Conveying device

Abstract

To provide a conveyance device that easily maintains the correct posture of containers during the conveying operation of articles.SOLUTION: The conveyance device includes: a pressing portion Ba that presses a container in an unloading operation; a fastening portion Bb that is fastened to the container in a scooping operation; and a regulating portion Bc that is disposed on at least one side in the width direction relative to the pressing portion Ba and the fastening portion Bb to regulate vertical movement of the container in the unloading operation and the scooping operation. The regulating portion Bc includes an upper side holding portion Bcb that is positioned above a rib portion 74 and overlaps the rib portion 74 in the vertical direction view during the unloading operation and the scooping operation.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a conveying device for conveying containers.

Background Art

[0002] As this type of conveying device, for example, Japanese Patent No. 6337706 (Patent Document 1) discloses a transfer device for transferring goods.

[0003] The transfer device (2) disclosed in Patent Document 1 includes a loading portion (26) for placing the goods (10), and a slide arm (28) having a top portion (42) that reciprocates in the transfer direction of the goods (10). The transfer device (2) uses the reciprocating movement of the top portion (42) in the slide arm (28) to perform an unloading operation of transferring the goods (10) from the loading portion (26) to the racks (12a, 12b), and a scooping operation of transferring the goods (10) from the racks (12a, 12b) to the loading portion (26). Further, in the transfer device (2), the unloading operation and the scooping operation are performed with hooks (30, 32, 34, 36) engaged with the handles (14a, 14b) of the goods (10). Note that the reference numerals shown in parentheses above are those of Patent Document 1.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, when the object to be transferred is a container, for example, if the goods are unevenly distributed within the container, an imbalance in the transfer direction may occur in the center of gravity of the goods contained in the container. In such cases, tilting in the transfer direction may occur in the container during the unloading and scooping operations. When tilting in the transfer direction occurs in the container, locking devices such as hooks may detach from the container during the transfer operation, potentially hindering the transfer operation.

[0006] This invention has been made in view of the above circumstances, and aims to realize a conveying device that can easily maintain the correct orientation of a container during the transfer of articles. [Means for solving the problem]

[0007] In view of the above, one form of conveying device is: A conveying device for transporting containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device includes a pressing part that presses the container during the unloading operation, a locking part that engages with the container during the scooping operation, and a widthwise section relative to the pressing part and the locking part. Both beside Separated It is positioned to restrict the vertical movement of the container during the unloading and scooping operations. a pair The regulating part, the pressing part, the locking part, and a pair The system includes a transfer drive unit that integrally reciprocates the regulating unit along the transfer direction, The pressing portion and the locking portion are arranged side by side in the vertical direction when viewed in the transfer direction along the transfer direction. The locking portion is positioned on the lowering side in the transfer direction relative to the pressing portion. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The restricting portion includes an upper pressing portion that is positioned above the rib portion and overlaps with the rib portion when viewed in the vertical direction during the unloading operation and the scooping operation.

[0008] With this configuration, if the rear side of the container is about to lift above the front side during unloading or scooping, the movement of the rib that is trying to rise is restricted by the upper restraining part. Therefore, it is easier to maintain the correct posture of the container during unloading and scooping. As a result, even if there is an imbalance in the direction of transfer of the center of gravity of the items contained in the container, for example, the rear side of the container is less likely to lift up. In other words, this configuration makes it possible to realize a conveying device that can easily maintain the correct orientation of the container during the transfer of goods.

[0009] Furthermore, the conveying device described above, in one embodiment, is a conveying device for conveying containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part that presses the container during the unloading operation; a locking part that engages with the container during the scooping operation; a restricting part positioned on at least one side in the width direction relative to the pressing part and the locking part to restrict the vertical movement of the container during the unloading operation and the scooping operation; and a transfer drive unit that reciprocates the pressing part, the locking part, and the restricting part along the transfer direction. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The restricting portion includes an upper pressing portion that is positioned above the rib portion and overlaps with the rib portion when viewed in the vertical direction during the unloading operation and the scooping operation. The transfer device further includes a locking drive unit that drives the locking unit separately from the pressing unit to cause the locking unit to change its orientation. The locking portion, when driven by the locking drive unit while its relative position to the container is within a defined lockable range, rotates around an axis along the transfer direction, allowing it to change between a locked position in which it is inserted into the recess and an unlocked position where it is exiting the recess. During the scooping operation, the locking part is positioned in the locked position.

[0010] With this configuration, by changing the orientation of the locking part, it is easy to achieve both the state in which the locking part is inserted into the recess and the state in which the locking part is not inserted into the recess. Therefore, a series of movements can be smoothly performed, such as moving the locking part towards the lowering side in the transfer direction for the scooping operation, inserting the locking part into the recess, and moving the locking part towards the scooping side in the transfer direction to perform the scooping operation.

[0011] Furthermore, the conveying device described above, in one embodiment, is a conveying device for conveying containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part that presses the container during the unloading operation; a locking part that engages with the container during the scooping operation; a restricting part positioned on at least one side in the width direction relative to the pressing part and the locking part to restrict the vertical movement of the container during the unloading operation and the scooping operation; and a transfer drive unit that reciprocates the pressing part, the locking part, and the restricting part along the transfer direction. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The restricting portion comprises an upper pressing portion positioned above the rib portion and overlapping with the rib portion in a vertical view during the unloading and scooping operations, and a lower pressing portion positioned below the rib portion and overlapping with the rib portion in a vertical view during the unloading and scooping operations.

[0012] With this configuration, if the front of the container is about to lift above the rear of the container during the unloading or scooping operation, the downward movement of the rib is restricted by the lower retaining part. Therefore, it is easier to maintain the correct posture of the container during the unloading and scooping operation.

[0013] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0014] [Figure 1] Plan view of a conveying facility equipped with a conveying device [Figure 2] Front view of a container shelf [Figure 3] Front view of a container [Figure 4] Side view of a container [Figure 5] View of the vehicle body width direction of the conveying device [Figure 6] Plan view showing the first and second positions of the transfer device [Figure 7] View showing the transfer device as seen from the width direction orthogonal to the transfer direction [Figure 8] Perspective view showing the main part of the transfer machine [Figure 9] View showing the transfer machine and the rear part of the container as seen from the width direction orthogonal to the transfer direction [Figure 10] Explanatory view showing the scooping operation by the transfer device [Figure 11] Explanatory view showing the scooping operation by the transfer device [Figure 12] Explanatory view showing the scooping operation of the container by the transfer device with respect to the shelf part [Figure 13] An explanatory diagram showing the scooping operation of containers in a stacking area by a transfer device. [Figure 14] Diagram illustrating the unloading operation using a transfer device. [Figure 15] An explanatory diagram showing the operation of unloading containers from the shelves using a transfer device. [Figure 16] An explanatory diagram showing the unloading operation of containers from the stacking area using a transfer device. [Modes for carrying out the invention]

[0015] A conveying device is a device for transporting containers. The following describes embodiments of such a conveying device, using an example where the conveying device is installed in a container transport system.

[0016] As shown in Figure 1, the conveying equipment F includes a container rack 8 for storing containers 70 (see Figures 3 and 4) and an loading / unloading section 9 for loading and unloading containers 70. The conveying device 100 transports containers 70 loaded by the loading / unloading section 9 to the container rack 8, or transports containers 70 stored in the container rack 8 to the loading / unloading section 9 for unloading.

[0017] In this embodiment, multiple container shelves 8 are arranged parallel to each other with a predetermined interval between them. Each of the multiple container shelves 8 has at least one opening at the front, through which containers 70 are loaded and unloaded. A portion of the travel path R of the conveying device 100 is set between a pair of adjacent container shelves 8 that face each other. In addition, the container shelf 8 located at the very end of the multiple container shelves 8 provided in the conveying equipment F has its front facing outwards, and a portion of the travel path R is also set in the area along the front of this end container shelf 8. Furthermore, the conveying equipment F is provided with multiple loading / unloading sections 9, and a portion of the travel path R is also set in the area through each of the multiple loading / unloading sections 9.

[0018] The travel path R includes an internal shelf path Ra that extends along the front of the container shelf 8 in the direction of the container shelf 8's extension, and an external shelf path Rb that intersects the internal shelf path Ra outside the area where the container shelf 8 is located. The internal shelf path Ra is set corresponding to each of the multiple container shelves 8. In this embodiment, a portion of the travel path R set in the area between a pair of adjacent container shelves 8 facing each other, and a portion of the travel path R set in the area along the front of a container shelf 8 that is positioned with its front facing outward, correspond to the internal shelf path Ra. The external shelf path Rb is set to connect multiple internal shelf paths Ra. The external shelf path Rb is also set to pass through each of the multiple loading / unloading sections 9. In this embodiment, the portion of the travel path R other than the internal shelf path Ra corresponds to the external shelf path Rb.

[0019] [Container shelves] As shown in Figure 2, the container shelf 8 has multiple shelves 80 arranged vertically for storing containers 70. The shelves 80 are designated as the transfer target locations T when the containers 70 are transferred by the transfer device 4, which will be described later. In this embodiment, the container shelf 8 is constructed by combining multiple support members 81 and multiple beam members 82. The multiple beam members 82 are arranged at intervals in the vertical direction. A mounting member 83 for placing containers 70 is connected to each of the multiple beam members 82. In this example, the containers 70 are stored in the shelves 80 by being placed on a pair of mounting members 83. In addition, multiple sets of pairs of mounting members 83 are arranged in the shelves 80, so that multiple containers 70 can be stored in one shelf 80. In this example, the area between a pair of support members 81 adjacent in the left-right direction and between a pair of beam members 82 adjacent in the vertical direction, as shown in the front view in Figure 2, corresponds to the opening of the container shelf 8.

[0020] In this embodiment, a target section 82T is provided at a reference position 80P for storing the container 70 in the shelf section 80, which serves as a target for storing the container 70 at the reference position 80P. In this example, the target section 82T is provided on the beam member 82. One target section 82T is provided for each pair of mounting members 83. In the illustrated example, the target section 82T is formed by a hole formed in the beam member 82.

[0021] 〔container〕 As shown in Figure 3, the container 70 is formed in a box shape with an opening 71 that opens upward and a peripheral wall 72 that surrounds the internal space of the container 70. In this example, the outer shape of the container 70 when viewed from above is rectangular. Articles can be stored in the internal space surrounded by the peripheral wall 72, i.e., inside the container 70. Articles include, for example, various goods such as food products and household goods, or parts and work-in-progress used in factory production lines, etc.

[0022] In this embodiment, the container 70 is configured to be stacked with another container 70 while containing articles inside. That is, the containers 70 are configured to be stackable in the vertical direction (see also Figure 5). In this example, the container 70 has a fitting portion 77 that protrudes downward from its bottom. The fitting portion 77 of the container 70 is fitted from above into the opening 71 of the other container 70, thereby stacking the two containers 70 in the vertical direction.

[0023] The container 70 is configured to be transferred along a specific direction by a transfer device 4, which will be described later. If the direction in which the transfer device 4 transfers the container 70 is called the transfer direction X (see Figure 4), then the container 70 is moved along the transfer direction X by the transfer device 4. More specifically, when the transfer device 4 lowers the container 70 to the transfer target location T, the container 70 moves toward one side in the transfer direction X (hereinafter referred to as the "transfer direction lowering side X1"). When the transfer device 4 scoops the container 70 toward the transfer target location T, the container 70 moves toward the other side in the transfer direction X (hereinafter referred to as the "transfer direction scooping side X2").

[0024] The portion of the container 70 facing the unloading side X1 in the transfer direction is defined as the container front portion 70F, and the portion of the container 70 facing the scooping side X2 in the transfer direction is defined as the container rear portion 70R (see Figure 4). As shown in Figure 2, the container 70 is stored in the shelf portion 80 with the container rear portion 70R facing the front side of the container shelf 8.

[0025] As shown in Figures 3 and 4, in this embodiment, the container 70 is provided with a plurality of ribs that protrude outward from the peripheral wall portion 72. Some of the plurality of ribs are lifting ribs 73 that are lifted by the lifting device 3, which will be described later. In this example, the lifting ribs 73 are formed on the upper part of the peripheral wall portion 72. The lifting ribs 73 are also formed around the entire circumference of the portion of the peripheral wall portion 72 that surrounds the opening 71. Some of the plurality of ribs are transfer ribs 74 that are lifted during the transfer operation by the transfer device 4, which will be described later. In this example, the transfer ribs 74 are formed below the lifting ribs 73. The transfer ribs 74 are provided on the rear surface portion 70R of the container. In this example, the transfer ribs 74 are provided on both the rear surface portion 70R and the front surface portion 70F of the container. In this embodiment, the rear surface portion 70R and the front surface portion 70F of the container have the same configuration. In other words, the transfer rib portion 74 is formed to protrude toward the scooping side in the transfer direction and to extend horizontally along the rear surface of the container. In this embodiment, the transfer rib portion 74 corresponds to the "rib portion".

[0026] The rear surface 70R of the container is provided with a recess 75 that opens downward. In this embodiment, the recess 75 opens vertically downward. The recess 75 is formed on the surface of the container 70 where the transfer rib portion 74 is provided (in this example, the rear surface 70R and the front surface 70F of the container). In this example, the container 70 is provided with a locking wall portion 76 that protrudes outward from the peripheral wall portion 72 and extends downward between the lifting rib portion 73 and the transfer rib portion 74 in the vertical direction, and the recess 75 is formed between this locking wall portion 76 and the peripheral wall portion 72. The locking wall portion 76 is the part to which the locking portion Bb (see Figure 9) is locked during the transfer operation by the transfer device 4, as will be described later.

[0027] In a vertical view along the vertical direction, if the direction perpendicular to the transfer direction X is defined as the width direction Y, then in this embodiment, the recess 75 is provided in the center of the width direction Y on both the rear surface 70R and the front surface 70F of the container. Furthermore, in this example, the recess 75 is formed to extend along both the width direction Y and the vertical direction.

[0028] [Conveying equipment] As shown in Figure 5, the transport device 100 comprises a traveling body 1, a container group support section 2 that supports a plurality of containers 70 as a stacked container group 7 within a defined stacking area 2A, a lifting device 3 that lifts the containers 70 of the container group 7 supported by the container group support section 2, and a transfer device 4 that transfers the containers 70. The container group support section 2, the lifting device 3, and the transfer device 4 are mounted on the traveling body 1. If the direction along the traveling direction of the traveling body 1 is defined as the "vehicle body longitudinal direction L", then the container group support section 2 and the transfer device 4 are arranged side by side on the traveling body 1 in the vehicle body longitudinal direction L. In the following, the direction perpendicular to the vehicle body longitudinal direction L when viewed from above will be defined as the "vehicle body width direction W". Here, the vehicle body longitudinal direction L and the vehicle body width direction W are mutually perpendicular horizontal directions.

[0029] In this embodiment, the transport device 100 is equipped with a control device C. The control device C controls each functional part of the transport device 100. In this example, the control device C controls the traveling body 1, the container group support unit 2, the lifting device 3, the transfer device 4, and the swivel device 5, which will be described later. The operations for transporting and transferring the containers 70 are realized by the control of each functional part by the control device C. The control device C is equipped with, 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.

[0030] [Vehicle] The mobile unit 1 is configured to travel along a predetermined travel path R (see Figure 1). In this embodiment, the mobile unit 1 is configured to travel along an internal shelf path Ra and an external shelf path Rb. When the mobile unit 1 travels along the internal shelf path Ra, it is configured to travel along the container shelf 8, and more specifically, along the front of the container shelf 8. In this embodiment, the mobile unit 1 is configured to travel on the floor surface.

[0031] The vehicle 1 comprises a plurality of wheels 10 and a drive unit 10M that drives at least one of the plurality of wheels 10. The drive unit 10M includes a motor (not shown). The drive unit 10M drives the wheels 10, thereby providing the vehicle 1 with a propulsive force in the direction of travel.

[0032] [Container group support part] The container group support unit 2 is mounted on the traveling body 1. The container group support unit 2 is configured to support multiple containers 70 as a stacked container group 7. Above the container group support unit 2, a stacking area 2A is defined where the container group 7 is placed. The stacking area 2A is a three-dimensional virtual area extending upward from the container group support unit 2. In this example, the container group support unit 2 is configured as a conveyor capable of moving the container group 7 while the container group 7 is placed on it. In this example, the container group support unit 2 is capable of moving the container group 7 along the vehicle width direction W. The conveyor constituting the container group support unit 2 may be a well-known conveyor such as a roller conveyor, chain conveyor, or belt conveyor.

[0033] A group of containers 7, consisting of multiple containers 70 stacked on top of each other, is brought into the loading / unloading section 9 (see Figure 1). With the vehicle 1 adjacent to the loading / unloading section 9, the container group support section 2 receives the container group 7 from the loading / unloading section 9 or hands over the container group 7 to the loading / unloading section 9. In other words, the container group support section 2 is configured to handle the transfer of the container group 7 to and from the loading / unloading section 9. Although detailed illustrations are omitted, in this example, the loading / unloading section 9 is adjacent to the picking area where the work of removing items from the containers 70 takes place. Once the container group 7 is handed over from the container group support section 2 to the loading / unloading section 9, the items are removed from the containers 70 in the picking area adjacent to the loading / unloading section 9. After some or all of the items contained in the containers 70 have been removed, the containers 70 are handed over from the loading / unloading section 9 to the container group support section 2 (conveyor device 100) and transported back to the container rack 8. However, the loading / unloading section 9 does not have to be adjacent to the picking area, and may be adjacent to other equipment or work areas. Also, for example, the loading / unloading section 9 may be configured to transport the container group 7 handed over from the container group support section 2 to the outside of the transport equipment F.

[0034] [Lifting device] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support section 2, in other words, the containers 70 of the container group 7 arranged in the stacking area 2A.

[0035] The lifting device 3 comprises a lifting mast 30 erected above the traveling body 1, a lifting body 30B connected to the lifting mast 30, and a lifting body drive unit 30M that raises and lowers the lifting body 30B along the lifting mast 30. Although detailed illustrations are omitted, the lifting body drive unit 30M comprises, for example, an endless body such as a belt connected to the lifting body 30B, a rotating body around which the endless body is wound, and a motor that rotates the rotating body.

[0036] The lifting device 3 includes a first lifting mechanism 31 that lifts a container 70 of any height from the container group 7 stacked in the stacking area 2A, while holding the lifting rib portion 73 of the container 70 from below, relative to an adjacent container 70 below it, and a second lifting mechanism 32 that lifts a container 70 lower than the container 70 lifted by the first lifting mechanism 31, while holding the lifting rib portion 73 of the container 70 from below, relative to an adjacent container 70 below it. In this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are spaced apart in the vertical direction. As a result, although not shown in the figures, it is possible to create vertical space between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32. It is also possible to create vertical space below the container 70 lifted by the second lifting mechanism 32.

[0037] Furthermore, although details will be omitted here, in this embodiment, if a space is formed vertically between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32, it is possible to place another container 70 into that space. Also, if a vertical space is formed below the container 70 lifted by the second lifting mechanism 32, it is possible to use that space to scoop up a container 70 that is positioned below the container 70 lifted by the second lifting mechanism 32.

[0038] [Transfer device] As shown in Figure 5, the transfer device 4 is mounted on the traveling body 1. The transfer device 4 has a holding section A for holding the container 70, and is configured to perform a transfer operation that includes an unloading operation to move the container 70 along a transfer direction X that is in the horizontal direction, to transfer the container 70 from the holding section A to the transfer target location T, and a scooping operation to transfer the container 70 from the transfer target location T to the holding section A. In this specification, the transfer of the container 70 from the transfer target location T to the transfer device 4 is referred to as "scooping," and "scooping" is not limited to a specific transfer operation. In this embodiment, the transfer device 4 is equipped with a transfer machine B, which performs the unloading operation and the scooping operation of the container 70 to the transfer target location T. The transfer target location T includes the stacking area 2A and the shelf section 80 of the container rack 8.

[0039] As described above, the direction of movement of the container 70 transferred by the transfer device 4 is referred to here as the transfer direction X. The side moving from the holding part A toward the transfer target location T in the transfer direction X is referred to as the transfer direction unloading side X1, and the side moving from the transfer target location T toward the holding part A in the transfer direction X is referred to as the transfer direction scooping side X2. The transfer direction X is the direction along the horizontal. The transfer direction unloading side X1 is the side on which the container 70 moves along the transfer direction X when the container 70 is unloaded. The transfer direction scooping side X2 is the side on which the container 70 moves along the transfer direction X when the container 70 is scooped.

[0040] In this embodiment, the conveying device 100 includes a pivoting device 5 that pivots the transfer device 4 around an axis along the vertical direction. As shown in Figure 6, the pivoting device 5 is configured to pivot the transfer device 4 around an axis along the vertical direction, changing the orientation of the transfer device 4 to a first orientation P1 where the transfer direction X is directed toward the stacking area 2A, and a second orientation P2 where the transfer direction X is directed toward the container rack 8. Thus, in this embodiment, the transfer direction X can be changed in the horizontal plane by the pivoting device 5.

[0041] In this embodiment, the transfer device 4 changes its orientation according to the position of the transfer target location T. Specifically, the transfer device 4 assumes a first orientation P1 when the transfer target location T is a stacking area 2A, and a second orientation P2 when the transfer target location T is a shelf 80 (container shelf 8). As shown in Figure 7, in this example, the slewing device 5 includes a slewing platform 50 that supports the transfer device 4, a slewing shaft 51 that rotatably supports the slewing platform 50 with respect to the transfer lifting body 40B (described later), and a slewing drive unit 5M that drives the slewing shaft 51. Figure 7 shows the case where the transfer device 4 is in the second orientation P2.

[0042] As shown in Figure 5, the transfer device 4 comprises a transfer mast 40 erected above the traveling body 1, a transfer lifting body 40B connected to the transfer mast 40, and a transfer lifting body drive unit 40M that raises and lowers the transfer lifting body 40B along the transfer mast 40. Although detailed illustrations are omitted, the transfer lifting body drive unit 40M comprises, for example, an endless body such as a belt connected to the transfer lifting body 40B, a rotating body around which the endless body is wound, and a motor that rotates the rotating body.

[0043] As shown in Figure 8, the transfer device 4 includes a pressing part Ba that presses the container 70 during the unloading operation, a locking part Bb that engages with the container 70 during the scooping operation, a restricting part Bc positioned on at least one side in the width direction Y relative to the pressing part Ba and the locking part Bb to restrict the vertical movement of the container 70 during the unloading and scooping operations, and a transfer drive unit Ms that reciprocates the pressing part Ba, the locking part Bb, and the restricting part Bc along the transfer direction X. In this specification, "restricting vertical movement" means restricting movement in at least one side in the vertical direction. Here, the restricting part Bc restricts the upward movement of the container 70, and in this embodiment, it also restricts the downward movement of the container 70. In this embodiment, the restricting part Bc is positioned on both sides in the width direction Y relative to the pressing part Ba and the locking part Bb. Furthermore, in this embodiment, the transfer device 4 is equipped with a support member Bs that supports the pressing portion Ba, the locking portion Bb, and the restricting portion Bc. The transfer drive unit Ms is configured to reciprocate the support member Bs along the transfer direction X. In this example, the support member Bs is held by the holding portion A, and the transfer drive unit Ms moves the support member Bs relative to the holding portion A along the transfer direction X. As the support member Bs is driven by the transfer drive unit Ms to move relative to the holding portion A along the transfer direction X, the pressing portion Ba, the locking portion Bb, and the restricting portion Bc also move relative to the holding portion A along the transfer direction X. In this example, the transfer machine B is provided with the pressing portion Ba, the locking portion Bb, the restricting portion Bc, and the support member Bs.

[0044] In this embodiment, the transfer device 4 includes a first holding section 41A for holding the container 70, a second holding section 42A positioned below the first holding section 41A for holding the container 70, a first transfer machine 41B for transferring the container 70 between the first holding section 41A and the transfer target location T, and a second transfer machine 42B for transferring the container 70 between the second holding section 42A and the transfer target location T. That is, the holding section A includes the first holding section 41A and the second holding section 42A. The transfer machine B also includes the first transfer machine 41B and the second transfer machine 42B. Hereinafter, the first holding section 41A and the second holding section 42A may be collectively referred to as "holding section A". Also, the first transfer machine 41B and the second transfer machine 42B may be collectively referred to as "transfer machine B".

[0045] As described above, the transfer target location T includes the stacking area 2A and the shelf section 80 of the container rack 8. That is, the first transfer machine 41B and the second transfer machine 42B are configured to transfer containers 70 to the shelf section 80 and the stacking area 2A, respectively. When the stacking area 2A is the transfer target location T, each transfer machine 41B, 42B moves the containers 70 between each holding section 41A, 42A and the stacking area 2A in the first position P1, and transfers the containers 70 to the stacking area 2A (see the upper diagram in Figure 6). Also, when the shelf section 80 is the transfer target location T, each transfer machine 41B, 42B moves the containers 70 between each holding section 41A, 42A and the shelf section 80 in the second position P2, and transfers the containers 70 to the shelf section 80 (see the lower diagram in Figure 6).

[0046] As shown in Figure 7, in this embodiment, the transfer device 4 includes a holding connecting part 43 that connects the first holding part 41A and the second holding part 42A in the vertical direction. The holding connecting part 43 connects the first holding part 41A and the second holding part 42A so that the vertical distance between them remains constant.

[0047] The transfer device 4 includes a holding drive unit MA that moves the holding unit A along the transfer direction X. In this embodiment, the holding drive unit MA includes a first holding drive unit 41MA that moves the first holding unit 41A along the transfer direction X, and a second holding drive unit 42MA that moves the second holding unit 42A along the transfer direction X. The first holding drive unit 41MA is configured to move the first holding unit 41A relative to the transfer lifting body 40B along the transfer direction X. The second holding drive unit 42MA is configured to move the second holding unit 42A relative to the transfer lifting body 40B along the transfer direction X. As described above, in this embodiment, the first holding unit 41A and the second holding unit 42A are connected by a holding connecting unit 43. Therefore, the first holding unit 41A and the second holding unit 42A move integrally along the transfer direction X. In this example, the first holding drive unit 41MA, which drives the first holding unit 41A, and the second holding drive unit 42MA, which drives the second holding unit 42A, are configured to be driven by a common drive source. Hereinafter, the first holding drive unit 41MA and the second holding drive unit 42MA may be collectively referred to as "holding drive unit MA".

[0048] In this embodiment, the pressing portion Ba includes a first pressing portion 41Ba and a second pressing portion 42Ba. The locking portion Bb also includes a first locking portion 41Bb and a second locking portion 42Bb. Furthermore, the restricting portion Bc includes a first restricting portion 41Bc and a second restricting portion 42Bc. In this example, the first transfer machine 41B includes a first pressing portion 41Ba that presses the container 70 toward the transfer direction unloading side X1 when performing an unloading operation of the container 70, a first locking portion 41Bb that locks to the container 70 when performing a scooping operation of the container 70, and a first restricting portion 41Bc that restricts the vertical movement of the container 70 when performing the unloading and scooping operations. Each of the first pressing portion 41Ba, the first locking portion 41Bb, and the first restricting portion 41Bc is configured to be relatively movable along the transfer direction X with respect to the first holding portion 41A. In this example, the second transfer machine 42B includes a second pressing section 42Ba that presses the container 70 toward the unloading side X1 in the transfer direction when performing an unloading operation of the container 70, a second locking section 42Bb that locks onto the container 70 when performing a scooping operation of the container 70, and a second restricting section 42Bc that restricts the vertical movement of the container 70 when performing the unloading and scooping operations. Each of the second pressing section 42Ba, the second locking section 42Bb, and the second restricting section 42Bc is configured to be relatively movable with respect to the second holding section 42A along the transfer direction X. Hereinafter, the first pressing section 41Ba and the second pressing section 42Ba may be collectively referred to as "pressing section Ba". Also, the first locking section 41Bb and the second locking section 42Bb may be collectively referred to as "locking section Bb". Furthermore, the first regulatory section 41Bc and the second regulatory section 42Bc may be collectively referred to as "regulatory section Bc".

[0049] In this embodiment, the support member Bs includes a first support member 41Bs and a second support member 42Bs. The transfer drive unit Ms also includes a first transfer drive unit 41Ms and a second transfer drive unit 42Ms. In this example, the first support member 41Bs is supported by the first holding unit 41A and is configured to support the first pressing unit 41Ba, the first locking unit 41Bb, and the first restricting unit 41Bc. When the first support member 41Bs is driven by the first transfer drive unit 41Ms, the first pressing unit 41Ba, the first locking unit 41Bb, and the first restricting unit 41Bc move relative to the first holding unit 41A along the transfer direction X. In this example, the second support member 42Bs is supported by the second holding unit 42A and is configured to support the second pressing unit 42Ba, the second locking unit 42Bb, and the second restricting unit 42Bc. As the second support member 42Bs is driven by the second transfer drive unit 42Ms, the second pressing unit 42Ba, the second locking unit 42Bb, and the second restricting unit 42Bc move relative to the second holding unit 42A along the transfer direction X. Hereinafter, the first support member 41Bs and the second support member 42Bs may be collectively referred to as "support member Bs". Also, the first transfer drive unit 41Ms and the second transfer drive unit 42Ms may be collectively referred to as "transfer drive unit Ms".

[0050] In this embodiment, the transfer device 4 includes a locking drive unit Mb that drives a locking portion Bb separately from the pressing portion Ba to cause the locking portion Bb to change its orientation. In this embodiment, the locking drive unit Mb is configured to rotate the locking portion Bb around a rotation axis Bxa (see Figure 8) along the transfer direction X. In this embodiment, the locking drive unit Mb includes a first locking drive unit 41Mb and a second locking drive unit 42Mb. In this example, the first transfer machine 41B includes the first locking drive unit 41Mb. The first locking drive unit 41Mb is configured to drive the first locking portion 41Bb. Specifically, the first locking drive unit 41Mb rotates the first locking portion 41Bb around a rotation axis Bxa along the transfer direction X. In this example, the second transfer machine 42B includes the second locking drive unit 42Mb. The second locking drive unit 42Mb is configured to drive the second locking unit 42Bb. More specifically, the second locking drive unit 42Mb rotates the second locking unit 42Bb around a rotation axis Bxa along the transfer direction X. Hereinafter, the first locking drive unit 41Mb and the second locking drive unit 42Mb may be collectively referred to as "locking drive unit Mb".

[0051] As shown in Figure 7, in this embodiment, the transfer device 4 includes a reference position detection sensor Se1 that detects a target unit 82T (see Figure 2) that indicates a reference position 80P for storing the container 70 in the shelf unit 80, and a stored container detection sensor Se2 that detects the container 70 stored in the shelf unit 80. In this embodiment, the reference position detection sensor Se1 is provided in the first holding unit 41A. The stored container detection sensor Se2 is provided in the second holding unit 42A.

[0052] Next, the structure of transfer machine B will be described in detail with reference to Figures 8 to 16.

[0053] Figure 8 is a perspective view showing the main part of the transfer machine B, the structure of which is common to both the first transfer machine 41B and the second transfer machine 42B. As shown in the figure, in this embodiment, the pressing part Ba, the locking part Bb, and the restricting part Bc are supported by a support member Bs. In this example, the support member Bs is a plate-shaped member and has a main body part Bsp that is aligned with the horizontal plane. The pressing part Ba, the locking part Bb, and the restricting part Bc are supported on the upper surface of the main body part Bsp of the support member Bs.

[0054] The pressing portion Ba presses the container 70 toward the unloading side X1 in the transfer direction during the unloading operation. The pressing portion Ba is located in the center of the width direction Y of the support member Bs. In this embodiment, the pressing portion Ba is supported by the support member Bs by being connected to a pressing connecting portion Bac which is formed to rise upward from the upper surface of the support member Bs. The pressing portion Ba is located toward the unloading side X1 in the transfer direction with respect to the pressing connecting portion Bac. In this embodiment, the pressing portion Ba has a contact surface Baf that contacts the rear surface portion 70R of the container during the unloading operation. The contact surface Baf is configured to contact the locking wall portion 76 of the container 70 from the scooping side X2 in the transfer direction during the unloading operation (see Figure 14).

[0055] The locking part Bb locks onto the container 70 during the scooping operation, pulling the container 70 toward the scooping side X2 in the transfer direction. The locking part Bb is rotationally driven by the locking drive part Mb, and is configured to be able to change between a locked position in which it is inserted into the recess 75 of the container 70 (see Figure 11) and an unlocked position in which it is extended out of the recess 75 (see Figure 10).

[0056] In this embodiment, the locking portion Bb is connected to a rotating shaft Bx located below the main body portion Bsp in the support member Bs. The rotating shaft Bx is positioned along the transfer direction X and is rotationally driven by a locking drive unit Mb around an axis along the transfer direction X. The locking drive unit Mb is positioned below the main body portion Bsp in the support member Bs and is fixed to the support member Bs. Thus, the locking portion Bb is supported by the support member Bs via the rotating shaft Bx and the locking drive unit Mb. The locking portion Bb rotates around an axis along the transfer direction X as the rotating shaft Bx rotates. Therefore, the axis of the rotating shaft Bx corresponds to the rotation axis Bxa of the locking portion Bb.

[0057] In this embodiment, the locking portion Bb changes its orientation between the locked position and the unlocked position by rotating around the rotation axis Bxa. In the locked position, a part of the locking portion Bb protrudes above the main body portion Bsp of the support member Bs (see Figure 11), and in the unlocked position, the entire portion of the locking portion Bb is positioned below the main body portion Bsp of the support member Bs (see Figure 10).

[0058] In this embodiment, the locking portion Bb is positioned on the lowering side X1 in the transfer direction relative to the pressing portion Ba. Furthermore, the positional relationship between the locking portion Bb and the pressing portion Ba in the transfer direction X is fixed.

[0059] In this embodiment, the locking portion Bb is formed in the shape of a rod or strip extending along a direction perpendicular to the rotation axis Bxa. In the illustrated example, the locking portion Bb is formed in the shape of a rod. In this example, the locking portion Bb is positioned in the center of the width direction Y on the rear surface portion 70R of the container when in the locked position. This makes it possible to position the locking portion Bb appropriately with respect to the recess 75 located in the center of the width direction Y on the rear surface portion 70R of the container.

[0060] In this embodiment, the support member Bs is provided with a detector Se for detecting the relative position of the locking portion Bb with respect to the container 70. The detector Se detects that the relative position of the locking portion Bb with respect to the container 70 is within the lockable range LR. The lockable range LR is the range of relative positions of the locking portion Bb with respect to the container 70 such that when the locking portion Bb is in a locked position, it is located in a recess 75 formed on the unloading side X1 in the transfer direction relative to the locking wall portion 76 of the container 70. In this example, the lockable range LR is set to a range corresponding to the separation distance in the transfer direction X between the peripheral wall portion 72 and the locking wall portion 76 of the container 70.

[0061] In this embodiment, the locking portion Bb is configured to change between a locked position in which it is inserted into the recess 75 of the container 70 and an unlocked position in which it is removed from the recess 75, by being rotated by the locking drive unit Mb when the detector Se detects that the locking portion Bb is in the lockable range LR relative to the container 70.

[0062] The restricting section Bc is configured to restrict the vertical movement of the container 70 during the unloading and scooping operations. In this embodiment, one restricting section Bc is located on each side of the pressing section Ba in the width direction Y.

[0063] As shown in Figure 9, the restricting portion Bc includes an upper pressing portion Bcb positioned above the transfer rib portion 74 and overlapping with the transfer rib portion 74 when viewed in the vertical direction, during the unloading operation (in other words, when the pressing portion Ba is in contact with the rear surface portion 70R of the container) and the scooping operation (in other words, when the locking portion Bb is inserted into the recess 75). Furthermore, in this embodiment, the restricting portion Bc also includes a lower pressing portion Bcc positioned below the transfer rib portion 74 and overlapping with the transfer rib portion 74 when viewed in the vertical direction, during the unloading operation and the scooping operation.

[0064] In this embodiment, the upper pressing portion Bcb extends from the upper end of the base portion Bca, which is formed to rise upward from the upper surface of the main body portion Bsp of the support member Bs, toward the unloading side X1 in the transfer direction.

[0065] As shown in Figure 9, in this embodiment, if the design distance between the upper surface of the transfer rib portion 74 and the lower surface of the upper pressing portion Bcb is denoted as distance D1, and the design distance in the vertical direction between the end face of the transfer rib portion 74 in the transfer direction X (the end face on the scooping side X2 in the transfer direction) and the end face of the upper pressing portion Bcb in the transfer direction X (the end face on the lowering side X1 in the transfer direction) is denoted as distance D2, then distance D1 is smaller than distance D2. In this embodiment, distance D1 corresponds to the "vertical distance between the rib portion and the upper pressing portion," and distance D2 corresponds to the "overlapping length in the transfer direction between the rib portion and the upper pressing portion in the vertical direction." Furthermore, in the following, "design distance" refers to the distance when the lowering and scooping operations are performed as ideally as possible.

[0066] Furthermore, as shown in Figure 11, in this embodiment, when the locking portion Bb is in the locked position, the design distance between the upper end surface of the locking portion Bb and the lower end surface of the locking wall portion 76 of the recess 75 in the view in the transfer direction X is defined as distance D3, then distance D1 is smaller than distance D3. In this embodiment, distance D3 corresponds to the "overlapping length in the vertical direction between the locking portion and the recess".

[0067] Here, if vibration occurs during unloading or scooping operations, or if there is a partition in the container 70, the contents of the container 70 may be biased to one side in the transfer direction X, resulting in an uneven load. In this case, the container 70 may tilt during unloading or scooping operations such that the rear portion 70R is raised higher than the front portion 70F. For example, the locking portion Bb may come out of the recess 75 during scooping, preventing the scooping operation from being performed normally. Also, if the contents of the container 70 are biased to one side in the width direction Y, the container 70 may rotate around an axis parallel to the transfer direction X during unloading or scooping operations, causing the container 70 to tilt and resulting in a similar problem. Thus, if the container 70 tilts unintentionally, it may interfere with unloading or scooping operations.

[0068] In the conveying device 100 of this embodiment, even if the container 70 is about to tilt during unloading and scooping operations so that the rear portion 70R of the container is raised higher than the front portion 70F of the container, the lower surface of the upper pressing portion Bcb of the regulating portion Bc comes into contact with the upper surface of the transfer rib portion 74, thereby restricting the movement of the container 70 by the upper pressing portion Bcb. Therefore, the correct posture of the container 70 can be maintained during unloading and scooping operations.

[0069] In this embodiment, the lower pressing portion Bcc extends from the lower end of the base portion Bca toward the unloading side X1 in the transfer direction. The upper surface of the lower pressing portion Bcc contacts the lower surface of the transfer rib portion 74 of the container 70 during the scooping operation, thereby supporting the container 70 from below. Furthermore, the upper surface of the lower pressing portion Bcc contacts the lower surface of the transfer rib portion 74 when the container 70 tilts during the unloading and scooping operations.

[0070] As shown in Figure 9, in this embodiment, the distance between the transfer rib portion 74 and the lower pressing portion Bcc, specifically the design distance between the lower surface of the transfer rib portion 74 and the upper surface of the lower pressing portion Bcc, is defined as distance D4. Furthermore, the design distance in the vertical direction between the end face of the transfer rib portion 74 in the transfer direction X (the end face on the scooping side X2 in the transfer direction) and the end face of the lower pressing portion Bcc in the transfer direction X (the end face on the lowering side X1 in the transfer direction) is defined as distance D5 (in other words, the overlapping length in the transfer direction between the transfer rib portion 74 and the lower pressing portion Bcc in the transfer direction in the vertical direction). In this embodiment, distance D4 is smaller than distance D5.

[0071] As described above, when an uneven load occurs, the container 70 tilts during unloading or scooping operations such that the front portion 70F of the container is raised higher than the rear portion 70R of the container. For example, during unloading, the container 70 may ride up onto the support member 83, which can lead to problems where the unloading operation cannot be performed properly.

[0072] In the conveying device 100 of this embodiment, even if the container 70 is about to tilt during unloading and scooping operations so that the front portion 70F of the container is raised higher than the rear portion 70R of the container, the movement of the container 70 is restricted by the lower pressing portion Bcc of the regulating portion Bc, as the upper surface of the lower pressing portion Bcc of the regulating portion Bc comes into contact with the lower surface of the transfer rib portion 74. Therefore, the correct posture of the container 70 can be maintained during unloading and scooping operations.

[0073] [Scooping motion] Next, the scooping operation of the container 70 by the transfer device 4 will be explained with reference to Figures 10 to 13. Figures 10 and 11 show the main parts of the transfer device 4 and the container 70 when performing the scooping operation. Figure 12 shows the scooping operation of the container 70 to the shelf section 80, and Figure 13 shows the scooping operation of the container 70 to the stacking area 2A.

[0074] As shown in Figure 10, when the transfer device 4 performs a scooping operation, it positions the locking portion Bb in an unlocked position within the lockable range LR. In this embodiment, the transfer device 4 positions the locking portion Bb within the lockable range LR by integrally moving the pressing portion Ba, the locking portion Bb, and the restricting portion Bc toward the lowering side X1 in the transfer direction. The transfer device 4 moves the pressing portion Ba, the locking portion Bb, and the restricting portion Bc toward the lowering side X1 in the transfer direction by driving the support member Bs with the transfer drive unit Ms. Whether or not the locking portion Bb is positioned within the lockable range LR is determined based on the detection result by the detector Se. The restricting portion Bc is positioned such that, when the locking portion Bb is within the lockable range LR, the lower pressing portion Bcc faces the lower surface of the transfer rib portion 74 from below.

[0075] As shown in Figure 11, when the detector Se detects that the locking portion Bb is positioned within the lockable range LR, the transfer device 4 changes the orientation of the locking portion Bb from an unlocked position to a locked position. The transfer device 4 changes the orientation of the locking portion Bb by driving the locking portion Bb with the locking drive unit Mb. As shown in Figure 11, when the locking portion Bb is in the locked position, the locking portion Bb and the pressing portion Ba are positioned on either side of the locking wall portion 76 of the container 70 in the transfer direction X. In this embodiment, when the locking portion Bb is in the locked position, in other words, when the locking portion Bb is inserted into the recess 75, the transfer rib portion 74 is positioned between the upper pressing portion Bcb and the lower pressing portion Bcc of the restricting portion Bc such that the distance D1 is smaller than the distance D2 and the distance D4 is smaller than the distance D5 (see also Figure 9). Furthermore, in this embodiment, when the locking portion Bb is in the locked position, the distance D1 becomes smaller than the distance D3.

[0076] Next, when scooping the container 70 onto the shelf 80, as shown in Figure 12, the transfer device 4 moves the pressing part Ba, the locking part Bb, and the restricting part Bc integrally toward the scooping side X2 in the transfer direction, thereby moving the locking part Bb toward the scooping side X2 in the transfer direction and pulling the container 70 toward the scooping side X2 in the transfer direction. In other words, the transfer device 4 performs the scooping operation of the container 70 by moving the locking part Bb, which is in a locked position, toward the scooping side X2 in the transfer direction by the transfer drive unit Ms.

[0077] On the other hand, when scooping a container 70 onto the stacking area 2A, the transfer device 4 raises the restricting portion Bc, which is positioned opposite the lower surface of the transfer rib portion 74 from below, and brings the upper surface of the lower pressing portion Bcc of the restricting portion Bc into contact with the lower surface of the transfer rib portion 74, thereby lifting the transfer rib portion 74. As a result, as shown in Figure 13, the rear surface portion 70R of the container 70 to be scooped is lifted, and the end of the transfer direction scooping side X2 of the fitting portion 77 of the container 70 to be scooped moves upward away from the opening 71 of the container 70 placed on the lower level. Subsequently, similar to the scooping operation of the container 70 onto the shelf 80, the transfer device 4 moves the pressing part Ba, the locking part Bb, and the restricting part Bc together toward the scooping side X2 in the transfer direction, thereby moving the locking part Bb toward the scooping side X2 in the transfer direction and pulling the container 70 toward the scooping side X2 in the transfer direction.

[0078] As described above, the scooping operation of the container 70 is performed. This scooping operation is carried out by the control device C (see Figure 5) controlling each functional part of the conveying device 100.

[0079] [Unloading action] Next, the unloading operation of the container 70 by the transfer device 4 will be explained with reference to Figures 14 to 16. Figure 14 shows the main parts of the transfer device 4 and the container 70 when the unloading operation is performed. Figure 15 shows the unloading operation of the container 70 to the shelf section 80, and Figure 16 shows the unloading operation of the container 70 to the stacking area 2A.

[0080] As shown in Figure 14, when the transfer device 4 performs an unloading operation, it brings the pressing part Ba into contact with the rear surface portion 70R of the container and presses the container 70 toward the unloading side X1 in the transfer direction with the pressing part Ba. In this example, the transfer device 4 presses the container 70 by bringing the pressing part Ba into contact with the locking wall portion 76 of the container 70. In this embodiment, when the pressing part Ba is in contact with the locking wall portion 76, the transfer rib portion 74 is positioned between the upper pressing portion Bcb and the lower pressing portion Bcc of the regulating portion Bc such that the distance D1 is smaller than the distance D2 and the distance D4 is smaller than the distance D5.

[0081] In this embodiment, when performing the operation of unloading the container 70 from the shelf 80, as shown in Figure 15, the transfer device 4 moves the pressing part Ba, the locking part Bb, and the restricting part Bc together toward the unloading side X1 in the transfer direction while the pressing part Ba is in contact with the locking wall 76 of the container 70, thereby moving the pressing part Ba toward the unloading side X1 in the transfer direction.

[0082] On the other hand, when performing the unloading operation of container 70 to the stacking area 2A, as shown in Figure 16, the transfer device 4 moves the pressing part Ba, the locking part Bb, and the restricting part Bc together toward the unloading side X1 in the transfer direction while the pressing part Ba is in contact with the locking wall part 76 of container 70, thereby moving the pressing part Ba toward the unloading side X1 in the transfer direction. In this example, the transfer device 4 presses the container 70 to be unloaded toward the unloading side X1 in the transfer direction at a position above the container 70 that will be unloaded in the stacking area 2A. Then, when the container 70 to be unloaded protrudes beyond the holding part A toward the unloading side X1 in the transfer direction and loses support from the holding part A, and descends in the stacking area 2A, the lower pressing part Bcc of the restricting part Bc supports the lower surface of the transfer rib part 74. As a result, the rear portion 70R of the container 70 to be unloaded is supported by the lower pressing portion Bcc of the restricting portion Bc. Subsequently, by lowering the restricting portion Bc, the container 70 to be unloaded is fitted from above onto the container 70 to be unloaded. As a result, the containers 70 to be unloaded are stacked in the stacking area 2A.

[0083] The unloading operation of the container 70 is performed as described above. This unloading operation is carried out by the control device C (see Figure 5) controlling each functional part of the conveying device 100.

[0084] [Other Embodiments] Next, other embodiments of the transport vehicle will be described.

[0085] (1) In the above embodiment, a configuration in which the pressing portion Ba and the locking portion Bb are separate members has been described, but the invention is not limited to this configuration. The pressing portion and the locking portion may be a common component. In this case, for example, the container 70 is pressed toward the unloading portion X1 in the transfer direction by the side of the locking portion Bb in the above embodiment.

[0086] (2) In the above embodiment, an embodiment in which the transfer direction X is aligned with the horizontal direction has been described, but the embodiment is not limited to this. The transfer direction X may be inclined with respect to the horizontal.

[0087] (3) In the above embodiment, a configuration in which the restricting portion Bc is arranged on both sides in the width direction Y with respect to the pressing portion Ba and the locking portion Bb, and a total of two restricting portions Bc have been described, has been described, but is not limited to this configuration. A configuration in which one or more restricting portions Bc are arranged on only one side in the width direction Y with respect to the pressing portion Ba and the locking portion Bb may also be described, or a configuration in which multiple restricting portions Bc are arranged on each of the sides in the width direction Y with respect to the pressing portion Ba and the locking portion Bb.

[0088] (4) In the above embodiment, an embodiment in which a locking drive unit Mb is provided has been described, but the embodiment is not limited to this embodiment, and an embodiment in which a locking drive unit Mb is not provided may also be described.

[0089] (5) In the above embodiment, an embodiment in which the locking portion Bb is in an unlocked position during the unloading operation has been described, but the embodiment is not limited to this embodiment. The locking portion Bb may be in an locked position during the unloading operation. In this embodiment as well, the locking portion Bb is in an unlocked position when moving to bring the locking portion Bb closer to the shelf portion 80 or the container 70 in the stacking area 2A when performing a scooping operation, or when moving the locking portion Bb, which is integrated with the pressing portion Ba, to bring the pressing portion Ba into contact with the container 70 when performing an unloading operation, that is, when moving the locking portion Bb without moving the container 70.

[0090] (6) In the above embodiment, a configuration in which the regulating portion Bc is provided with a lower pressing portion Bcc has been described, but the embodiment is not limited to this configuration, and the regulating portion Bc may be provided without a lower pressing portion Bcc.

[0091] (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.

[0092] [Summary of the above embodiment] The transport vehicle described above will be explained below.

[0093] A conveying device for transporting containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part that presses the container during the unloading operation; a locking part that engages with the container during the scooping operation; a restricting part positioned on at least one side in the width direction relative to the pressing part and the locking part to restrict the vertical movement of the container during the unloading operation and the scooping operation; and a transfer drive unit that reciprocates the pressing part, the locking part, and the restricting part along the transfer direction. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The restricting portion includes an upper pressing portion that is positioned above the rib portion and overlaps with the rib portion when viewed in the vertical direction during the unloading operation and the scooping operation.

[0094] With this configuration, if the rear side of the container is about to lift above the front side during unloading or scooping, the movement of the rib that is trying to rise is restricted by the upper restraining part. Therefore, it is easier to maintain the correct posture of the container during unloading and scooping. As a result, even if there is an imbalance in the direction of transfer of the center of gravity of the items contained in the container, for example, the rear side of the container is less likely to lift up.

[0095] Here, it is preferable that the pair of restricting portions are arranged separately on both sides in the width direction relative to the pressing portion and the locking portion.

[0096] With this configuration, the pair of restricting parts can restrict the vertical movement of the rib portion on both sides in the width direction relative to the pressing portion and the locking portion. Therefore, the tilt of the container in the width direction can be kept small and easy to control.

[0097] Furthermore, it is preferable that the vertical distance between the rib portion and the upper pressing portion during the unloading and scooping operations is smaller than the overlapping length of the rib portion and the upper pressing portion in the transfer direction when viewed from the vertical direction.

[0098] With this configuration, if the rear side of the container is about to lift above the front side of the container during the unloading and scooping operations, the movement of the rib can be appropriately restricted by the upper holding part. Therefore, it is easier to maintain the correct posture of the container during the unloading and scooping operations.

[0099] Furthermore, it is preferable that the vertical distance between the rib portion and the upper pressing portion during the unloading and scooping operations is smaller than the vertical overlapping length between the locking portion and the recess.

[0100] With this configuration, if the rear side of the container is about to lift above the front side of the container during the unloading and scooping operations, the movement of the rib can be appropriately restricted by the upper holding part. Therefore, it is easier to maintain the correct posture of the container during the unloading and scooping operations.

[0101] Furthermore, the transfer device further includes a locking drive unit that drives the locking unit separately from the pressing unit to cause the locking unit to change its orientation. The locking portion is driven by the locking drive unit when its relative position to the container is within a defined lockable range, thereby allowing it to change between a locked position in which it is inserted into the recess and an unlocked position in which it is removed from the recess. During the scooping operation, it is preferable to position the locking part in the locked position.

[0102] With this configuration, by changing the orientation of the locking part, it is easy to achieve both the state in which the locking part is inserted into the recess and the state in which the locking part is not inserted into the recess. Therefore, a series of movements can be smoothly performed, such as moving the locking part towards the lowering side in the transfer direction for the scooping operation, inserting the locking part into the recess, and moving the locking part towards the scooping side in the transfer direction to perform the scooping operation.

[0103] Furthermore, it is preferable that the restricting portion further comprises a lower pressing portion positioned below the rib portion and overlapping with the rib portion when viewed in the vertical direction during the unloading operation and the scooping operation.

[0104] With this configuration, if the front of the container is about to lift above the rear of the container during the unloading or scooping operation, the downward movement of the rib is restricted by the lower retaining part. Therefore, it is easier to maintain the correct posture of the container during the unloading and scooping operation. [Industrial applicability]

[0105] The technology described herein can be used in conveying devices that transport containers. [Explanation of symbols]

[0106] 100: Conveying device 40: Transfer mast (mast) 40B: Lifting mechanism for transfer (lifting mechanism) 41A: 1st holding part (holding part) 41Bb: First locking part (locking part) 41Bc: 1st Regulation Department (Regulation Department) 41Mb: First locking drive unit (locking drive unit) 41Ms: First transfer drive unit (transfer drive unit) 42A:Second holding part (holding part) 42Bb: Second locking part (locking part) 42Bc: Second Regulatory Department (Regulatory Department) 42Mb: Second locking drive unit (locking drive unit) 42Ms: Second transfer drive unit (transfer drive unit) 70: Container 70F: Front part of container 70R: Rear part of the container 74: Transfer rib section (rib section) 75: recess 80:Shelf A: Holding part Ba: Pressing part Bb: Locking part Bc:Regulatory Department Bcb: Upper pressing part Bcc: Lower pressing part D1: Distance D2: Distance (overlap length) D3: Distance (overlap length) LR: Lockable range Mb: Locking drive unit Ms: Transfer drive unit T: Section to be reprinted X: Transfer direction X1: Transfer direction, unloading side X2: Transfer direction, scooping side Y: width direction

Claims

1. A conveying device for transporting containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part for pressing the container during the unloading operation; a locking part for engaging with the container during the scooping operation; a pair of restricting parts, positioned separately on both sides in the width direction relative to the pressing part and the locking part, for restricting the vertical movement of the container during the unloading and scooping operations; and a transfer drive unit for integrally reciprocating the pressing part, the locking part, and the pair of restricting parts along the transfer direction. The pressing portion and the locking portion are arranged side by side in the vertical direction when viewed in the transfer direction along the transfer direction. The locking portion is positioned on the lowering side in the transfer direction relative to the pressing portion. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The conveying device comprises an upper pressing portion which is positioned above the rib portion and overlaps with the rib portion when viewed in the vertical direction, during the unloading operation and the scooping operation.

2. A conveying device for transporting containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part that presses the container during the unloading operation; a locking part that engages with the container during the scooping operation; a restricting part positioned on at least one side in the width direction relative to the pressing part and the locking part to restrict the vertical movement of the container during the unloading operation and the scooping operation; and a transfer drive unit that reciprocates the pressing part, the locking part, and the restricting part along the transfer direction. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The restricting portion includes an upper pressing portion that is positioned above the rib portion and overlaps with the rib portion when viewed in the vertical direction during the unloading operation and the scooping operation. The transfer device further includes a locking drive unit that drives the locking unit separately from the pressing unit to cause the locking unit to change its orientation. The locking portion, when driven by the locking drive unit while its relative position to the container is within a defined lockable range, rotates around an axis along the transfer direction, allowing it to change between a locked position in which it is inserted into the recess and an unlocked position where it is exiting the recess. A conveying device that maintains the locking portion in the locking position during the scooping operation.

3. A conveying device for transporting containers, The transfer device includes a holding part for holding the container, The transfer device is configured to perform a transfer operation that includes an unloading operation to move the container along a transfer direction along the horizontal direction, transferring the container from the holding unit to the transfer target location, and a scooping operation to transfer the container from the transfer target location back to the holding unit. The side in the transfer direction from the holding portion toward the transfer target location is defined as the transfer direction unloading side, the side in the transfer direction from the transfer target location toward the holding portion is defined as the transfer direction scooping side, the direction perpendicular to the transfer direction when viewed from above is defined as the width direction, the portion of the container facing the transfer direction unloading side is defined as the container front portion, and the portion of the container facing the transfer direction scooping side is defined as the container rear portion. The transfer device comprises: a pressing part that presses the container during the unloading operation; a locking part that engages with the container during the scooping operation; a restricting part positioned on at least one side in the width direction relative to the pressing part and the locking part to restrict the vertical movement of the container during the unloading operation and the scooping operation; and a transfer drive unit that reciprocates the pressing part, the locking part, and the restricting part along the transfer direction. The rear surface of the container is provided with a recess that opens downward and a rib that protrudes toward the scooping side in the transfer direction and extends horizontally along the rear surface of the container. The transfer device performs the unloading operation by moving the pressing portion in the unloading direction by the transfer drive unit while the pressing portion is in contact with the rear surface of the container, and performs the scooping operation by moving the locking portion in the scooping direction by the transfer drive unit while the locking portion is inserted into the recess from below. The conveying device comprises an upper pressing portion positioned above the rib portion and overlapping with the rib portion in a vertical view during the unloading and scooping operations, and a lower pressing portion positioned below the rib portion and overlapping with the rib portion in a vertical view during the unloading and scooping operations.

4. The conveying device according to claim 2 or 3, wherein the pair of regulating portions are arranged separately on both sides in the width direction relative to the pressing portion and the locking portion.

5. The conveying device according to any one of claims 1 to 3, wherein the vertical distance between the rib portion and the upper pressing portion during the unloading operation and the scooping operation is smaller than the overlapping length of the rib portion and the upper pressing portion in the transfer direction when viewed in the vertical direction.

6. The conveying device according to any one of claims 1 to 3, wherein the vertical distance between the rib portion and the upper pressing portion during the unloading operation and the scooping operation is smaller than the vertical overlapping length between the locking portion and the recess.

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