each of the pair of drive wheels 11a is driven independently by a wheel drive source (not shown), such as a motor. For example, by driving each of the pair of drive wheels 11a in opposite directions, the vehicle 10 can rotate in place around its vertical axis.

[0028] Each of the multiple driven wheels 11b is supported by the running body 10 so as to be rotatable around an axis that runs in the vertical direction. That is, the direction along which the axis of rotation of each driven wheel 11b aligns can be changed in the horizontal plane. In this example, each driven wheel 11b is configured as a caster.

[0029] The support section 2 is configured to support multiple containers C as a stacked container group Gc. The support section 2 can also support a single container C. In this embodiment, a stacking region 2A is defined above the support section 2 where the stacked container group Gc is arranged. The stacking region 2A is a three-dimensional virtual region extending upward from the support section 2.

[0030] The second transfer device 22 is configured to transfer the stacked container group Gc supported by the support section 2 along the vehicle width direction W. The second transfer device 22 is constructed using a conveyor. Such a conveyor may be a well-known conveyor such as a roller conveyor, chain conveyor, or belt conveyor. In this embodiment, the second transfer device 22 and the support section 2 are constructed integrally.

[0031] The lifting device 3 comprises a lifting mast 30 erected above the traveling body 10, a lifting body 30B connected to the lifting mast 30, a frame member 31 connected to the lifting body 30B, and a lifting body drive unit (not shown) that raises and lowers the lifting body 30B and the frame member 31 along the lifting mast 30. Detailed illustrations are omitted, but the lifting body drive unit is configured, for example, as a motor for rotationally driving a rotating body around which an endless body such as a belt is wound.

[0032] As shown in Figure 6, etc., in this embodiment, the lifting device 3 includes a first lifting and holding unit 311 that lifts a container C of any height within the stacked container group Gc stacked in the stacking area 2A relative to a container C adjacent to that container C, and a second lifting and holding unit 312 that lifts a container C lower than the container C lifted by the first lifting and holding unit 311 relative to a container C adjacent to that container C. The first lifting and holding unit 311 and the second lifting and holding unit 312 are supported by a frame member 31.

[0033] In this embodiment, the first lifting and holding part 311 and the second lifting and holding part 312 are arranged to be spaced apart in the vertical direction. This makes it possible to create vertical space between the container C lifted by the first lifting and holding part 311 and the container C lifted by the second lifting and holding part 312. Furthermore, it is possible to create vertical space below the container C lifted by the second lifting and holding part 312.

[0034] As shown in Figure 4, the first transfer device 4 includes a transfer mast 40 fixed to the traveling body 10 and arranged to follow the vertical direction, a transfer lifting body 40B that moves up and down along the transfer mast 40, and a transfer lifting body drive unit (not shown) that moves the transfer lifting body 40B up and down along the transfer mast 40. Detailed illustrations are omitted, but the transfer lifting body drive unit is configured as a motor for rotationally driving a rotating body around which an endless body such as a belt is wound.

[0035] In this embodiment, the first transfer device 4 comprises an upper transfer section 41, a lower transfer section 42 positioned below the upper transfer section 41, and a swivel device 5. The upper transfer section 41, the lower transfer section 42, and the swivel device 5 are connected to a transfer lifting body 40B. The upper transfer section 41 and the lower transfer section 42 move up and down together as the transfer lifting body 40B moves up and down, and rotate together around the vertical axis by the swivel device 5, and are configured to transfer containers C independently.

[0036] In this embodiment, the first transfer device 4 is configured to transfer the container C horizontally using an upper transfer section 41 and a lower transfer section 42. If the direction in which the container C is transferred by the first transfer device 4 is called the "transfer direction T", then in the example shown in Figure 4, the transfer direction T is equal to the vehicle's longitudinal direction L.

[0037] As shown in Figure 5, the first transfer device 4 is configured to change its orientation between a first orientation P1 facing the stacking area 2A and a second orientation P2 facing the storage rack 8 by rotating the upper transfer section 41 and the lower transfer section 42 around the vertical axis using a swivel device 5. Thus, in this embodiment, the transfer direction T can be changed in the horizontal plane by the swivel device 5.

[0038] In this embodiment, the first transfer device 4 changes its orientation according to the location of the transfer target. Specifically, the first transfer device 4 assumes a first orientation P1 when the transfer target is a stacking area 2A, and a second orientation P2 when the transfer target is a storage shelf 8 (shelf section 80). As shown in Figure 4, in this example, the slewing device 5 includes a slewing platform 50 that supports the upper transfer section 41 and the lower transfer section 42, a slewing shaft 51 that rotatably supports the slewing platform 50 with respect to the transfer lifting body 40B, and a slewing drive unit (not shown) that drives the slewing shaft 51.

[0039] Next, referring to Figures 6 to 8, the transfer operation when the first transfer device 4 transfers container C to and from the stacking area 2A will be described. The transfer operation includes a handover operation in which container C is handed over and a receiving operation in which container C is received. In the following, one side in the transfer direction T will be referred to as the "first transfer direction side T1" and the other side as the "second transfer direction side T2".

[0040] In this embodiment, the upper transfer unit 41 includes an upper pressing unit 41a that presses the container C toward the first transfer direction T1 when the container C is being handed over, and an upper locking unit 41b that locks onto the container C and pulls the container C toward the second transfer direction T2 when the container C is being received. Thus, in this embodiment, the upper transfer unit 41 is configured in a so-called push-pull type configuration. However, the upper transfer unit 41 is not limited to this configuration and may be configured in a fork type configuration.

[0041] Similarly, the lower transfer unit 42 includes a lower pressing unit 42a that presses the container C toward the first transfer direction T1 when the container C is being handed over, and a lower locking unit 42b that locks onto the container C and pulls the container C toward the second transfer direction T2 when the container C is being received. Thus, in this embodiment, the lower transfer unit 42 is configured in a so-called push-pull type. However, it is not limited to this configuration, and the lower transfer unit 42 may be configured in a fork type.

[0042] In this embodiment, the upper locking portion 41b and the lower locking portion 42b are each driven by a drive unit (not shown) and are configured to change their orientation between a locked position in which they are locked to the container C and an unlocked position in which they are not locked to the container C.

[0043] Figures 6 to 8 show the transfer operation of container C to the stacking area 2A. As described above, in this embodiment, the lifting device 3 makes it possible to create space in the vertical direction between multiple containers C stacked in the stacking area 2A. The first transfer device 4 then uses these spaces to transfer container C to the stacking area 2A. In this embodiment, the first transfer device 4 is configured to perform a handover operation and a receiving operation of container C to the stacking area 2A. The first transfer device 4 is capable of performing parallel operations, such as handing over and receiving container C to the stacking area 2A in parallel.

[0044] Figures 6 to 8 show an example where five containers C are stacked as a stacked container group Gc in the stacking area 2A. In the figures, the numbers "1 to 5" are assigned to each stacked container C in order from bottom to top. The letter "α" is assigned to the container C to be delivered, which is held by the upper transfer unit 41. In the example shown below, the lifting device 3 uses the space created vertically between the fifth container C (container "5") and the fourth container C (container "4") to transfer the container C to be delivered (container "α") onto the fourth container C (container "4"). In parallel with this, the lifting device 3 uses the space created below the fourth container C (container "4") to receive the third container C (container "3").

[0045] As shown in Figure 7, the first transfer device 4 moves the lower locking portion 42b in the locking position to the container C (container "3") in the second transfer direction T2. ​​Parallel to this, the first transfer device 4 moves the upper pressing portion 41a to the first transfer direction T1 while the upper pressing portion 41a is pressing the container C (container "α") held by the upper transfer portion 41. As a result, the lower locking portion 42b pulls the container C (container "3") to be received toward the second transfer direction T2, and the upper pressing portion 41a presses the container C (container "α") to be handed over toward the first transfer direction T1.

[0046] Then, the lower transfer unit 42 receives the container C (container "3") to be received, which is pulled in by the lower locking unit 42b, and the upper transfer unit 41 places the container C (container "α") to be delivered, which is pressed by the upper pressing unit 41a, above the container C (container "4") that has been lifted by the second lifting and holding unit 312, and fits it onto the container C (container "4"). As a result, the stacked container group Gc in the stacking area 2A is in the state shown in Figure 8. That is, some of the containers C (container "3") among the multiple containers C arranged in the stacking area 2A are replaced with new containers C (container "α").

[0047] In this way, the transport vehicle 100 can transform the stacked container group Gc supported by the support section 2 into a new stacked container group Gc by coordinating the lifting device 3 and the first transfer device 4. For example, the transport vehicle 100 can create a new stacked container group Gc using multiple containers C other than the removed container C by removing some of the containers C from the stacked container group Gc supported by the support section 2. For example, it is possible to create a stacked container group Gc consisting only of type 1 containers C1, or a stacked container group Gc consisting only of type 2 containers C2, or a stacked container group Gc consisting only of general containers C3.

[0048] As shown in Figure 1, in this embodiment, the container transport equipment F is located in the area between the storage rack 8 and the work area 9A, and further includes a holding area 7A equipped with a holding section 70 for holding a stacked container group Gc. Unlike the storage rack 8, which stores multiple containers C separately, the holding area 7A is an area capable of holding multiple containers C as a stacked container group Gc.

[0049] In this embodiment, the holding section 70 is configured to hold multiple stacked container groups Gc (see also Figure 9). The holding area 7A includes multiple such holding sections 70.

[0050] As shown in Figures 9 and 10, the holding section 70 is configured to allow the transfer of the stacked container group Gc between it and the support section 2 by the second transfer device 22 of the transport vehicle 100. In this embodiment, the holding section 70 is equipped with one or more third transfer devices 73. In the illustrated example, three third transfer devices 73 are provided in the holding section 70. In this example, the third transfer devices 73 are configured using conveyors. Such conveyors may be well-known conveyors such as roller conveyors, chain conveyors, or belt conveyors.

[0051] The third transfer device 73 of the holding unit 70 and the second transfer device 22 of the transport vehicle 100 are configured to transfer the stacked container group Gc to each other. In other words, in this embodiment, the second transfer device 22 of the transport vehicle 100 is configured to transfer the entire stacked container group Gc supported by the support unit 2 to the holding unit 70, and to transfer the entire stacked container group Gc held by the holding unit 70 to the support unit 2.

[0052] As shown in Figure 10, the stacked container group Gc to be transferred is transferred along the vehicle width direction W while the transport vehicle 100 is stopped at a position adjacent to the holding unit 70 in the vehicle width direction W. In this embodiment, the transport vehicle 100 and the holding unit 70 are configured to communicate with each other and cooperate in transferring the stacked container group Gc. For example, while the transport vehicle 100 is stopped at a position adjacent to the holding unit 70 in the vehicle width direction W, it transmits a transfer signal to the holding unit 70 indicating that it will transfer the stacked container group Gc, and activates the second transfer device 22. Upon receiving the transfer signal, the holding unit 70 activates the third transfer device 73. As a result, the third transfer device 73 of the holding unit 70 and the second transfer device 22 of the transport vehicle 100 exchange the stacked container group Gc with each other.

[0053] As shown in Figure 1, in this embodiment, the holding area 7A is located in the area between the storage shelf 8 and the work area 9A in the direction in which the storage shelf 8 extends, that is, in the direction in which the shelf area path R8 extends.

[0054] In this embodiment, the holding portion 70 of the holding area 7A is positioned along the connecting path R7 that connects the shelf area path R8 and the first handover portion 91 of the work area 9A. The shelf area path R8 and the connecting path R7 have a linear shape. In this example, multiple shelf area paths R8 are provided according to the number of storage shelves 8, and the same number of connecting paths R7 are provided as the number of shelf area paths R8. Each of the multiple holding portions 70 provided in the holding area 7A is positioned along one of the multiple connecting paths R7.

[0055] As shown in Figure 1, in the container transport equipment F according to this disclosure, a stacking storage area 6A is provided in a separate location from the work area 9A and the storage shelves 8. The stacking storage area 6A is an area capable of storing multiple stacked container groups Gc.

[0056] As shown in Figure 11, the stacked storage area 6A includes a placement area 60 where multiple stacked container groups Gc can be placed, a second transfer section 62 where stacked container groups Gc are transferred between the support section 2 of the transport vehicle 100, and a container group transport device 63 that performs an retrieval operation to move the stacked container groups Gc from the placement area 60 to the second transfer section 62, and an intake operation to move the stacked container groups Gc from the second transfer section 62 to the placement area 60.

[0057] In this embodiment, the stacking storage area 6A is configured to store individual containers C or stacked container groups Gc by placing them on the placement area 60. In this example, at least a portion of the floor surface in the stacking storage area 6A is designated as the placement area 60.

[0058] In the following, the configuration of the stacking storage area 6A will be described, with the X and Y directions being defined as directions that are perpendicular to each other and follow the horizontal plane.

[0059] As shown in Figures 11 and 12, in this embodiment, the container group conveying device 63 includes a gripping mechanism 630 for gripping containers C, an X-direction moving body 631X for moving the gripping mechanism 630 in the X direction, a Y-direction moving body 631Y for moving the gripping mechanism 630 in the Y direction, and a lifting mechanism 632 for raising and lowering the gripping mechanism 630 along the vertical direction.

[0060] In this embodiment, the container group transport device 63 includes a pair of fixed guide rails 631 fixed to the arrangement area 60. Each of the pair of fixed guide rails 631 extends along the Y direction and is spaced apart from each other in the X direction.

[0061] The Y-direction moving body 631Y is supported by a pair of fixed guide rails 631 and is configured to move the gripping mechanism 630 along the Y direction. The X-direction moving body 631X is supported by the Y-direction moving body 631Y and is configured to move the gripping mechanism 630 along the X direction. The lifting mechanism 632 is supported by the X-direction moving body 631X and is configured to move the gripping mechanism 630 up and down in the vertical direction.

[0062] In this embodiment, the X-direction moving body 631X is composed of a trolley that travels along a movable rail that constitutes the Y-direction moving body 631Y. The X-direction moving body 631X moves along the Y-direction moving body 631Y which extends along the X-direction.

[0063] The gripping mechanism 630 is supported by the X-direction moving body 631X. Therefore, as the X-direction moving body 631X moves along the X direction, the gripping mechanism 630 also moves along the X direction. Furthermore, as described above, this X-direction moving body 631X is supported by the Y-direction moving body 631Y. Therefore, as the Y-direction moving body 631Y moves along the Y direction, the gripping mechanism 630 also moves along the Y direction. In this way, the gripping mechanism 630 is configured to be movable along both the X and Y directions.

[0064] The lifting mechanism 632 is supported by the X-direction moving body 631X. Although detailed illustrations are omitted, the lifting mechanism 632 comprises a belt connected to the gripping mechanism 630 and a lifting drive unit (not shown) which drives the belt, for example, by a motor. The gripping mechanism 630 moves up and down as the belt is driven by the lifting drive unit. Thus, in this embodiment, the gripping mechanism 630 is supported by the X-direction moving body 631X via the lifting mechanism 632.

[0065] As shown in Figure 12, the gripping mechanism 630 includes a pair of gripping units 630U that move closer to or further apart from each other in the X direction. The gripping mechanism 630 enters a gripping state in which it grips the container C when the pair of gripping units 630U move closer to each other. The gripping mechanism 630 enters a non-gripping state in which it does not grip the container C when the pair of gripping units 630U move further apart from each other.

[0066] Each of the pair of gripping units 630U is supported by the X-direction moving body 631X via a lifting mechanism 632 so as to move up and down synchronously between a pair of rail sections 631Ya (see Figure 11) of the Y-direction moving body 631Y. Each of the pair of gripping units 630U comprises a pair of positioning members 630a arranged side by side in the Y direction and moving closer to or further away from each other in the Y direction, and a gripping member 630b positioned between the pair of positioning members 630a arranged side by side in the Y direction.

[0067] As the pair of gripping units 630U move closer together, the gripping devices 630b provided on each of the pair of gripping units 630U grip the container C from both sides. This grips the container C. Conversely, as the pair of gripping units 630U move further apart, the grip on the container C is released.

[0068] In this embodiment, the positioning device 630a is configured to position the container C by contacting its outer edge from the outside when the gripping mechanism 630 is gripping the container C. In this example, a pair of positioning devices 630a provided on each of the pair of gripping units 630U, i.e., a total of four positioning devices 630a, are configured to contact the four corners of the container C, which has a rectangular planar shape. In the illustrated example, the multiple positioning devices 630a are configured as columnar bodies with an L-shaped cross-section along the horizontal plane so as to match the shape of the outer edge of each of the four corners of the container C.

[0069] As shown in Figure 11, in this embodiment, the second transfer section 62 includes an unloading conveyor 621 for unloading the stacked container group Gc from the stacked storage area 6A, and an in-carrying conveyor 622 for transporting the stacked container group Gc into the stacked storage area 6A.

[0070] The stacked container group Gc, placed in the arrangement area 60 of the stacked storage area 6A, is transported to the discharge conveyor 621 by the container group transport device 63. The stacked container group Gc is then handed over to the transport vehicle 100, for example, by the discharge conveyor 621.

[0071] For example, a stack of containers Gc transported by the transport vehicle 100 to the input conveyor 622 is then transferred to the container group transport device 63 by the input conveyor 622. The stack of containers Gc is then transported to the placement area 60 by the container group transport device 63.

[0072] As shown in Figure 13, the container group conveying device 63 is configured to perform a separation operation to separate some containers C (multiple or one container C) from a single stacked container group Gc. By performing the separation operation, the container group conveying device 63 can create a stacked container group Gc consisting of any number of containers C. The container group conveying device 63 is configured to move some of the containers C separated from a single stacked container group Gc by the separation operation to a location different from where the stacked container group Gc is located.

[0073] In the example shown in Figure 13, the container group conveying device 63 separates the containers C of type "A" from a stacked container group Gc which consists of multiple containers C of type "A" and multiple containers C of type "B". The container group conveying device 63 then conveys the separated containers C (container type "A") to the second transfer unit 62. The containers C (container type "A") that have been conveyed to the second transfer unit 62 are then handed over to, for example, a transport vehicle 100, and transported by the transport vehicle 100 to the destination location.

[0074] As shown in Figure 14, the container group conveying device 63 is configured to perform a combination operation in which a stacked container group Gc or a single container C is combined with another stacked container group Gc or a single container C. By performing the combination operation, the container group conveying device 63 can create a stacked container group Gc consisting of any number of containers C. The container group conveying device 63 is configured to move the stacked container group Gc created by the combination operation.

[0075] In the example shown in Figure 14, the container group conveying device 63 combines a portion of a stacked container group Gc consisting of multiple containers C of type "A", a portion of a stacked container group Gc consisting of multiple containers C of type "B", and a portion of a stacked container group Gc consisting of multiple containers C of type "D" through a combination operation. The container group conveying device 63 then conveys the new stacked container group Gc created by the combination operation to the second transfer unit 62. The stacked container group Gc conveyed to the second transfer unit 62 is then handed over to, for example, a transport vehicle 100, and transported by the transport vehicle 100 to the destination location.

[0076] As shown in Figure 1, the holding area 7A is located between the storage area 8A where the storage shelves 8 are placed and the work area 9A. In this embodiment, the stacking storage area 6A is located adjacent to the holding area 7A.

[0077] In this embodiment, the placement area 60 is positioned away from the connection path R7. The second transfer section 62 is positioned along the connection path R7. This allows the stacked storage area 6A to be positioned in a location that does not obstruct the movement of the transport vehicle 100 traveling along the connection path R7, and that allows for the transfer of the stacked container group Gc to and from the transport vehicle 100 traveling along the connection path R7.

[0078] In this embodiment, the second transfer device 22 of the transport vehicle 100 is configured to transfer the entire stacked container group Gc supported by the support section 2 to the second handover section 62, and to transfer the entire stacked container group Gc held by the second handover section 62 to the support section 2.

[0079] With the transport vehicle 100 stopped at a position adjacent to the second transfer unit 62 in the vehicle width direction W, the stacked container group Gc to be transferred is transferred along the vehicle width direction W. In this embodiment, the transport vehicle 100 and the second transfer unit 62 are configured to communicate with each other and cooperate in transferring the stacked container group Gc. For example, with the transport vehicle 100 stopped at a position adjacent to the second transfer unit 62 in the vehicle width direction W, it transmits a transfer signal to the second transfer unit 62 indicating that it will transfer the stacked container group Gc, and operates the second transfer device 22. Upon receiving the transfer signal, the second transfer unit 62 operates the discharge conveyor 621 or the in-load conveyor 622. As a result, the second transfer unit 62 and the second transfer device 22 of the transport vehicle 100 transfer the stacked container group Gc to each other.

[0080] In this embodiment, the transport vehicle 100 is configured to transport the stacked container group Gc from the storage rack 8 to the work area 9A, transport the stacked container group Gc from the stacked storage area 6A to the work area 9A, and transport the stacked container group Gc from the holding area 7A to the work area 9A, based on commands from the control device H.

[0081] As shown in Figure 15, in this embodiment, the transport vehicle 100 is configured to transport a stacked container group Gc containing at least some Type 1 containers C1 to the holding area, or to transport a stacked container group Gc containing at least some Type 2 containers C2 but not all Type 1 containers C1 to the stacked storage area 6A, based on a command from the control device H. This allows Type 1 containers C1, which are frequently transported to the work area 9A, to be preferentially held in the holding area 7A. In addition, Type 2 containers C2, which are transported to the work area 9A less frequently than Type 1 containers C1 but still occur relatively frequently, can be preferentially stored in the stacked storage area 6A. Therefore, the stacked container group Gc containing each container C can be placed in an appropriate location according to the frequency with which each container C is transported to the work area.

[0082] In the example shown in Figure 15(a), the transport vehicle 100 supports a stacked container group Gc consisting of multiple Type 1 containers C1. In this case, the control device H issues a transport command to the transport vehicle 100, designating the storage area 7A as the destination for the stacked container group Gc. Based on the command from the control device H, the transport vehicle 100 transports the stacked container group Gc, consisting of multiple Type 1 containers C1, to the storage area 7A.

[0083] In the example shown in Figure 15(b), the transport vehicle 100 supports a stacked container group Gc consisting of multiple Type 2 containers C2. In this case, the control device H issues a transport command to the transport vehicle 100, specifying the destination of the stacked container group Gc as the stacked storage area 6A. Based on the command from the control device H, the transport vehicle 100 transports the stacked container group Gc, consisting of multiple Type 2 containers C2, to the stacked storage area 6A.

[0084] As described above, in this embodiment, the control device H is configured to periodically review the management of the first type container C1 and the second type container C2. In this example, the transport vehicle 100 is configured to transport the stacked container group Gc between the holding area 7A and the stacked storage area 6A based on a command from the control device H after the review of the management of the container C, and to swap the stacked container group Gc held in the holding section 70 of the holding area 7A with the stacked container group Gc stored in the stacked storage area 6A.

[0085] In other words, if, as a result of reviewing the management by the control device H, the stacked container group Gc held in the holding section 70 of the holding area 7A no longer includes Type 1 containers C1 but includes at least some Type 2 containers C2, the transport vehicle 100 transports the stacked container group Gc from the holding area 7A to the stacked storage area 6A.

[0086] Furthermore, if, as a result of the review of management by the control device H, the stacked container group Gc stored in the stacked storage area 6A includes at least a portion of the Type 1 container C1, the transport vehicle 100 will transport the stacked container group Gc from the stacked storage area 6A to the holding area 7A.

[0087] This configuration makes it possible to maintain a state in which appropriate stacked container groups Gc are stored in both the holding area 7A and the stacked storage area 6A for a long period of time.

[0088] [Second Embodiment] Next, a second embodiment of the container transport equipment F will be described. Unless otherwise specified, it is the same as the first embodiment described above.

[0089] As shown in Figure 16, in this embodiment, the container transport equipment F further includes an inter-area transport device 200 that transports the stacked container group Gc between the stacked storage area 6A and the work area 9A.

[0090] In this embodiment, the inter-area conveying device 200 is configured using a conveyor. The inter-area conveying device 200 forms a conveying path connecting the stacking storage area 6A and the work area 9A. In this example, this conveying path is formed to connect the stacking storage area 6A and the work area 9A without passing through the holding area 7A. In this example, the inter-area conveying device 200 includes an unloading section 201 for unloading the stacked container group Gc from the stacking storage area 6A, and an in-loading section 202 for loading the stacked container group Gc into the stacking storage area 6A. The conveying path formed by the inter-area conveying device 200 is in the shape of a loop, returning from the unloading section 201 through the work area 9A to the in-loading section 202.

[0091] The stacked container group Gc, unloaded from the unloading section 201, is handed over to the work area 9A, where the target work is performed. After the target work is completed in the work area 9A, the stacked container group Gc (or a single container C) is transported by the inter-area transport device 200 to the loading section 202. The stacked container group Gc (or a single container C) that has arrived at the loading section 202 is handed over to the stacked storage area 6A.

[0092] With this configuration, the stacked container group Gc in the stacked storage area 6A can be transported to the work area 9A without using the transport vehicle 100. In addition, the stacked container group Gc (or a single container C) in the work area 9A can be transported to the stacked storage area 6A without using the transport vehicle 100.

[0093] [Other Embodiments] Next, other embodiments will be described.

[0094] (1) In the above embodiment, an example was described in which the second transfer section 62 of the stacking storage area 6A is equipped with an outbound conveyor 621 and an inbound conveyor 622. However, the second transfer section 62 is not limited to such an example, and may be equipped with a platform on which the stacking container group Gc is simply placed.

[0095] (2) In the above embodiment, an example was described in which the stacking storage area 6A is located between the storage area 8A where the storage shelves 8 are arranged and the work area 9A. However, the embodiment is not limited to this example, and a part of the stacking storage area 6A may overlap with a part of the storage area 8A. With this configuration, containers C stored on the top shelf 80 of the storage shelf 8 can be received by the container group conveying device 63 in the stacking storage area 6A. Also, containers C stored in the stacking storage area 6A can be transferred to the top shelf 80 of the storage shelf 8 by the container group conveying device 63. This configuration in which the stacking storage area 6A is provided so as to partially overlap with the storage area 8A is also included in the statement that "the stacking storage area 6A is provided in a location separate from the work area 9A and the storage shelves 8".

[0096] (3) In the above embodiment, an example was described in which the shelf area path R8 and the connecting path R7 have a straight shape. However, the invention is not limited to this example, and at least one of the shelf area path R8 and the connecting path R7 may have a curved or bent shape.

[0097] (4) In the above embodiment, an example was described in which the second transfer device 22 is configured using a conveyor. However, the second transfer device 22 may be configured using a fork, or the second transfer device 22 may be configured using a robot arm.

[0098] (5) In the above embodiment, an example was described in which the third transfer device 73 is configured using a conveyor. However, the third transfer device 73 is not limited to such an example, and may be configured using, for example, a robot arm.

[0099] (6) In the above embodiment, an example was described in which the container transport equipment F is equipped with a holding area 7A. However, the container transport equipment F is not limited to such an example and may not be equipped with a holding area 7A.

[0100] (7) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as they do not cause any inconsistencies. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0101] [Summary of this embodiment] The following is a summary of this embodiment.

[0102] A container transport system comprising: a transport vehicle for transporting containers configured to be stackable in the vertical direction; storage shelves for storing the containers; and a work area where at least one of the operations of removing articles from the containers and loading articles into the containers is performed, Each of the storage shelves is provided with multiple shelves in the vertical direction to support the containers, and is configured to store multiple containers separately from each other. The aforementioned transport vehicle is A moving vehicle and A support unit mounted on the aforementioned traveling body supports a plurality of the containers as a stacked container group, which is a group of containers in a stacked state, A first transfer device mounted on the traveling body, which transfers the containers between the storage rack and the stacked container group supported by the support section, A second transfer device mounted on the aforementioned traveling body for transferring the stacked container group, Equipped with, The work area is provided with a first transfer section where the stacked containers are transferred between the support section and the work area. A stacking storage area is provided in a location separate from the aforementioned work area and storage shelves. The aforementioned stacking storage area is A layout area in which multiple stacked container groups can be arranged, A second transfer section where the stacked container group is transferred between the support section and the second transfer section, The system includes a container group transport device that performs an retrieval operation to move the stacked container group from the arrangement area to the second transfer unit, and an intake operation to move the stacked container group from the second transfer unit to the arrangement area.

[0103] This configuration allows for the temporary storage of stacked containers in the stacked storage area. Therefore, by storing specific containers, such as those scheduled for transport to the work area or those frequently transported to the work area, in the stacked storage area, the frequency of operations required by the transport vehicle to return containers to or from storage shelves can be reduced. This makes it easier to improve the efficiency of container transport by the transport vehicle. Furthermore, with this configuration, since the stacked containers are stored in the stacked storage area, multiple stacked containers can be transferred at once between the support section of the transport vehicle and the second transfer section of the stacked storage area. In addition, the stacked containers are also transferred at the first transfer section of the work area. Therefore, these aspects also make it easier to improve the efficiency of container transport by the transport vehicle.

[0104] The container group conveying device is preferably configured to perform a separation operation to separate some of the containers from one stacked container group, and a combination operation to combine one stacked container group or a single container with another stacked container group or a single container.

[0105] This configuration allows for the modification of the container combinations within a stacked container group located in the stacked storage area. This enables the creation of a new stacked container group within the stacked storage area with a different container combination than the one received from the transport vehicle, and allows the created stacked container group to be transferred from the second transfer unit to the transport vehicle. Consequently, it becomes easier to transport a stacked container group with appropriately combined containers to the work area according to the needs of the work area, thereby increasing the efficiency of work in the work area.

[0106] It is preferable to further provide an inter-area transport device for transporting the stacked container group between the stacked storage area and the work area.

[0107] This configuration allows for the transport of stacked containers from a stacked storage area to a work area without the use of a transport vehicle, and vice versa. Furthermore, the inter-area transport device can transport stacked containers together. Therefore, it is easier to improve the overall container transport efficiency of the container transport system.

[0108] The area between the storage rack and the work area is further provided with a holding area that has a holding section for holding the stacked containers, Preferably, the holding portion is configured to allow the stacked container group to be transferred between it and the support portion by the second transfer device.

[0109] This configuration allows for the storage of stacked containers within the storage area. Therefore, by storing specific containers, such as those scheduled for transport to the work area or those frequently transported to the work area, within the storage area, the frequency of operations required for transport vehicles to return containers to or from storage shelves can be reduced, thereby improving the efficiency of container transport by transport vehicles. Furthermore, because multiple containers are stored in a stacked state within the storage area, this configuration makes it easier to keep the floor area occupied by the storage area small.

[0110] The path of the transport vehicle extending along the storage shelf is defined as the path within the shelf area. The holding portion of the holding area is positioned along the connecting path between the shelf area path and the first transfer portion. The aforementioned arrangement area is located at a position outside the connection path. It is preferable that the second transfer section is positioned along the connection path.

[0111] This configuration allows the stacked storage area to be positioned in a location that does not obstruct the movement of transport vehicles traveling along the connecting path between the storage rack and the first transfer section, and that enables the transfer of stacked container groups with transport vehicles traveling along the said connecting path. Furthermore, this configuration allows transport vehicles traveling along the connecting path to appropriately transfer stacked container groups between the holding section of the holding area and the second transfer section of the stacked storage area.

[0112] The system further includes a control system for controlling the transport vehicle, Preferably, the transport vehicle performs the transport of the stacked containers from the storage rack to the work area, the transport of the stacked containers from the stacked storage area to the work area, and the transport of the stacked containers from the holding area to the work area, based on commands from the control system.

[0113] With this configuration, containers stored on storage shelves can be transported to the work area as a stacked container group by a transport vehicle. Furthermore, the transport vehicle can appropriately transport the stacked container group stored in the stacked storage area to the work area, and the stacked container group held in the holding area to the work area.

[0114] The system further includes a control system for controlling the transport vehicle, The control system is configured to manage containers as Type 1 containers if the frequency of transport to the work area is equal to or greater than a first threshold, and containers as Type 2 containers if the frequency is less than the first threshold but equal to or greater than a second threshold, based on the type of articles contained in each container. Preferably, the transport vehicle transports the stacked container group, which includes at least a portion of the first type containers, to the holding area, or transports the stacked container group, which does not include the first type containers but includes at least a portion of the second type containers, to the stacked storage area, based on a command from the control system.

[0115] This configuration allows for the priority storage of Type 1 containers, which are frequently transported to the work area, in the storage area. Furthermore, Type 2 containers, which are transported to the work area less frequently than Type 1 containers but still relatively frequently, can be prioritized for storage in the stacking storage area. Therefore, stacking container groups, including each type of container, can be placed in appropriate locations according to their transport frequency to the work area. This makes it easier to improve the efficiency of container transport by transport vehicles.

[0116] The control system periodically reviews the management of the first type container and the second type container. Preferably, the transport vehicle transports the stacked containers between the holding area and the stacked storage area based on a command from the control system after the management review, and exchanges the stacked containers held in the holding section of the holding area with the stacked containers stored in the stacked storage area.

[0117] This configuration allows for the maintenance of a state in which appropriate stacking containers are stored in both the holding area and the stacking storage area over a long period of time. [Industrial applicability]

[0118] The technology relating to this disclosure can be used in container transport equipment comprising: a transport vehicle for transporting containers configured to be stackable in the vertical direction; storage shelves for storing the containers; and a work area where at least one of the operations of removing articles from the containers and loading articles into the containers is performed. [Explanation of symbols]

[0119] F: Container handling equipment 100: Transport vehicle 10: Running body 2: Support part 22:Second transfer device 4:First transfer device 6A: Stacked storage area 60: Placement area 62:Second delivery department 63: Container group conveying device 7A: Holding area 70: Holding part 8A: Storage area 8: Storage shelves 80:Shelf 9A: Work area 91: 1st delivery department 200: Inter-area transport device C: Container C1: First class container C2: 2nd class container Gc: Stackable container group R7: Connection path R8: Route within shelf area

Claims

1. A container transport system comprising: a transport vehicle for transporting containers configured to be stackable in the vertical direction; storage shelves for storing the containers; and a work area where at least one of the operations of removing articles from the containers and loading articles into the containers is performed, Each of the storage shelves is provided with multiple shelves in the vertical direction to support the containers, and is configured to store multiple containers separately from each other. The aforementioned transport vehicle is A moving vehicle and A support unit mounted on the aforementioned traveling body supports a plurality of the containers as a stacked container group, which is a group of containers in a stacked state, A first transfer device mounted on the traveling body, which transfers the containers between the storage rack and the stacked container group supported by the support section, A second transfer device mounted on the aforementioned traveling body for transferring the stacked container group, Equipped with, The work area is provided with a first transfer section where the stacked containers are transferred between the support section and the work area. A stacking storage area is provided in a location separate from the aforementioned work area and storage shelves. The aforementioned stacking storage area is A layout area in which multiple stacked container groups can be arranged, A second transfer section where the stacked container group is transferred between the support section and the second transfer section, A container transport system comprising a container transport device that performs an retrieval operation to move the stacked container group from the arrangement area to the second transfer section, and an intake operation to move the stacked container group from the second transfer section to the arrangement area.

2. The container transport device according to claim 1, configured to perform a separation operation to separate some of the containers from one stacked container group, and a combination operation to combine one stacked container group or a single container with another stacked container group or a single container.

3. The container transport equipment according to claim 1, further comprising an inter-area transport device for transporting the stacked container group between the stacked storage area and the work area.

4. The area between the storage rack and the work area is further provided with a holding area that has a holding section for holding the stacked containers, The container transport equipment according to any one of claims 1 to 3, wherein the holding portion is configured to allow the transfer of the stacked container group between it and the support portion by the second transfer device.

5. The path of the transport vehicle extending along the storage shelf is defined as the path within the shelf area. The holding portion of the holding area is positioned along the connecting path that connects the shelf area path and the first transfer portion. The aforementioned arrangement area is located at a position outside the connection path. The container transport equipment according to claim 4, wherein the second transfer section is positioned along the connection path.

6. The system further includes a control system for controlling the transport vehicle, The container transport equipment according to claim 4, wherein the transport vehicle performs the transport of the stacked containers from the storage rack to the work area, the transport of the stacked containers from the stacked storage area to the work area, and the transport of the stacked containers from the holding area to the work area, based on a command from the control system.

7. The system further includes a control system for controlling the transport vehicle, The control system is configured to manage containers as Type 1 containers if the frequency of transport to the work area is equal to or greater than a first threshold, and containers as Type 2 containers if the frequency is less than the first threshold but equal to or greater than a second threshold, based on the type of articles contained in each container. The container transport equipment according to claim 4, wherein the transport vehicle transports the stacked container group, which includes at least a portion of the first type containers, to the holding area, or transports the stacked container group, which does not include the first type containers but includes at least a portion of the second type containers, to the stacked storage area.

8. The control system periodically reviews the management of the first type container and the second type container. The container transport equipment according to claim 7, wherein the transport vehicle transports the stacked container group between the holding area and the stacked storage area based on a command from the control system after the management review, and exchanges the stacked container group held in the holding part of the holding area with the stacked container group stored in the stacked storage area.

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