Goods handling equipment

Abstract

To realize a feature facilitating miniaturization or simplification of an article conveyance facility for conveying an article by transferring the article from one fork to another.SOLUTION: A second fork 41 of a second transfer device 40 is provided with a support 51 that forms a support surface 51a for supporting an article 11, a fork placement space E2 in which a first fork 21 formed below the support surface 51a and projecting in a first exit direction A1 is placed, and a communication part 55 that vertically communicates the fork placement space E2 with a space E1 above the support surface 51a. The communication part 55 is configured to enable the first fork 21 to pass in a vertical direction Z.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an article conveying facility including a plurality of transfer devices provided with forks.

Background Art

[0002] Article conveying facilities including a plurality of transfer devices provided with forks are known. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1. FIGS. 3 and paragraph 0025 of Patent Document 1 (Japanese Patent Application No. 2021-134076) disclose an article conveying facility including a stacker crane (15) having a slide fork (161) and a forklift having a fork.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the article conveying facility of Patent Document 1, a picking station for temporarily placing articles is provided between the stacker crane and the forklift. Thus, in a configuration using the picking station when transferring articles from fork to fork, the articles can be temporarily held at the picking station. Therefore, there is an advantage that restrictions such as the operation timing of each fork are few, and it is easy to efficiently perform the article transfer operation and the conveyance operation. On the other hand, since the picking station and the space for arranging the picking station are required, it has been difficult to reduce the size and simplify the facility.

[0005] Therefore, in an article conveying facility that conveys articles by transferring articles from fork to fork, it is desirable to adopt a configuration that makes it easy to reduce the size and simplify the facility. [Means for solving the problem]

[0006] The article conveying equipment according to this disclosure comprises: a first transfer device comprising: a first fork that supports an article from below; a first retraction mechanism that moves the first fork in and out along a first retraction direction along the horizontal direction; and a first lifting mechanism that raises and lowers the first fork; and a second transfer device comprising: a second fork that supports the article from below; and a second retraction mechanism that moves the second fork in and out along a second retraction direction along the horizontal direction, wherein the second fork comprises: a support portion that forms a support surface for supporting the article; a fork arrangement space formed below the support surface and where the first fork protruding along the first retraction direction is arranged; and a communication portion that connects the fork arrangement space and a space above the support surface in the vertical direction, wherein the communication portion is configured so that the first fork can pass through in the vertical direction; and the support portion is configured to support the article in a position where the downward-facing supported surface of the article intersects with the movement trajectory of the first fork passing through the communication portion in the vertical direction.

[0007] With this configuration, items can be directly transferred from the first fork of the first transfer device to the second fork of the second transfer device. Therefore, there is no need to provide a temporary storage area or the like between the first and second transfer devices for placing items. Consequently, it is easier to miniaturize and simplify the configuration of the item handling equipment. [Brief explanation of the drawing]

[0008] [Figure 1] Top view of the material handling equipment [Figure 2] Side view showing the first fork supporting the object in the travel position. [Figure 3] Side view showing the state where the first fork is above the first handover position. [Figure 4] Figure 3 shows the goods transport equipment as viewed from the first space side. [Figure 5] Side view showing the first fork in the lower position of the first handover position. [Figure 6] Figure 5 shows the state of the goods transport equipment as viewed from the first space side. [Figure 7] Side view showing the second fork at the second handover position supporting the item. [Figure 8] Figure 7 shows the state of the goods transport equipment as viewed from the first space side. [Figure 9] Side view showing the item supported by the second fork in the worship position. [Figure 10] A diagram showing a different form of goods transport equipment, a cross-sectional view corresponding to Figure 6. [Modes for carrying out the invention]

[0009] The following describes an embodiment of the goods transport equipment with reference to the drawings.

[0010] Figure 1 is a plan view of the article transport equipment 10 and the facility 100 in which the article transport equipment 10 is installed according to this embodiment. The facility 100 is not particularly limited, but in this embodiment it is a worship facility. Other examples include factories, warehouses, ships, etc. In this embodiment, the facility 100 comprises a first space E20, a second space E30, and a partition wall 15 provided between the first space E20 and the second space E30. The partition wall 15 is provided with an opening 15a for moving articles 11. Although not provided in the illustrated example, a door that can open and close the opening 15a may be provided in the partition wall 15. Examples of the first space E20 include a storage space for storing articles 11, a clean room with a lower level of cleanliness than the second space E30, and the outdoors. Examples of the second space E30 include a processing space for articles 11, an exhibition space, a worship space, and a clean room with a higher level of cleanliness than the first space E20.

[0011] The article conveying equipment 10 comprises a first transfer device 20 and a second transfer device 40. In this embodiment, the article conveying equipment 10 further comprises a conveying device 14 for moving the first transfer device 20 in the horizontal direction. In the illustrated example, the article conveying equipment 10 comprises a plurality of first transfer devices 20. The article conveying equipment 10 also comprises a plurality of second transfer devices 40. The article conveying equipment 10 also comprises a plurality of conveying devices 14.

[0012] Examples of transport devices 14 provided by the goods transport equipment 10 include tracked automated guided vehicles (AGVs), trackless automated guided vehicles (AGVs), and manned transport vehicles. The transport device 14 may also be a device that moves the first transfer device 20 in the vertical direction Z, such as a lift, elevator, or crane. In this embodiment, the transport device 14 is an automated guided vehicle that travels along the rails 13. Here, the direction along the vertical direction is defined as the vertical direction Z, the direction perpendicular to the vertical direction Z is defined as the first direction X, and the direction perpendicular to the first direction X when viewed in the vertical direction is defined as the second direction Y.

[0013] In this embodiment, the first transfer device 20 and the transport device 14 are configured to transport the article 11 between a predetermined first position P1 and the second transfer device 40. In this embodiment, the first transfer device 20 is mounted on a stacker crane. The transport device 14 is a traveling carriage of the stacker crane. Examples of the first position P1 include the storage section of a storage rack, the retrieval section of an article storage facility, the loading platform of an automated guided vehicle, the work platform of a device, a display platform, a worship platform, and a position set on the first transfer device 20. In this embodiment, the first position P1 is located on the first space E20 side of the partition wall 15.

[0014] In this embodiment, the first position P1 is a plurality of storage sections for storing articles 11. The plurality of storage sections are provided on the storage rack 61. In the illustrated example, the first transfer device 20 is located on the first space E20 side of the partition wall 15. Also in the illustrated example, the conveying device 14 is located on the first space E20 side of the partition wall 15.

[0015] FIG. 2 is a side view of the article conveying facility 10 in a state where the first transfer device 20 supports the article 11. As shown in FIG. 2, the first transfer device 20 includes a first fork 21 that supports the article 11 from below, a first retracting / extending mechanism 22 that retracts / extends the first fork 21 along a first retracting / extending direction A1 along the horizontal direction, and a first lifting mechanism 23 that raises and lowers the first fork 21. Here, a position where the first fork 21 does not retract / extend in either direction of the first retracting / extending direction A1 is defined as a first neutral position P21. In the present embodiment, the first neutral position P21 is the position (traveling position) of the first fork 21 when the conveying device 14 travels along the rail 13. In FIG. 2, the first fork 21 is located at the first neutral position P21. Note that the "first fork" and the "second fork" described below include not only scooping members having a plurality of divided tip portions but also scooping members having only one tip portion. That is, in the present specification, a member that supports an article from below and is a retracting / extending member retracted / extended by a retracting / extending mechanism is referred to as a "fork", and the "fork" is not limited to a specific shape. Therefore, the "first fork", "second fork", "fork body", and "fork arrangement space" in the present specification can be respectively rephrased as the "first retracting / extending member", "second retracting / extending member", "retracting / extending member body", and "retracting / extending member arrangement space".

[0016] In the present embodiment, the second transfer device 40 is configured to convey the article 11 between the first transfer device 20 and a predetermined second position P2. Examples of the second position P2 include a storage section of a storage shelf, a shipping section of an article storage facility, a loading platform of an automated guided vehicle, a workbench of a device, a display stand, a worship stand, a position set in the second transfer device 40, and the like. In the present embodiment, the second position P2 is a position set on the second fork 41 provided in the second transfer device 40. In the illustrated example, the second position P2 is provided on the second space E30 side of the partition wall 15. Also, in the illustrated example, the second transfer device 40 is fixed to the floor surface F1 on the second space E30 side of the partition wall 15.

[0017] In this embodiment, the second transfer device 40 transports the article 11 in such a way that the loudness of audible sound generated is lower than that of the first transfer device 20. In addition, in this embodiment, the second transfer device 40 transports the article 11 in such a way that the magnitude of vibration generated is lower than that of the first transfer device 20. In this way, when it is required that the loudness of audible sound or vibration in the second space E30 be low, the loudness of audible sound or vibration in the second space E30 can be reduced. Furthermore, in this embodiment, the extension and retraction of the second fork 41 by the second retraction mechanism 42 of the second transfer device 40 is performed at a lower speed than the extension and retraction of the first fork 21 by the first retraction mechanism 22 of the first transfer device 20. In this way, a second transfer device 40 with low audible sound or vibration can be realized at a low cost.

[0018] As shown in Figure 2, the second transfer device 40 includes a second fork 41 that supports the article 11 from below, and a second retraction mechanism 42 that moves the second fork 41 in a second retraction direction A2 that is horizontal. In this embodiment, the first retraction direction A1 and the second retraction direction A2 are parallel.

[0019] The second fork 41 of the second transfer device 40 includes a support portion 51 that forms a support surface 51a (see FIG. 4) for supporting the article 11. Here, the position of the support portion 51 of the second fork 41 for transferring the article 11 between it and the first fork 21 is set as the second transfer position P42. In the present embodiment, the second transfer position P42 is provided on the side of the first space E20 of the partition wall 15. Also, the position of the first fork 21 for transferring the article 11 between it and the second fork 41 is set as the first transfer position P22. The first transfer position P22 is the position of the first fork 21 where the support surface for supporting the article 11 of the first fork 21 is at the same height as the support surface 51a of the support portion 51 provided in the second fork 41. In the present embodiment, the first transfer position P22 is provided on the side of the first space E20 of the partition wall 15. When the position of the first fork 21 is the first transfer position P22 and the position of the support portion 51 of the second fork 41 is the second transfer position P42, the article 11 transferred between the first fork 21 and the second fork 41 is in a state of being supported by both the first fork 21 and the second fork 41.

[0020] Here, the stop position of the support portion 51 when the second transfer device 40 is stopped is taken as the reference stop position. In the example shown in FIG. 2, the second neutral position P41, which will be described later, is the reference stop position. As shown in FIG. 1, in the present embodiment, a partition wall 15 is provided between the first position P1 and the second position P2, and in the state where the support portion 51 stops at the reference stop position (the second neutral position P41), the support portion 51 is arranged on the side of the second space E30 rather than the partition wall 15. According to this configuration, when performing failure repair or maintenance on the second transfer device 40, it is easier for an operator to reach the second transfer device 40 from the side of the second space E30 rather than the partition wall 15. Therefore, it is easier to enhance the ease of failure repair and maintenance.

[0021] Figure 3 is a side view of the goods transport equipment 10 in a state where the first fork 21 is located above the first transfer position P22 and the support portion 51 of the second fork 41 is located at the second transfer position P42. Figure 4 is a view of the goods transport equipment 10 in the state shown in Figure 3, viewed from the first space E20 side. Here, the direction perpendicular to the first entry / exit direction A1 in the vertical view is defined as the first width direction B1. The direction perpendicular to the second entry / exit direction A2 in the vertical view is defined as the second width direction B2.

[0022] In this embodiment, the support portion 51 of the second fork 41 and the first fork 21 are configured to transfer the article 11 between a pair of fixing members 60 that are fixed to the floor surface F1 and extend in the vertical direction Z. In the illustrated example, the pair of fixing members 60 are columns of a storage rack 61 that has multiple storage compartments.

[0023] As shown in Figure 3, in this embodiment, the first transfer position P22 and the second transfer position P42 are set between a pair of fixed members 60. The second transfer position P42 may be the second neutral position P41, where the second fork 41 is not moving in either of the second extension / retraction directions A2, but in this embodiment, it is a different position from the second neutral position P41.

[0024] The second fork 41 of the second transfer device 40 includes a support portion 51 that forms a support surface 51a for supporting the article 11, a fork arrangement space E2 formed below the support surface 51a and where the first fork 21 protruding along the first inward / outward direction A1 is arranged, and a communication portion 55 that connects the fork arrangement space E2 and the space E1 above the support surface 51a in the vertical direction Z. The communication portion 55 is configured to allow the first fork 21 to pass through in the vertical direction Z. The support portion 51 is configured to support the article 11 in a position where the downward-facing supported surface 11b of the article 11 intersects with the movement trajectory of the first fork 21 as it passes through the communication portion 55 in the vertical direction Z.

[0025] In this embodiment, the support portion 51 and the communication portion 55 are configured so as not to overlap when viewed in the vertical direction. Also, in this embodiment, the supported surface 11b is the bottom surface of the article 11. Furthermore, in this embodiment, the support portion 51 is arranged in pairs on both sides of the communication portion 55 in the first width direction B1.

[0026] In this embodiment, the second fork 41 comprises a fork body 45 and a transfer assist member 50 attached to the fork body 45. The transfer assist member 50 comprises a pair of support parts 51, a base part 52 positioned below and spaced apart from the pair of support parts 51, and a pair of connecting parts 53 that connect the pair of support parts 51 and the base part 52 in the vertical direction Z. The transfer assist member 50 is fixed to the fork body 45.

[0027] In this embodiment, the space enclosed by the pair of support parts 51, the pair of connecting parts 53, and the base part 52 is the fork arrangement space E2. Furthermore, the vertical distance D21 between the pair of support surfaces 51a and the upper surface of the base part 52 is greater than the vertical dimension D11 of the first fork 21 in the vertical direction Z. Also, the distance D22 between the pair of connecting parts 53 in the first width direction B1, and the distance D23 between the pair of support parts 51 in the first width direction B1 are greater than the first width direction B1 dimension D12 of the first fork 21.

[0028] In this embodiment, the second fork 41 is equipped with a first guide portion 56 attached to the support portion 51 so as to protrude upward from the support surface 51a. The first guide portion 56 descends from above the support surface 51a and guides the horizontal position of the article 11 placed on the support surface 51a. In this embodiment, the first guide portion 56 is fixed to the support portion 51. Furthermore, the first guide portion 56 is configured to guide only in the second width direction B2. Specifically, with the side of the second fork 41 toward the center of the second width direction B2 being considered the inside of the second width direction B2, each of the pair of first guide portions 56, which are arranged separately on both sides of the second width direction B2, is equipped with a first guide surface 56a that slopes downward as it moves toward the inside of the second width direction B2. The first guide portion 56 guides the position of the article 11 in the second width direction B2 by contact with the article 11 by the first guide surface 56a.

[0029] In this embodiment, the pair of fixing members 60 are positioned on both sides of the support portion 51 at the second transfer position P42 in the second width direction B2, with a gap E3 between them. A second guide portion 62 is attached to each of the pair of fixing members 60. Each of the pair of second guide portions 62 is positioned above the first guide portion 56 when the support portion 51 is at the second transfer position P42, and overlaps with the gap E3 when viewed in the vertical direction. Each of the pair of second guide portions 62 is configured to descend from above the first guide portion 56 to guide the position of the article 11 placed on the support surface 51a in the second width direction B2. In this embodiment, the second transfer position P42 corresponds to the "transfer position".

[0030] In this embodiment, the second guide portion 62 is fixed to the fixing member 60. Furthermore, the second guide portion 62 is configured to provide guidance only in the second width direction B2. Specifically, each of the pair of second guide portions 62, which are arranged separately on both sides of the second width direction B2, has a second guide surface 62a that slopes downward as it moves inward in the second width direction B2. The second guide portion 62 guides the position of the article 11 in the second width direction B2 by the contact action of the second guide surface 62a with respect to the article 11. With the side opposite to the inside of the second width direction B2 being the outside of the second width direction B2, in the illustrated example, with the support portion 51 at the second transfer position P42, the portion of the second guide surface 62a that is on the inside of the second width direction B2 is arranged to overlap with the portion of the first guide surface 56a that is on the outside of the second width direction B2 when viewed in the vertical direction.

[0031] The following describes an example of transferring an article 11 from the first fork 21 of the first transfer device 20 to the second fork 41 of the second transfer device 40, using Figures 2 to 9 in order.

[0032] The article 11, taken out of the storage section at the first position P1 by the first fork 21, is supported by the first fork 21 at the traveling position (first neutral position P21) and moved by the conveying device 14. The support portion 51 of the second fork 41, which does not support the article 11, is set to the second neutral position P41, which is the reference stopping position. Figure 2 shows this state. In the illustrated example, the first neutral position P21 is a position above the first handover position P22.

[0033] Next, the first fork 21 of the first transfer device 20 extends along the first extension / retraction direction A1 while supporting the article 11, and moves to a space E1 above the support surface 51a, which is approximately the same as the first handover position P22 when viewed from above. Also, the support portion 51 of the second fork 41 of the second transfer device 40 extends along the second extension / retraction direction A2 to the second handover position P42. Figures 3 and 4 show this state. Note that the extension / retraction of the first fork 21 and the extension / retraction of the second fork 41 do not have to be performed simultaneously; one of them may be performed first and the other later. In Figure 4, the first handover position P22 of the first fork 21 is indicated by a dashed line.

[0034] Next, the first fork 21 of the first transfer device 20 descends from space E1 and moves to fork placement space E2, which is below the first transfer position P22. As the first fork 21 of the first transfer device 20 passes through the first transfer position P22 while supporting the article 11, the article 11 moves from the first fork 21 onto the support portion 51 of the second fork 41 of the second transfer device 40. Figures 5 and 6 show this state. During this descent, if the position of the article 11 on the first fork 21 is shifted to the extent that it overlaps with the second guide portion 62 when viewed in the vertical direction, the article 11 and the second guide portion 62 come into contact, and then the article 11 and the first guide portion 56 come into contact, thereby guiding the position of the article 11 on the first fork 21 to a position supported by the pair of support portions 51 (specifically, the pair of support surfaces 51a). In Figure 6, the first transfer position P22 of the first fork 21 is indicated by a dashed line.

[0035] Next, the first fork 21 of the first transfer device 20 retracts along the first extension / retraction direction A1 and moves to the travel position (first neutral position P21). As a result, the first fork 21 is removed from the fork placement space E2 of the second fork 41. Figures 7 and 8 show this state.

[0036] Next, the support portion 51 of the second fork 41 of the second transfer device 40 retracts along the second extension / retraction direction A2, and further protrudes beyond the second neutral position P41 (see Figure 2) to a position corresponding to the second position P2 of the article 11. Figure 9 shows this state. Note that the extension / retraction of the second fork 41 may be performed before the extension / retraction of the first fork 21 to its travel position (first neutral position P21), or they may be performed simultaneously.

[0037] The following describes an example of transferring an article 11 from the second fork 41 of the second transfer device 40 to the first fork 21 of the first transfer device 20, using Figures 9 through 2 in order.

[0038] Figure 9 shows the state in which the article 11 is in the second position P2. From this state, the support portion 51 of the second fork 41 of the second transfer device 40 retracts along the second exit direction A2 while still supporting the article 11, and further extends beyond the second neutral position P41 (see Figure 2) to the second handover position P42. Figures 7 and 8 show this state.

[0039] Next, the first fork 21 of the first transfer device 20 extends along the first extension / retraction direction A1 and moves into the fork arrangement space E2 of the second fork 41. Figures 5 and 6 show this state. Note that the extension / retraction of the first fork 21 may be performed before the extension / retraction of the support portion 51 of the second fork 41 to the second transfer position P42, or they may be performed simultaneously.

[0040] Next, the first fork 21 of the first transfer device 20 rises from the fork placement space E2 and moves to the space E1 above the support surface 51a. At this time, the first fork 21 of the first transfer device 20 passes the first transfer position P22, so the article 11 moves from the support portion 51 of the second fork 41 onto the first fork 21. Figures 3 and 4 show this state.

[0041] Next, the first fork 21 retracts along the first retraction direction A1 while still supporting the item 11, and moves to the travel position (first neutral position P21). Also, the support portion 51 of the second fork 41 retracts along the first retraction direction A1, and moves to the basic stopping position (second neutral position P41). Figure 2 shows this state. Note that the retraction of the first fork 21 and the second fork 41 do not have to be performed simultaneously; one of them may be performed first and the other later.

[0042] Returning to Figure 9, in this embodiment, article 11 is the object to be worshipped. The first space E20 is a storage area for storing article 11. The second space E30 is a worship area where worshippers 70 perform their worship. The second position P2 of article 11 is the worship position of the object to be worshipped.

[0043] In this embodiment, the second transfer device 40 is positioned in a location corresponding to the worship area (second space E30). The first transfer device 20 and the transport device 14 are configured to transport the objects to be worshipped (articles 11) between the multiple storage units (first position P1) where the objects to be worshipped (articles 11) are stored and the second transfer device 40. The second transfer device 40 is also configured so that the objects to be worshipped (articles 11), which have been received from the first fork 21 and supported on the support unit 51, can be placed at the worship position (second position P2) set in the worship area (second space E30) by the extension and retraction of the second fork 41 by the second extension / retraction mechanism 42.

[0044] In this embodiment, the legs 46 of the second transfer device 40 are fixed to the floor surface F1 of the worship area (second space E30). The second transfer device 40 is covered by a cover 85 in the worship area (second space E30). This cover 85 has a windowed door 86 from which the object of worship (article 11) can be removed. The windowed door 86 is configured so that the side of the object of worship (article 11) on the worship area (second space E30) side can be seen through the window. Below the windowed door 86, a table 87 is placed for use by worshippers 70 during worship. The worship area consists of multiple worship rooms (second space E30) of different sizes, and the worship position (second position P2) of each worship room is set according to the specifications of the worship room (second space E30).

[0045] In this embodiment, the first transfer device 20 is installed on the storage area (first space E20) side of the partition wall 15. The second transfer device 40 is installed on the worship area (second space E30) side of the partition wall 15. The second transfer device 40 moves the object to be worshipped (article 11) in such a way that the audible sound level and vibration level generated are lower than those of the first transfer device 20. In this way, it is possible to keep the audible sound level and vibration level relatively low in the worship area (second space E30), where quietness is required.

[0046] Here, the stopping position of the support unit 51 when the second transfer device 40 is paused is defined as the reference stopping position. In this embodiment, a partition wall 15 is provided between the storage unit (first position P1) and the worship unit (second position P2). Furthermore, when the support unit 51 is stopped at the reference stopping position (second neutral position P41), the support unit 51 is positioned on the worship unit (second space E30) side of the partition wall 15.

[0047] Returning to Figures 1 and 2, in this embodiment, the entire arrangement area R2 of the second transfer device 40 when the support unit 51 is stopped at the reference stop position (second neutral position P41) does not overlap with the area R1 sandwiched between the pair of fixing members 60 in a vertical view. Alternatively, the entire arrangement area R2 of the second transfer device 40 when the support unit 51 is stopped at the reference stop position (second neutral position P41) may be configured to be on the second space E30 side of the partition wall 15 in a vertical view.

[0048] In this embodiment, multiple second transfer devices 40 are arranged within the movement range of the first transfer device 20 carried by the conveying device 14. The multiple second transfer devices 40 are configured to move the items 11 received from the first fork 21 to a predetermined destination, the second position P2, corresponding to each second transfer device 40, by extending and retracting the second fork 41 by the second extension / retraction mechanism 42. The amount of extension and retraction of the second fork 41 by the second extension / retraction mechanism 42 of each second transfer device 40 is set according to the destination (second position P2) and the installation position of the second transfer device 40.

[0049] In this embodiment, the distance between the installation position of the second transfer device 40 and the partition wall 15 is set to a constant value. In addition, multiple distances are set between the second position P2 of the article 11 and the partition wall 15.

[0050] [Other Embodiments] Next, other embodiments of the article conveying equipment 10 will be described.

[0051] (1) In the above embodiment, a configuration in which the supported surface 11b is the bottom surface of the article 11 was described as an example. However, the example is not limited to such an example, and for example, as shown in Figure 10, the supported surface 11b may be the lower surface of a flange-like portion protruding from the side surface of the article 11.

[0052] (2) In the above embodiment, a configuration in which the first exit / return direction A1 and the second exit / return direction A2 are parallel was described as an example. However, the embodiment is not limited to such an example, and a configuration in which the first exit / return direction A1 and the second exit / return direction A2 intersect is also possible. Furthermore, for example, by changing the orientation of the transfer assist member 50 of the second fork 41, a configuration in which the first exit / return direction A1 and the second exit / return direction A2 are orthogonal is also possible.

[0053] (3) In the above embodiment, a configuration was described as in which the first transfer device 20 equipped with the first lifting mechanism 23 is moved by the conveying device 14 in at least one of the vertical Z direction and the horizontal direction, and the second transfer device 40 is fixed to the floor surface F1. However, the invention is not limited to such an example, and for example, the first transfer device 20 equipped with the first lifting mechanism 23 may be fixed to the floor surface F1, and the second transfer device 40 may be moved by the conveying device in at least one of the vertical Z direction and the horizontal direction. The second transfer device 40 may also be equipped with a second lifting mechanism that raises and lowers the second fork 41. Furthermore, the first transfer device 20 may be moved by the conveying device 14 in the vertical Z direction, so that the first transfer device 20 substantially includes a lifting mechanism.

[0054] (4) In the above embodiment, a configuration in which the pair of fixing members 60 are columns of the storage rack 61 was described as an example. However, the example is not limited to such an example, and for example, the pair of fixing members 60 may be the walls of the facility 100, the columns of the transfer device, other devices, or a combination thereof. Also, for example, the pair of fixing members 60 may be the two sides of the opening 15a of the partition wall 15.

[0055] (5) In the above embodiment, a configuration in which the first transfer position P22 and the second transfer position P42 are set between a pair of fixed members 60 has been described as an example. However, the invention is not limited to such an example, and for example, the first transfer position P22 and the second transfer position P42 may be set at positions other than between a pair of fixed members 60. Also, for example, the first transfer position P22 may be provided on the second space E30 side of the partition wall 15. Also, for example, the second transfer position P42 may be provided on the second space E30 side of the partition wall 15.

[0056] (6) In the above embodiment, a configuration was described in which the support portion 51 is arranged in pairs on both sides of the first width direction B1 relative to the communication portion 55. However, the invention is not limited to such an example, and for example, the first fork 21 may have a pair of support portions arranged on both sides of the first width direction B1, and a fork arrangement space E2 and a communication portion 55 may be provided on both sides of one support portion 51.

[0057] (7) In the above embodiment, a configuration in which the second fork 41 is provided with a transfer assist member 50 having a support portion 51 was described as an example. However, the embodiment is not limited to such an example, and for example, the transfer assist member 50 may not have a base portion 52, and the upper surface of the fork body 45 may function as the upper surface of the base portion 52. Alternatively, the second fork 41 may not have a transfer assist member 50, and the upper part of the second fork 41 may be the support portion 51, and the upper surface of the second fork 41 may be the support surface 51a.

[0058] (8) In the above embodiment, a configuration in which the first neutral position P21 is the travel position and the second neutral position P41 is the reference stop position was described as an example. However, the embodiment is not limited to such an example, and for example, the travel position may be a position different from the first neutral position P21. Also, the reference stop position may be a position different from the second neutral position P41, and may be a position corresponding to the worship position of the article 11 (the position of the support part 51 shown in Figure 9).

[0059] (9) In the above embodiment, a configuration in which the first guide portion 56 is fixed to the support portion 51 and the second guide portion 62 is fixed to the fixing member 60 was described as an example. However, the invention is not limited to such an example, and for example, the second fork 41 may be configured not to have the first guide portion 56. Also, the fixing member 60 may not have the second guide portion 62 attached.

[0060] (10) In the above embodiment, a configuration in which the first guide section 56 provides guidance only in the second width direction B2 and the second guide section 62 provides guidance only in the second width direction B2 was described as an example. However, the invention is not limited to such an example, and for example, the first guide section 56 may be configured to provide guidance in both the second width direction B2 and the second exit direction A2. Also, for example, the second guide section 62 may be configured to provide guidance in both the second width direction B2 and the second exit direction A2. Also, for example, the first guide section 56 may be L-shaped guide sections provided at the four corners when viewed in the vertical direction. Also, for example, the second guide section 62 may be L-shaped guide sections provided at the four corners when viewed in the vertical direction.

[0061] (11) 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.

[0062] [Summary of the above embodiment] The following describes the goods handling equipment mentioned above.

[0063] The article conveying equipment according to this disclosure comprises: a first transfer device comprising: a first fork that supports an article from below; a first retraction mechanism that moves the first fork in and out along a first retraction direction along the horizontal direction; and a first lifting mechanism that raises and lowers the first fork; and a second transfer device comprising: a second fork that supports the article from below; and a second retraction mechanism that moves the second fork in and out along a second retraction direction along the horizontal direction, wherein the second fork comprises: a support portion that forms a support surface for supporting the article; a fork arrangement space formed below the support surface and where the first fork protruding along the first retraction direction is arranged; and a communication portion that connects the fork arrangement space and a space above the support surface in the vertical direction, wherein the communication portion is configured so that the first fork can pass through in the vertical direction; and the support portion is configured to support the article in a position where the downward-facing supported surface of the article intersects with the movement trajectory of the first fork passing through the communication portion in the vertical direction.

[0064] With this configuration, items can be directly transferred from the first fork of the first transfer device to the second fork of the second transfer device. Therefore, there is no need to provide a temporary storage area or the like between the first and second transfer devices for placing items. Consequently, it is easier to miniaturize and simplify the configuration of the item handling equipment.

[0065] In one embodiment, it is preferable that the support portion is arranged in pairs on both sides of the communication portion in the first width direction, with respect to the communication portion, with the first width direction being defined as the direction perpendicular to the first extension / retraction direction when viewed in the vertical direction.

[0066] With this configuration, an article can be supported by a pair of support parts arranged separately on both sides in the first width direction. Therefore, it is easier to stably support the article with the second fork.

[0067] In one embodiment, the second fork comprises a fork body and a transfer assist member attached to the fork body, wherein the transfer assist member comprises a pair of support parts, a base part spaced apart below the pair of support parts, and a pair of connecting parts that connect the pair of support parts and the base part in the vertical direction, wherein the vertical distance between the pair of support surfaces and the upper surface of the base part is greater than the vertical dimension of the first fork, the distance between the pair of connecting parts in the first width direction and the distance between the pair of support parts in the first width direction are greater than the first width direction dimension of the first fork, and the space enclosed by the pair of support parts, the pair of connecting parts and the base part is preferably the fork arrangement space.

[0068] This configuration allows for the proper formation of a fork arrangement space where the first fork is positioned, as well as the proper formation of a communication section through which the first fork can pass vertically. Furthermore, a second fork can be formed by attaching a transfer assist member to the fork body. Therefore, by using, for example, the forks of a commonly used transfer device as the fork body, the above-described second transfer device can be realized at low cost.

[0069] In one embodiment, the second fork is preferably attached to the support portion so as to protrude upward from the support surface and includes a first guide portion that descends from above the support surface to guide the horizontal position of the article placed on the support surface.

[0070] With this configuration, even if the horizontal position of an item is deviated from the correct position when transferring it from the first fork to the second fork, the horizontal position of the item can be guided to the correct position while the item is supported on the support surface.

[0071] In one embodiment, the support portion of the second fork and the first fork are configured to transfer an article between a pair of fixed members fixed to the floor surface and extending vertically, with the direction perpendicular to the second extension / retraction direction in a vertical view being defined as the second width direction, and the position of the support portion of the second fork for transferring an article between it and the first fork being defined as the transfer position. The pair of fixed members are arranged on both sides of the support portion at the transfer position in the second width direction, with gaps between them, and each of the pair of fixed members is fitted with a second guide portion. Each of the pair of second guide portions is positioned above the first guide portion when the support portion is at the transfer position, and overlaps with the gap in a vertical view, and is configured to guide the position of the article in the second width direction as it descends from above the first guide portion and is placed on the support surface.

[0072] According to this configuration, even if there is a gap in the second width direction between a pair of fixed members and a support part at the transfer position, and the horizontal position of the article when transferring it from the first fork to the second fork is misaligned so as to protrude into the gap, the article can be guided to an appropriate horizontal position and supported on the support surface.

[0073] In one embodiment, the support portion of the second fork and the first fork are configured to transfer the article between a pair of fixed members fixed to the floor surface and extending vertically, with the direction perpendicular to the second extension / retraction direction in a vertical view being defined as the second width direction, and the position of the support portion of the second fork for transferring the article between it and the first fork being defined as the transfer position, the pair of fixed members are arranged on both sides of the support portion at the transfer position in the second width direction with gaps between them, and the stopping position of the support portion when the second transfer device is stopped being defined as the reference stopping position, and it is preferable that the arrangement area of ​​the entire second transfer device when the support portion is stopped at the reference stopping position does not overlap with the area sandwiched between the pair of fixed members in a vertical view.

[0074] With this configuration, even if the floor surface shakes due to vibrations such as earthquakes, the possibility of interference between the second transfer device and the fixing member can be reduced.

[0075] In one embodiment, the system further comprises a conveying device for moving the first transfer device in at least one of the vertical and horizontal directions, wherein a plurality of second transfer devices are arranged within the range of movement of the first transfer device by the conveying device, and the plurality of second transfer devices are configured to move the articles received from the first fork to predetermined destinations corresponding to each second transfer device by the extension and retraction of the second fork by the second extension and retraction mechanism, and the amount of extension and retraction of the second fork by the second extension and retraction mechanism of each second transfer device is preferably set according to the destination and the installation position of the second transfer device.

[0076] With this configuration, an item held by the first transfer device is transported by a conveying device and passed to one of several second transfer devices, and the item is then moved to its destination by the second transfer device. Furthermore, the second transfer device can move the item from any destination to the first transfer device and transport it to another location. In addition, with this configuration, the extension and retraction distance of the second fork in the second transfer device is set according to the respective destination and the installation position of the second transfer device, so that the item can be appropriately transferred by the second transfer device according to its location and purpose.

[0077] In one embodiment, the article is an object to be worshipped, and the first transfer device is further equipped with a transport device that moves the first transfer device in at least one of the vertical and horizontal directions, the second transfer device is positioned at a location corresponding to a worship area where worshippers worship, the first transfer device and the transport device are configured to transport the object to be worshipped between a plurality of storage areas for storing the object to be worshipped and the second transfer device, and the second transfer device is configured to place the object to be worshipped, which has been received from the first fork and supported by the support section, at a worship position set in the worship area by the extension and retraction of the second fork by the second extension / retraction mechanism.

[0078] This configuration allows for the movement of objects to be worshipped from the storage unit to a designated worship position in the worship unit, and also allows for the movement of these objects from the worship position back to the storage unit. Furthermore, this configuration allows for the direct transfer of objects from the first fork to the second fork during such movement, and enables the direct placement of objects supported on the second fork to the worship position without further transfer. Consequently, the configuration for moving objects to be worshipped can be simplified, and consequently, maintenance of the equipment can be made easier.

[0079] In one embodiment, a partition wall is provided between the storage section and the worship area, and the stopping position of the support section when the second transfer device is paused is taken as the reference stopping position, and when the support section is stopped at the reference stopping position, the support section is positioned on the worship area side of the partition wall.

[0080] With this configuration, when repairing or maintaining the second transfer device, it is easier for workers to reach the second transfer device from the worship area side rather than from the partition wall. Therefore, it is easier to perform repairs and maintenance. [Explanation of Symbols]

[0081] 10: Goods handling equipment 11: Goods 11b: Supported surface 14: Conveying equipment 15: Partition wall 20: 1st transfer device 21: First Fork 22: 1st exit / exit mechanism 23: First lifting mechanism 40:Second transfer device 41: Second Fork 42:Second exit / exit mechanism 45: Fork body 50: Transfer assistance member 51: Support part 51a: Support surface 52: Base 53:Connection part 55:Communication part 56: 1st information section 60: Fixing member 62:Second information section 70: Worshippers E1: Upper space E2: Fork placement space E40: Second Space (Worship Area) P1: 1st position (storage section) P2: Second location (destination, place of worship) P41: 2nd neutral position (reference stop position) P42: Second handover location (handover location)

Claims

1. A first transfer device comprising: a first fork for supporting an item from below; a first retraction mechanism for moving the first fork in and out along a first retraction direction along the horizontal direction; and a first lifting mechanism for raising and lowering the first fork. A second transfer device comprising: a second fork that supports the article from below; and a second retraction mechanism that moves the second fork in a second retraction direction along the horizontal direction; A material handling system equipped with, The second fork comprises a support portion that forms a support surface for supporting the article, a fork arrangement space formed below the support surface and where the first fork protruding along the first extension direction is arranged, and a communication portion that connects the fork arrangement space and the space above the support surface in the vertical direction. The aforementioned communication section is configured such that the first fork can pass through it in the vertical direction. The support portion is configured to support the article in a position where the downward-facing supported surface of the article intersects with the movement trajectory of the first fork, which passes through the communication portion in the vertical direction.

2. In a vertical view, the direction perpendicular to the first inward / outward direction is defined as the first width direction. The article conveying equipment according to claim 1, wherein the support portion is arranged in pairs on both sides in the first width direction relative to the communication portion.

3. The second fork comprises a fork body and a transfer assist member attached to the fork body, The transfer assist member comprises a pair of support portions, a base portion positioned below and spaced apart from the pair of support portions, and a pair of connecting portions that connect the pair of support portions and the base portion in the vertical direction. The vertical distance between the pair of support surfaces and the upper surface of the base is greater than the vertical dimension of the first fork. The distance between the pair of connecting parts in the first width direction, and the distance between the pair of support parts in the first width direction, are greater than the dimension of the first fork in the first width direction. The article conveying equipment according to claim 2, wherein the space enclosed by the pair of support parts, the pair of connecting parts, and the base is the fork arrangement space.

4. The article conveying equipment according to any one of claims 1 to 3, wherein the second fork is attached to the support portion so as to protrude upward from the support surface and includes a first guide portion that descends from above the support surface to guide the horizontal position of the article placed on the support surface.

5. The support portion of the second fork and the first fork are configured to transfer the article between a pair of fixed members that are fixed to the floor surface and extend in the vertical direction. The direction perpendicular to the second extension / retraction direction when viewed from above is defined as the second width direction, and the position of the support portion of the second fork for transferring the article between it and the first fork is defined as the transfer position. The pair of fixing members are positioned on both sides in the second width direction with respect to the support portion at the transfer position, with gaps between them. A second guide is attached to each of the pair of fixing members. The article conveying equipment according to claim 4, wherein each of the pair of second guides is positioned above the first guide when the support is in the transfer position and overlaps with the gap when viewed in the vertical direction, and is configured to descend from above the first guide to guide the position of the article in the second width direction to be placed on the support surface.

6. The support portion of the second fork and the first fork are configured to transfer the article between a pair of fixed members that are fixed to the floor surface and extend in the vertical direction. The direction perpendicular to the second extension / retraction direction when viewed from above is defined as the second width direction, and the position of the support portion of the second fork for transferring the article between it and the first fork is defined as the transfer position. The pair of fixing members are positioned on both sides in the second width direction with respect to the support portion at the transfer position, with gaps between them. The article transport equipment according to any one of claims 1 to 3, wherein the stopping position of the support portion when the second transfer device is paused is taken as the reference stopping position, and the arrangement area of ​​the entire second transfer device when the support portion is stopped at the reference stopping position does not overlap with the area sandwiched between the pair of fixing members when viewed in the vertical direction.

7. The system further comprises a conveying device for moving the first transfer device in at least one of the vertical and horizontal directions, Multiple second transfer devices are arranged within the movement range of the first transfer device by the transport device. The multiple second transfer devices are configured to move the articles received from the first fork to predetermined destinations corresponding to each second transfer device by the extension and retraction of the second fork by the second extension / retraction mechanism. The article transport equipment according to any one of claims 1 to 3, wherein the amount of extension and retraction of the second fork by the second extension / retraction mechanism of each of the second transfer devices is set according to the destination and the installation position of the second transfer device.

8. The aforementioned item is an object of worship, The system further comprises a conveying device for moving the first transfer device in at least one of the vertical and horizontal directions, The second transfer device is positioned at a location corresponding to the worship area where worshippers perform their prayers. The first transfer device and the transport device are configured to transport the objects to be worshipped between a plurality of storage units for storing the objects to be worshipped and the second transfer device. The article transport equipment according to any one of claims 1 to 3, wherein the second transfer device is configured such that the second fork moves in and out by the second extension / retraction mechanism to place the object to be worshipped, which has been received from the first fork and supported on the support, at the worship position set on the worship section.

9. A partition wall is provided between the storage area and the worship area. The article transport equipment according to claim 8, wherein the stopping position of the support when the second transfer device is stopped is taken as the reference stopping position, and when the support is stopped at the reference stopping position, the support is positioned on the worship section side of the partition wall.

10. The first transfer device is configured such that the support surface of the first fork that supports the article from below passes through the communication portion, thereby transferring the article between the second fork and the first fork. The article conveying equipment according to any one of claims 1 to 3, wherein the communicating portion is configured to be passable from a position where the support surface of the first fork is below the support surface of the second fork to a position where it is above the support surface of the second fork.

11. The support portion of the second fork and the first fork are configured to transfer the article between a pair of fixed members that are fixed to the floor surface and extend in the vertical direction, The direction perpendicular to the second extension / retraction direction when viewed from above is defined as the second width direction, and the position of the support portion of the second fork for transferring the article between it and the first fork is defined as the transfer position. The second transfer device is configured to transport the article between the transfer position and a predetermined second position. The pair of fixing members are positioned on both sides in the second width direction with respect to the support portion at the transfer position, with gaps between them. The article transport equipment according to any one of claims 1 to 3, wherein the arrangement area of ​​the entire second transfer device when the support portion is stopped at the second position does not overlap with the area sandwiched between the pair of fixing members when viewed in the vertical direction.

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