Transfer device

Abstract

A transfer device according to the present invention comprises: a first extension / retraction part (13) supported by a first extension / retraction support part (11); a second extension / retraction part (23) supported by a second extension / retraction support part (21); an interval change mechanism; and a first regulation part (6) and a second regulation part (7) for regulating the position of a support article. The first regulation part (6) has a first facing surface (6a) facing the support article, and the second regulation part (7) has a second facing surface (7a) facing the support article. The first regulation part (6) is supported by the first extension / retraction support part (11) so that the first facing surface (6a) is positioned further to the second side (Y2) in the width direction than the first extension / retraction part (13), and the second regulation part (7) is supported by the second extension / retraction support part (21) so that the second facing surface (7a) is positioned further to the first side (Y1) in the width direction than the second extension / retraction part (23).

Description

Transfer Device

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

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

[0003] The transfer device (1) of Patent Document 1 includes a pair of advancing / retreating portions (31, 41) that advance and retreat along the transfer direction (Y), a plurality of hooks (5, 6) attached to each of the pair of advancing / retreating portions (31, 41), and a support portion (2) for supporting an article (W). The hooks (5, 6) are configured to be able to change their posture between an overlapping posture overlapping the article (W) supported by the support portion (21) and a retracted posture not overlapping the article (W) when viewed in the transfer direction (Y). In this transfer device (1), the hooks (5, 6) are set in the overlapping posture and the pair of advancing / retreating portions (31, 41) are moved forward and backward, thereby transferring the article (W) between the support portion (21) and the transfer target location (11).

[0004] Japanese Patent Application Laid-Open No. 2023-70355

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

[0006] Therefore, a transfer device capable of appropriately transferring an article between a support portion for supporting the article and a transfer target location is desired.

[0007] The transfer device according to this disclosure is a transfer device that performs a transfer operation to move an article between a support part that supports an article and a location to be transferred, wherein the width direction is defined as the direction perpendicular to the transfer direction in a vertical view along the vertical direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side, and comprises: a first retraction part supported by a first retraction support part and moving in and out relative to the support part along the transfer direction; a second retraction part supported by a second retraction support part and positioned on the second width direction side relative to the first retraction part and moving in and out relative to the support part along the transfer direction; a spacing changing mechanism for changing the spacing in the width direction between the first retraction support part and the second retraction support part; and locking parts supported by the first retraction part and the second retraction part respectively, which can change their position to an overlapping position in which they overlap with the article in a view along the transfer direction and a retracted position in which they do not overlap with the article in a view along the transfer direction. The support comprises a first restricting portion and a second restricting portion that restrict the position in the width direction of the support article, which is the article supported by the support portion, wherein the first restricting portion has a surface that extends along the transfer direction and has a first opposing surface that faces the support article from the first side in the width direction, and the second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, the first restricting portion is supported by the first retraction support portion such that the first opposing surface is located second side in the width direction of the first retraction portion, and the second restricting portion is supported by the second retraction support portion such that the second opposing surface is located first side in the width direction of the second retraction portion.

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

[0009] Further features and advantages of the transfer device will become clear from the following description of exemplary and non-limiting embodiments, which will be illustrated with reference to the drawings.

[0010] Perspective view of the conveying equipment Perspective view of the transfer device in the retracted state Perspective view of the transfer device in the protruding state Front view of the transfer device Control block diagram Plan view schematically showing the operation of receiving an item from the transfer target location to the support unit Plan view schematically showing the operation of receiving an item from the transfer target location to the support unit Plan view schematically showing the operation of transferring an item from the support unit to the transfer target location

[0011] In the following, an embodiment of the transfer device 1 will be described using as an example a case in which a transport vehicle 10 equipped with a transfer device 1 is provided in a transport facility 100 where goods W are transported and stored.

[0012] As shown in Figure 1, the transport equipment 100 includes a transport vehicle 10 equipped with a transfer device 1, a storage shelf 3 equipped with a plurality of shelf sections 31, and a travel path R on which the transport vehicle 10 travels.

[0013] The storage shelf 3 has a multi-tiered structure with multiple shelves 31 arranged in the vertical direction. Multiple travel paths R are arranged corresponding to each of the multiple shelves 31. The transport vehicle 10 is configured to travel along each of the multiple travel paths R. In this example, the travel paths R are formed in a straight line.

[0014] The shelf section 31 is configured to accommodate multiple items W side by side. Here, the shelf section 31 is a shelf board on which items W can be placed. The shelf board is arranged along the direction in which the travel path R extends. The shelf section 31 can accommodate multiple items W side by side along the direction in which the travel path R extends. Each of the multiple levels of shelf sections 31 (shelf boards) is supported by multiple support columns 32 provided on the storage shelf 3. The transport vehicle 10 is positioned along the travel path R of each level. The transport vehicle 10 travels along the travel path R and transfers items W between it and the shelf section 31. That is, each of the multiple levels of shelf sections 31 is designated as a transfer target location 4. Figure 1 shows the transport vehicle 10 positioned along the travel path R of the uppermost level of the storage shelf 3.

[0015] In the example shown in Figure 1, the multi-tiered shelf sections 31 are arranged on both sides of the travel path R. The transport vehicle 10 transfers goods W to both sets of shelf sections 31 located on both sides of the travel path R. The storage shelf 3 further includes a lifting device 43 and multiple loading / unloading conveyors 9. The lifting device 43 is installed adjacent to the travel path R and one end of the shelf section 31. The loading / unloading conveyors 9 are installed at one end of the shelf section 31 (specifically, the end on the side of the travel path R where the lifting device 43 is located). The lifting device 43 transfers goods W to and from each loading / unloading conveyor 9. The transport vehicle 10 transfers goods W to and from the loading / unloading conveyors 9, as well as to and from the shelf sections 31. That is, the transport vehicle 10 transports goods W between the loading / unloading conveyors 9 and the shelf section 31 at each level. Therefore, each of the multiple loading / unloading conveyors 9 is also designated as a transfer target location 4. In the illustrated example, each shelf section 31 is a single-deep storage shelf 3 in which one item W is arranged in the shelf depth direction (a direction perpendicular to the direction in which the travel path R extends when viewed vertically), but a multi-deep storage shelf 3 in which two or more items W are arranged in the shelf depth direction may also be used. Furthermore, storage shelves 3 may be arranged so that two travel paths R intersect at each level.

[0016] As shown in Figures 2 and 3, the transfer device 1 and the support unit 2 are provided on the transport vehicle 10. The transport vehicle 10 also comprises a vehicle body 18 and a traveling device 16. The traveling device 16 is equipped with a traveling motor 16M as a drive source. The traveling motor 16M provides the driving force that allows the vehicle body 18 to travel along the travel path R. The transfer device 1 is configured to perform a transfer operation in which the article W is moved along the transfer direction X between the support unit 2, which supports the article W, and the transfer target location 4. In this embodiment, the transfer device 1 is supported by the vehicle body 18. The support unit 2 is configured to support the article W from below in the transfer device 1.

[0017] The transfer device 1 includes an extension / retraction section (first extension / retraction section 13 and second extension / retraction section 23), a locking section 8, a regulating section (first regulating section 6 and second regulating section 7), and a spacing change mechanism 5. In this embodiment, the transfer device 1 further includes a control unit H. Hereinafter, the direction perpendicular to the transfer direction X in a vertical view along the vertical direction will be defined as the width direction Y, with one side of the width direction Y being defined as the first width direction side Y1 and the opposite side as the second width direction side Y2. Furthermore, the side on which the transfer target location 4 is positioned relative to the support section 2 in the transfer direction X will be defined as the first transfer direction side X1, and the opposite side will be defined as the second transfer direction side X2.

[0018] The first retractable section 13 is supported by the first retractable support section 11 and is configured to move in and out relative to the support section 2 along the transfer direction X. The second retractable section 23 is supported by the second retractable support section 21 and is positioned on the second side Y2 in the width direction relative to the first retractable section 13 and is configured to move in and out relative to the support section 2 along the transfer direction X. The first retractable support section 11 and the second retractable support section 21 are positioned separately in the width direction Y. More specifically, the first retractable support section 11 and the second retractable support section 21 are positioned so as to sandwich the mounting surface 2a of the support section 2 in the width direction Y. The transfer device 1 includes a first retractable drive section 14 that drives the first retractable section 13 to move in and out, and a second retractable drive section 24 that drives the second retractable section 23 to move in and out. In this embodiment, the first retractable section 13 and the second retractable section 23 retract in the transfer direction X between a reference position T1 corresponding to the support section 2 and a protruding target position T2 corresponding to the transfer target location 4. In this example, the first retractable section 13 further comprises a first relay section 62 supported by the first retractable support section 11 so as to be able to retract in the transfer direction X, and a first main body section 61 supported by the first relay section 62 so as to be able to retract in the transfer direction X. Similarly, the second retractable section 23 further comprises a second relay section 72 supported by the second retractable support section 21 so as to be able to retract in the transfer direction X, and a second main body section 71 supported by the second relay section 72 so as to be able to retract in the transfer direction X. In this embodiment, the reference position T1 is the position where the first retractable support section 11 and the second retractable support section 21 are arranged. The protruding target position T2 is the position in the transfer target location 4 corresponding to the arrangement area of ​​the item W to be transferred. In the example shown in Figure 2, the reference position T1 is the position where the first main body 61 and the first relay section 62 are retired and housed inside the first retraction support section 11 (second side Y2 in the width direction) (the position where the first main body 61 and the first relay section 62 overlap with the first retraction support section 11 in a width direction view along the width direction Y), and also the position where the second main body 71 and the second relay section 72 are retired and housed inside the second retraction support section 21 (first side Y1 in the width direction) (the position where the second main body 71 and the second relay section 72 overlap with the second retraction support section 21 in a width direction view).

[0019] In this embodiment, as shown in Figures 2 to 4, the surface of the first extension / retraction section 13 that faces the supported article Wt from the first side Y1 in the width direction is defined as the inner surface 13a of the first extension / retraction section. The supported article Wt is the article W in a state supported by the support section 2. Similarly, the surface of the second extension / retraction section 23 that faces the supported article Wt from the second side Y2 in the width direction is defined as the inner surface 23a of the second extension / retraction section. More specifically, the inner surface 13a of the first extension / retraction section is the surface of the first main body 61 facing the second side Y2 in the width direction. The inner surface 23a of the second extension / retraction section is the surface of the second main body 71 facing the first side Y1 in the width direction.

[0020] The locking portion 8 is supported by the first extension / retraction portion 13 and the second extension / retraction portion 23, respectively, and is configured to change its orientation between an overlapping orientation S1 in which it overlaps with the article W when viewed in the transfer direction X, and a retracted orientation S2 in which it does not overlap with the article W when viewed in the transfer direction. In this embodiment, multiple locking portions 8 are provided on each of the first extension / retraction portion 13 and the second extension / retraction portion 23. More specifically, the locking portions 8 are provided at both ends of the first extension / retraction portion 13 (here, the first main body portion 61) in the transfer direction X. Similarly, the locking portions 8 are provided at both ends of the second extension / retraction portion 23 (here, the second main body portion 71) in the transfer direction X. In this example, the locking portion 8 provided on the first extension / retraction portion 13 is configured to pivot around a first axis P1 along the transfer direction X. The locking portion 8 provided on the second extension / retraction section 23 is configured to be rotatable around a second axis P2 along the transfer direction X. Each locking portion 8 rotates by the drive of a locking motor 8M (Figures 3 and 5). As shown in Figure 4, the locking portion 8 is a rod-shaped member (hook) positioned along the vertical direction in the retracted position S2. In the overlapping position S1 of the locking portion 8, the tip of the locking portion 8 protrudes inward in the width direction Y (towards the supported article Wt) relative to the first extension / retraction section 13 or the second extension / retraction section 23. The locking portion 8 may be configured to change its position between the overlapping position S1 and the retracted position S2 by sliding in the width direction Y.

[0021] The spacing change mechanism 5 is configured to change the spacing in the width direction Y between the first retraction support section 11 and the second retraction support section 21. In this embodiment, the spacing change mechanism 5 includes a spacing change drive unit 51, which changes the spacing between the first retraction support section 11 and the second retraction support section 21. In the examples of Figures 2, 3, and 5, a spacing change motor 5M is provided as the spacing change drive unit 51. The spacing change mechanism 5 is configured to move at least one of the first retraction support section 11 and the second retraction support section 21 in the width direction Y. In this embodiment, the spacing change mechanism 5 is configured to change the spacing in the width direction Y between the first retraction section 13 and the second retraction section 23 by moving both the first retraction support section 11 and the second retraction support section 21 in the width direction Y. In this example, the spacing change mechanism 5 includes a guide member 52 that guides the movement of the first retraction support section 11 and the second retraction support section 21 in the width direction Y (Figure 4). The guide member 52 is a rod-shaped member arranged along the width direction Y and is fixed to the vehicle body 18. The first retraction support part 11 and the second retraction support part 21 are supported so as to be slidable in the width direction Y relative to the guide member 52. As described above, the first retraction part 13 is supported by the first retraction support part 11. The second retraction part 23 is supported by the second retraction support part 21. Therefore, the distance between the first retraction part 13 and the second retraction part 23 is changed by the movement of both the first retraction support part 11 and the second retraction support part 21.

[0022] In this example, the first retraction drive unit 14 is provided on the first retraction support unit 11 and the first retraction unit 13. The second retraction drive unit 24 is provided on the second retraction support unit 21 and the second retraction unit 23. A slide base 20 is supported on both the first retraction support unit 11 and the second retraction support unit 21. Each slide base 20 is positioned below the first retraction unit 13 and the second retraction unit 23. The pair of slide bases 20 are plate-shaped members arranged to protrude inward in the width direction (towards the side facing the supported article Wt) relative to the respective retraction support units (first retraction support unit 11 and second retraction support unit 21). The pair of slide bases 20 are configured to be able to place the supported article Wt on them. In this example, the pair of slide bases 20 constitute the support unit 2. That is, the support unit 2 is supported on both the first retraction support unit 11 and the second retraction support unit 21. Furthermore, the mounting surface 2a of the support unit 2 is the upper surface of each of the pair of slide bases 20. Because of this configuration, the spacing change mechanism 5 slides the first retraction support unit 11, the first retraction unit 13, and the slide base 20 provided on the first retraction support unit 11 (hereinafter sometimes referred to as "first slide base 20a") in the width direction Y as a single unit. Similarly, the spacing change mechanism 5 slides the second retraction support unit 21, the second retraction unit 23, and the slide base 20 provided on the second retraction support unit 21 (hereinafter sometimes referred to as "second slide base 20b") in the width direction Y as a single unit. Note that the first retraction drive unit 14 and the second retraction drive unit 24 are equipped with a common retraction motor 14M (Figure 5).

[0023] In this embodiment, when transferring an article W from the support section 2 to the transfer target location 4, the locking portions 8 of the first extension / retraction section 13 and the second extension / retraction section 23 (here, the ends on the second side X2 in the transfer direction, i.e., the locking portions 8 located on the side furthest from the transfer target location 4) are set to an overlapping position S1 (locking control). Then, the first extension / retraction section 13 and the second extension / retraction section 23 are extended toward the projection target position T2. ​​As a result, the locking portions 8 lock (contact) with the surface of the article W facing the second side X2 in the transfer direction. Consequently, the article W moves toward the transfer target location 4 and is placed upon the transfer target location 4. After that, when the locking portions 8 from the overlapping position S1 are set to a retracted position S2 (locking release control), the first extension / retraction section 13 and the second extension / retraction section 23 are retracted toward the reference position T1. When receiving an item W from the transfer target location 4 to the support unit 2, the first retractable section 13 and the second retractable section 23 are extended toward the target position T2. ​​Then, when the locking parts 8 of the first retractable section 13 and the second retractable section 23 are set to the overlapping position S1 (locking control), the first retractable section 13 and the second retractable section 23 are retracted toward the reference position T1. As a result, the locking parts 8 lock (contact) with the surface of the item W facing the first side X1 in the transfer direction. Consequently, the item W moves toward the support unit 2 and is placed on the support unit 2. The spacing between the first retractable section 13 and the second retractable section 23 is changed by the spacing changing mechanism 5 according to the width of the item W to be transferred. The transfer operation of such a transfer device 1 will be described in detail later.

[0024] As shown in Figures 4 and 6 to 8, the first restricting section 6 and the second restricting section 7 restrict the position in the width direction Y of the support article Wt, which is an article W supported by the support section 2. In this embodiment, the first restricting section 6 and the second restricting section 7 also serve the function of guiding the support article Wt as it moves in the transfer direction X. The first restricting section 6 is a surface that extends along the transfer direction X and has a first opposing surface 6a that faces the support article Wt from the first side Y1 in the width direction. The first restricting section 6 is supported by the first retraction support section 11 such that the first opposing surface 6a is located on the second side Y2 in the width direction relative to the first retraction section 13. The second restricting section 7 is a surface that extends along the transfer direction X and has a second opposing surface 7a that faces the support article Wt from the second side Y2 in the width direction. Furthermore, the second regulating portion 7 is supported by the second retraction support portion 21 such that the second opposing surface 7a is located on the first side Y1 in the width direction relative to the second retraction portion 23.

[0025] In this embodiment, the first restricting section 6 and the second restricting section 7 are supported by the retraction support section (first retraction support section 11, second retraction support section 21) via the support section 2 (here, a pair of slide bases 20). More specifically, the first restricting section 6 is fixed to the first slide base 20a, which is the support section 2. As a result, in this embodiment, the relative position of the first restricting section 6 and the first retraction section 13 in the width direction Y is fixed. The second restricting section 7 is fixed to the second slide base 20b, which is the support section 2. As a result, in this embodiment, the relative position of the second restricting section 7 and the second retraction section 23 in the width direction Y is fixed. The first opposing surface 6a and the second opposing surface 7a are flat surfaces (here, rectangular surfaces) that are aligned with the transfer direction X and the vertical direction. Note that the first opposing surface 6a and the second opposing surface 7a are not limited to flat surfaces as described above, but may be curved surfaces, for example. The shape and size of the first opposing surface 6a and the second opposing surface 7a can be changed as appropriate. In this embodiment, the first restricting section 6 includes a first inclined surface 6b that is provided on the first side X1 in the transfer direction, continuously from the end of the first opposing surface 6a on the first side X1 in the transfer direction. The first inclined surface 6b is inclined so as it moves toward the first side Y1 in the width direction as it moves toward the first side X1 in the transfer direction. In this example, the first restricting section 6 includes a plurality (two) of first inclined surfaces 6b. Specifically, the first inclined surface 6b is further formed continuously from the end of the first opposing surface 6a on the second side X2 in the transfer direction. The first inclined surface 6b is inclined so as it moves toward the first side Y1 in the width direction as it moves toward the second side X2 in the transfer direction. Furthermore, in this embodiment, the second restricting portion 7 includes a second inclined surface 7b that is provided on the first side X1 in the transfer direction, continuously from the end of the second opposing surface 7a on the first side X1 in the transfer direction. The second inclined surface 7b is inclined so as it moves toward the second side Y2 in the width direction, it moves toward the first side X1 in the transfer direction. In this example, the second restricting portion 7 includes a plurality (two) of second inclined surfaces 7b. Specifically, the second inclined surface 7b is further formed continuously from the end of the second opposing surface 7a on the second side X2 in the transfer direction. The second inclined surface 7b is inclined so as it moves toward the second side Y2 in the width direction, it moves toward the second side X2 in the transfer direction.Here, the first inclined surface 6b and the second inclined surface 7b are both flat inclined surfaces, but they may also be curved inclined surfaces.

[0026] In this embodiment, the distance in the width direction Y between the end of the first inclined surface 6b (the first inclined surface 6b formed continuously from the end of the first side X1 in the transfer direction of the first opposing surface 6a) and the end of the second inclined surface 7b (the second inclined surface 7b formed continuously from the end of the first side X1 in the transfer direction of the second opposing surface 7a) is set to be greater than or equal to the distance in the width direction Y between the first retraction portion 13 (inner surface 13a of the first retraction portion) and the second retraction portion 23 (inner surface 23a of the second retraction portion). Here, the distance in the width direction Y between the end of the first inclined surface 6b on the first side X1 in the transfer direction and the end of the second inclined surface 7b on the first side X1 in the transfer direction is greater than the distance in the width direction Y between the first retraction portion 13 and the second retraction portion 23. Therefore, the end of the first inclined surface 6b on the first side X1 in the transfer direction is positioned on the first side Y1 in the width direction relative to the inner surface 13a of the first extension / retraction section. Similarly, the end of the second inclined surface 7b on the first side X1 in the transfer direction is positioned on the second side Y2 in the width direction relative to the inner surface 23a of the second extension / retraction section. In this example, the distance in the width direction Y between the first inclined surface 6b, which is formed continuously from the end of the first opposing surface 6a on the second side X2 in the transfer direction, and the second inclined surface 7b, which is formed continuously from the end of the second opposing surface 7a on the second side X2 in the transfer direction, is configured in the same way.

[0027] In the illustrated example, the first opposing surface 6a and the first inclined surface 6b are positioned on the mounting surface 2a of the first slide base 20a (support portion 2) between the supported article Wt (more specifically, the surface of the supported article Wt facing the first side Y1 in the width direction) and the first retractable portion 13 (more specifically, the inner surface 13a of the first retractable portion at reference position T1). Similarly, the second opposing surface 7a and the second inclined surface 7b are positioned on the mounting surface 2a of the second slide base 20b (support portion 2) between the supported article Wt (more specifically, the surface of the supported article Wt facing the second side Y2 in the width direction) and the second retractable portion 23 (more specifically, the inner surface 23a of the second retractable portion at reference position T1). Naturally, the inner surface 13a of the first retractable portion at reference position T1 faces the supported article Wt (article W placed on a pair of slide bases 20) from the first side Y1 in the width direction. Furthermore, the inner surface 23a of the second protrusion / recess at the reference position T1 faces the support article Wt from the second side Y2 in the width direction.

[0028] In this example, a gap (first gap L3) is formed as a clearance between the first opposing surface 6a and the surface of the support article Wt facing the first side Y1 in the width direction. Similarly, a gap (second gap L4) is formed as a clearance between the second opposing surface 7a and the surface of the support article Wt facing the second side Y2 in the width direction. Here, the first gap L3 and the second gap L4 are set to the same length. Note that in the example in Figure 4, the first gap L3 and the second gap L4 are depicted as relatively large for clarity. In the illustrated example, the first restricting portion 6 and the second restricting portion 7 are arranged so as not to interfere with the locking portion 8 in the overlapping position S1. Also, the first restricting portion 6 and the second restricting portion 7 are arranged over the entire range of the transfer direction X on the pair of slide bases 20. The first inclined surface 6b and the second inclined surface 7b may be arranged so as to protrude outwards in the transfer direction X relative to the pair of slide bases 20, or they may be arranged so as not to protrude outwards in the transfer direction X. Here, if we define the distance in the width direction Y between the inner surface 13a of the first extension / retraction section and the first opposing surface 6a as the first interval L1, and the distance in the width direction Y between the inner surface 23a of the second extension / retraction section and the second opposing surface 7a as the second interval L2, then in this example, the first restricting section 6 and the second restricting section 7 are arranged such that the size of the first interval L1 and the second interval L2 are the same, but this is not the only option.

[0029] The control unit H is configured to control each element of the transfer device 1, as well as elements of the transport vehicle 10 other than the transfer device 1 (such as the travel device 16 and various sensors such as obstacle sensors). The control unit H includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the processor such as a computer. The control unit H is configured to communicate with a higher-level controller (not shown) that controls the entire transport equipment 100. The control unit H controls the travel device 16 based on command information from the higher-level controller. As a result, the transport vehicle 10 travels toward the designated transfer target location 4. In the example in Figure 1, the control unit H makes the transport vehicle 10 travel between the loading / unloading conveyor 9 and the shelf section 31 based on a command from the higher-level controller. The command information includes at least the stopping position of the transport vehicle 10 on the travel path R, information about the transfer target location 4 corresponding to the stopping position (for example, identification information indicating the area of ​​a specific transfer target location 4, or information on whether or not an item W is placed in that area), and work information at the stopping position (for example, information on receiving or handing over the item W). The transport vehicle 10 travels toward the stopping position on the travel path R commanded by the higher-level controller. Multiple stopping positions are pre-set on the travel path R. These stopping positions are stored, for example, in the higher-level controller or the control unit H of the transport vehicle 10. Each stopping position is set to correspond to the placement area of ​​each item W that is arranged side by side at the transfer target location 4. Therefore, when the transport vehicle 10 stops at a predetermined stopping position, the transfer device 1 can appropriately transfer the item W between it and the transfer target location 4.

[0030] On the other hand, if the transport vehicle 10 stops at a position deviating from the set stopping position and the transfer operation is performed in that state, or if the posture or position of the item W placed at the transfer target location 4 is not appropriate, there is a possibility that the entry / exit section (first entry / exit section 13, second entry / exit section 23) and the item W may interfere with each other. Specifically, when the operation of transferring the item W from the support section 2 to the transfer target location 4 is performed, after the item W is placed at the transfer target location 4, there is a possibility that the entry / exit section, which is retracting toward the reference position T1, may interfere with the item W placed at the transfer target location 4. When the support section 2 performs the operation of receiving the item W from the transfer target location 4, there is a possibility that the entry / exit section, which is protruding toward the protruding target position T2, may interfere with the item W placed at the transfer target location 4. Furthermore, as in the storage shelf 3 of the multi-deep structure described above, when multiple items W are lined up in the depth direction of the shelf section 31, there is a possibility that the entry / exit section may interfere with another item W that is located behind the item W to be transferred. As described above, interference between the entry / exit section and the item W may reduce the possibility of properly transferring the item W or damage the transfer device 1. Therefore, in this embodiment, the control described below is performed to reduce the possibility of interference between the entry / exit section and the item W.

[0031] As shown in Figure 4, the control unit H is configured to set the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 to a first set distance D1 that is wider than the width direction Y dimension W1 of the article W by a set distance. Here, the set distance is set to be greater than or equal to the sum of the first interval L1 and the second interval L2. In this example, the set distance is set to be greater than the sum of the first interval L1 and the second interval L2. Specifically, the set distance is the sum of the first interval L1 and the second interval L2 plus the lengths of the first gap L3 and the second gap L4, which are margins. Therefore, in this example, the size of the first set distance D1 can be expressed by the formula "D1 = W1 + L1 + L2 + L3 + L4". Note that the margins are set to be less than the sum of the first interval L1 and the second interval L2 (L3 + L4 < L1 + L2). Thus, in this embodiment, the first setting interval D1 can be set according to the sum of the first interval L1 and the second interval L2.

[0032] Furthermore, the control unit H is configured to change the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 to a second setting interval D2 that is greater than or equal to the width direction Y dimension W1 of the article W and narrower than the first setting interval D1. In this example, the second setting interval D2 is the size obtained by adding the lengths of the first gap L3 and the second gap L4, which are margins, to the width direction Y dimension W1 of the article W (D2 = W1 + L3 + L4). Thus, the control unit H is configured to change the distance between the first extension / retraction section 13 and the second extension / retraction section 23 to at least the first setting interval D1 and the second setting interval D2. In this embodiment, the first setting interval D1 and the second setting interval D2 are intervals that change according to the load width (width direction Y dimension W1) of the supported article Wt, but if the size of the article W placed on the transfer target location 4 is fixed, the first setting interval D1 and the second setting interval D2 may be constant intervals that do not change.

[0033] As shown in Figures 6 to 8, the control unit H performs protrusion control, retraction control, and locking control in at least one of the following cases: when receiving an item W from the transfer target location 4 to the support unit 2, and when transferring an item W from the support unit 2 to the transfer target location 4. In this embodiment, the control unit H performs at least protrusion control, retraction control, and locking control in both cases: when receiving an item W from the transfer target location 4 to the support unit 2, and when transferring an item W from the support unit 2 to the transfer target location 4.

[0034] In the protrusion control, when the control unit H moves the item W between the transfer target location 4 and the support unit 2, the control unit H moves the first retractable part 13 and the second retractable part 23 in the transfer direction X while the distance between them in the width direction Y is set to the first set interval D1. As shown in Figure 6, when the control unit H receives the item W from the transfer target location 4 to the support unit 2, it first performs protrusion control. Specifically, the control unit H controls the first retractable part 13 and the second retractable part 23, which are in the state of the first set interval D1, to protrude from the reference position T1 to the target protrusion position T2. ​​At the target protrusion position T2, the tips of the first retractable part 13 and the second retractable part 23 are positioned behind the item W to be transferred at the transfer target location 4 (first side in the transfer direction X1). In the case of the storage rack 3 with a multi-deep structure, the tips of the first extension / retraction section 13 and the second extension / retraction section 23 are positioned behind the item W to be transferred, and in front of another item W (dotted line in Figure 6) located further behind the said item W (second side X2 in the transfer direction). After the protrusion control is completed, the control unit H performs locking control. In the locking control, as described above, the control unit H changes the posture of the pair of locking sections 8 from the retracted posture S2 to the overlapping posture S1. After the locking control is completed, the control unit H performs retirement control.

[0035] In retirement control, the control unit H retires the first retractable section 13 and the second retractable section 23 with the distance between them in the width direction Y set to a first set interval D1. When an item W is received from the transfer target location 4 to the support section 2, in retirement control, the item W moves while being guided by the first opposing surface 6a of the first restricting section 6 and the second opposing surface 7a of the second restricting section 7, and is placed on the mounting surface 2a (in this case, the upper surface of the pair of sliding tables 20). Also, if there is a misalignment in the position of the item W placed at the transfer target location 4, or if the orientation of the item W is not appropriate, the item W is guided by the first inclined surface 6b and the second inclined surface 7b while moving, and is placed between the first opposing surface 6a and the second opposing surface 7a on the mounting surface 2a.

[0036] In this embodiment, as shown in Figures 7 and 8, the control unit H can further perform position adjustment control. In position adjustment control, after the protrusion control and before the retraction control, the control unit H changes the distance in the width direction Y between the first retraction section 13 and the second retraction section 23 from the first set interval D1 to the second set interval D2, and then returns it from the second set interval D2 to the first set interval D1. As shown in Figure 7, when the control unit H receives an item W from the transfer target location 4 to the support section 2, after the completion of the protrusion control, in position adjustment control, it changes the distance in the width direction Y between the first retraction section 13 and the second retraction section 23 from the first set interval D1 to the second set interval D2. This makes it possible to correct the position and orientation of the item W even if there is a misalignment in the position of the item W placed at the transfer target location 4 or if the orientation of the item W is not appropriate. Subsequently, in position adjustment control, the control unit H returns the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 from the second set interval D2 to the first set interval D1. After the position adjustment control is completed, the control unit H executes locking control with the distance in the width direction Y between the first extension / retraction section 13 and the second extension / retraction section 23 set to the first set interval D1. Here, the control unit H can swap the execution order of the position adjustment control and the locking control, and can also overlap the execution periods of the position adjustment control and the locking control.

[0037] Thus, when receiving an item W from the transfer target location 4 to the support unit 2, the control unit H can execute the protrusion control, locking control, and retraction control in the order described, as can the protrusion control, position adjustment control, and retraction control in the order described. Furthermore, if only the protrusion control, locking control, and retraction control are executed without executing the position adjustment control, the time cycle in the transfer operation can be shortened. Therefore, the transport efficiency of the item W can be increased.

[0038] When transferring an item W from the support unit 2 to the transfer target location 4, the control unit H executes locking control, ejection control, locking release control, position adjustment control, and retraction control in the order shown in Figure 8. The control unit H executes locking control while the item W (supported item Wt) is placed on the mounting surface 2a. Then, the control unit H executes ejection control to transfer the item W to the transfer target location 4. The item W is placed on the transfer target location 4 while being guided by the first opposing surface 6a and the second opposing surface 7a. Next, the control unit H executes locking release control. That is, the control unit H changes the locking unit 8 from the overlapping position S1 to the retracted position S2. Then, the control unit H executes position adjustment control. This allows the item to be placed in an appropriate position and in the correct orientation at the transfer target location 4. Then, the control unit H executes retraction control. Here, the control unit H can swap the execution order of the lock release control and the position adjustment control, and can also overlap the execution periods of the lock release control and the position adjustment control. Whether or not the control unit H executes the position adjustment control when transferring the item W can be set as appropriate. Furthermore, the system can be configured to execute the position adjustment control if the posture or position of the item W to be transferred to the transfer target location 4 is not appropriate, or if the posture or position of the item W already placed at the transfer target location 4 is not appropriate. In addition, when the control unit H transfers the item W from the support unit 2 to the transfer target location 4, it can also execute the lock control, protrusion control, lock release control, and retraction control in the order described without executing the position adjustment control. In this case, the time cycle in the transfer operation can be shortened. Therefore, the transport efficiency of the item W can be increased.

[0039] [Other Embodiments] (1) In the above embodiment, the first restricting section 6 is supported by the first slide base 20a as the support section 2, and the second restricting section 7 is supported by the second slide base 20b as the support section 2. However, the embodiment is not limited to this. The first restricting section 6 may be directly supported by the first retraction support section 11, and the second restricting section 7 may be directly supported by the second retraction support section 21. In this case, it is not necessary to provide a pair of slide bases 20 as the support section 2. For example, instead of a pair of slide bases 20, a support base that does not move in the width direction Y may be provided between the first retraction support section 11 and the second retraction support section 21. In this case, the supported article Wt is supported by the support base as the support section 2. Furthermore, in the above embodiment, the regulating section (first regulating section 6 and second regulating section 7) and the retraction / retraction support section (first retraction / retraction support section 11 and second retraction / retraction support section 21) were described as sliding integrally by a common spacing change motor 5M, but the invention is not limited to this configuration. The regulating section and the retraction / retraction support section may each be configured to slide in the width direction Y by separate drive motors. In that case, the relative positions of the regulating section and the retraction / retraction support section do not need to be fixed. For example, the timing of the sliding movements of the regulating section and the retraction / retraction support section may be staggered. Alternatively, the position of the regulating section in the width direction Y may change in conjunction with the position of the retraction / retraction support section in the width direction Y.

[0040] (2) In the above embodiment, the first inclined surface 6b is provided continuously from both ends of the first opposing surface 6a in the transfer direction X, and the second inclined surface 7b is provided continuously from both ends of the second opposing surface 7a in the transfer direction X. However, the embodiment is not limited to this configuration. The first inclined surface 6b may be provided only at the end of the first side X1 in the transfer direction of the first opposing surface 6a, and the second inclined surface 7b may be provided only at the end of the first side X1 in the transfer direction of the second opposing surface 7a. Furthermore, the first restricting section 6 and the second restricting section 7 do not necessarily have such inclined surfaces.

[0041] (3) In the above-described embodiment, the control unit H is configured to be able to set the distance in the width direction Y between the first loading / unloading unit 13 and the second loading / unloading unit 23 to a first set distance D1 that is wider than the dimension W1 in the width direction Y of the article W by a set distance. The set distance is described by taking as an example a configuration in which the sum of the first interval L1 and the second interval L2 is set to a size obtained by adding a margin (the first gap L3 and the second gap L4), but it is not limited thereto. For example, the set distance may be set to the sum of the first interval L1 and the second interval L2. Also, the set distance may be set such that the above margin is, for example, a length of a few percent of the first interval L1. Thus, in setting the first set distance D1, it is preferable that the size of the margin can be appropriately set.

[0042] (4) In the above-described embodiment, the interval changing mechanism 5 is described by taking as an example a configuration in which the interval in the width direction Y between the first loading / unloading unit 13 and the second loading / unloading unit 23 is changed by moving both the first loading / unloading support unit 11 and the second loading / unloading support unit 21 in the width direction Y, but it is not limited thereto. For the interval changing mechanism 5, it may be configured to move either the first loading / unloading support unit 11 or the second loading / unloading support unit 21 in the width direction Y.

[0043] (5) In addition, the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments) as long as no contradiction occurs. Regarding other configurations as well, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be appropriately made within the scope not departing from the gist of the present disclosure.

[0044] [Summary of the Above Embodiments] Hereinafter, a summary of the transfer device described above will be described.

[0045] The transfer device according to this disclosure is a transfer device that performs a transfer operation to move an article between a support part that supports an article and a location to be transferred, wherein the width direction is defined as the direction perpendicular to the transfer direction in a vertical view along the vertical direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side, and comprises: a first retraction part supported by a first retraction support part and moving in and out relative to the support part along the transfer direction; a second retraction part supported by a second retraction support part and positioned on the second width direction side relative to the first retraction part and moving in and out relative to the support part along the transfer direction; a spacing changing mechanism for changing the spacing in the width direction between the first retraction support part and the second retraction support part; and locking parts supported by the first retraction part and the second retraction part respectively, which can change their position to an overlapping position in which they overlap with the article in a view along the transfer direction and a retracted position in which they do not overlap with the article in a view along the transfer direction. The support comprises a first restricting portion and a second restricting portion that restrict the position in the width direction of the support article, which is the article supported by the support portion, wherein the first restricting portion has a surface that extends along the transfer direction and has a first opposing surface that faces the support article from the first side in the width direction, and the second restricting portion has a surface that extends along the transfer direction and has a second opposing surface that faces the support article from the second side in the width direction, the first restricting portion is supported by the first retraction support portion such that the first opposing surface is located second side in the width direction of the first retraction portion, and the second restricting portion is supported by the second retraction support portion such that the second opposing surface is located first side in the width direction of the second retraction portion.

[0046] In this configuration, the first opposing surface of the first restricting section and the second opposing surface of the second restricting section are positioned inward in the width direction relative to the first and second retracting sections. Therefore, when transferring an item between the transfer target location and the support section, the widthwise distance between the first and second retracting sections can be made larger than the load width (widthwise dimension) of the item, while the widthwise movement of the item can be restricted by the first and second opposing surfaces. Consequently, it is easier to position the item in an appropriate position and orientation at the transfer target location and the support section. Furthermore, with this configuration, since the widthwise distance between the first and second retracting sections can be made larger than the load width of the item during transfer, the possibility of the first and second retracting sections interfering with an item placed at the transfer target location while they are protruding or retracting can be reduced. In addition, even when multiple items are arranged in a line in the transfer direction at the transfer target location, the possibility of the first and second retracting sections interfering with items other than the item being transferred during the transfer operation can be reduced. Furthermore, with this configuration, the distance in the width direction between the first and second extension sections can be changed, as can the distance in the width direction between the first and second opposing surfaces, allowing for the transfer of items of various widths. Thus, with this configuration, items can be appropriately transferred between the support section and the transfer target location.

[0047] Herein, a control unit is provided, the surface of the first extension / retraction section facing the support article from the first side in the width direction is designated as the inner surface of the first extension / retraction section, the surface of the second extension / retraction section facing the support article from the second side in the width direction is designated as the inner surface of the second extension / retraction section, the distance in the width direction between the inner surface of the first extension / retraction section and the first opposing surface is designated as the first interval, and the distance in the width direction between the inner surface of the second extension / retraction section and the second opposing surface is designated as the second interval, the control unit is configured to set the distance in the width direction between the first extension / retraction section and the second extension / retraction section to a first set interval that is wider by a set distance than the width dimension of the article, the set distance is set to be greater than or equal to the sum of the first interval and the second interval, and when the control unit moves the article between the transfer target location and the support section, it is preferable to move the first extension / retraction section and the second extension / retraction section in the transfer direction with the distance in the width direction between the first extension / retraction section and the second extension / retraction section set as the first set interval.

[0048] According to this configuration, when performing the transfer operation of an article, the transfer of the article can be performed with the distance between the first retractable part and the second retractable part being set to be larger than the load width of the article by a set distance. Therefore, when transferring an article between the transfer target location and the support part, the possibility that the first retractable part and the second retractable part during retraction interfere with the article arranged at the transfer target location can be reduced. Also, even when a plurality of articles are arranged side by side in the transfer direction at the transfer target location, the possibility that the first retractable part and the second retractable part during the transfer operation interfere with articles other than the article to be transferred can be reduced.

[0049] Furthermore, the device includes a control unit, the spacing changing mechanism is configured to change the spacing between the first and second retractable section and the second retractable section in the width direction by moving both the first and second retractable support section and the second retractable support section in the width direction, the control unit is configured to change the spacing between the first and second retractable section and the second retractable section in the width direction to a first set spacing that is wider than the width dimension of the article by a set distance, and a second set spacing that is greater than or equal to the width dimension of the article and narrower than the first set spacing, the surface of the first retractable section facing the supported article from the first side in the width direction is defined as the inner surface of the first retractable section, the surface of the second retractable section facing the supported article from the second side in the width direction is defined as the inner surface of the second retractable section, the spacing between the inner surface of the first retractable section and the first facing surface in the width direction is defined as the first spacing, and the spacing between the inner surface of the second retractable section and the second facing surface in the width direction is defined as the second spacing, the set distance is set to be greater than or equal to the sum of the first spacing and the second spacing, It is preferable that the control unit, in at least one of the cases when receiving the item from the transfer target location to the support unit and when transferring the item from the support unit to the transfer target location, performs: protrusion control to protrude the first and second extension units while the distance between the first and second extension units in the width direction is set to the first set distance; retirement control to retract the first and second extension units while the distance between the first and second extension units in the width direction is set to the first set distance; and position adjustment control after the protrusion control and before the retirement control to change the distance between the first and second extension units in the width direction from the first set distance to the second set distance, and then return it from the second set distance to the first set distance.

[0050] With this configuration, even if the orientation or position of an item is not appropriate at the transfer point, the orientation and position of the item can be corrected by performing position adjustment control. Therefore, when performing a scooping operation, the possibility of interference between the item being transferred to the support unit and the first and second restricting units can be reduced. In addition, when performing a lowering operation (the operation of moving an item from the support unit to the transfer point), the item can be placed at the transfer point in the appropriate position and orientation.

[0051] Furthermore, it is preferable that the side on which the object to be transferred is located relative to the support portion in the transfer direction is defined as the first transfer direction side, the first restricting portion comprises a first inclined surface provided on the first transfer direction side, continuous with respect to the end of the first opposing surface on the first transfer direction side, the first inclined surface is inclined toward the first width direction side as it approaches the first transfer direction side, and the second restricting portion comprises a second inclined surface provided on the first transfer direction side, continuous with respect to the end of the second opposing surface on the first transfer direction side, the second inclined surface is inclined toward the second width direction side as it approaches the first transfer direction side.

[0052] With this configuration, since inclined surfaces are formed at the first end of the first transfer direction side of the first regulating section and the second regulating section, even if there is a misalignment in the width direction of the article placed at the transfer target location, when moving the article towards the support section, the first and second inclined surfaces guide the article in the width direction, and the article can be supported at the appropriate position on the support section. Therefore, even when the distance between the first and second entry / exit sections is greater than the width of the article, the scooping operation (the operation of moving the article from the transfer target location to the support section) can be performed stably.

[0053] Furthermore, it is preferable that the distance in the width direction between the end of the first inclined surface on the first side in the transfer direction and the end of the second inclined surface on the first side in the transfer direction is set to be greater than or equal to the distance in the width direction between the first extension / retraction section and the second extension / retraction section.

[0054] With this configuration, when moving an item placed at the transfer target location towards the support unit, it is possible to avoid the item interfering with the first end of the first transfer direction in the first transfer direction of the first and second restricting units. Therefore, the scooping operation of the item can be performed more stably.

[0055] The transfer device relating to this disclosure only needs to be able to achieve at least one of the effects described above.

[0056] 1: Transfer device 2: Support part 3: Storage shelf 4: Transfer target location 5: Spacing change mechanism 6: First restricting part 6a: First opposing surface 6b: First inclined surface 7: Second restricting part 7a: Second opposing surface 7b: Second inclined surface 8: Locking part 10: Transport vehicle 11: First entry / exit support part 13: First entry / exit part 13a: Inner surface of first entry / exit part 21: Second entry / exit support part 23: Second entry / exit part 23a: Inner surface of second entry / exit part D1: First set interval D2: Second set interval H: Control unit L1: First interval L2: Second interval W: Item Wt: Supported item X: Transfer direction X1: First side of transfer direction Y: Width direction Y1 : First side in the width direction Y2 : Second side in the width direction

Claims

1. A transfer device that performs a transfer operation to move an article between a support part that supports an article and a transfer target location along the transfer direction, wherein the width direction is defined as the direction perpendicular to the transfer direction in a vertical view along the vertical direction, one side of the width direction is defined as the first width direction side, and the opposite side is defined as the second width direction side, and comprises: a first retraction part supported by a first retraction support part and moving in and out relative to the support part along the transfer direction; a second retraction part supported by a second retraction support part and positioned on the second width direction side relative to the first retraction part and moving in and out relative to the support part along the transfer direction; a spacing changing mechanism that changes the spacing in the width direction between the first retraction support part and the second retraction support part; and locking parts supported by the first retraction part and the second retraction part respectively, which can change their position to an overlapping position in which they overlap with the article in a transfer direction view along the transfer direction, and a retracted position in which they do not overlap with the article in a transfer direction view. A transfer device comprising: a first restricting portion and a second restricting portion for restricting the position in the width direction of the support article, which is the article supported by the support portion, wherein the first restricting portion has a surface extending along the transfer direction and a first opposing surface facing the support article from the first side in the width direction, the second restricting portion has a surface extending along the transfer direction and a second opposing surface facing the support article from the second side in the width direction, the first restricting portion is supported by the first retraction support portion such that the first opposing surface is located second side in the width direction of the first retraction portion, and the second restricting portion is supported by the second retraction support portion such that the second opposing surface is located first side in the width direction of the second retraction portion.

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

3. The apparatus comprises a control unit, wherein the spacing change mechanism is configured to change the spacing between the first and second retractable section and the second retractable section in the width direction by moving both the first and second retractable support section and the second retractable support section in the width direction, the control unit is configured to change the spacing between the first and second retractable section and the second retractable section in the width direction to a first set spacing that is wider than the width dimension of the article by a set distance, and a second set spacing that is greater than or equal to the width dimension of the article and narrower than the first set spacing, the surface of the first retractable section facing the supported article from the first side in the width direction is defined as the inner surface of the first retractable section, the surface of the second retractable section facing the supported article from the second side in the width direction is defined as the inner surface of the second retractable section, the spacing between the inner surface of the first retractable section and the first facing surface in the width direction is defined as the first spacing, and the spacing between the inner surface of the second retractable section and the second facing surface in the width direction is defined as the second spacing. The setting distance is set to be greater than or equal to the sum of the first interval and the second interval, and the control unit performs, in at least one of the cases of receiving the article from the transfer target location to the support unit and transferring the article from the support unit to the transfer target location, a protrusion control that causes the first and second extension units to protrude with the widthwise distance between the first extension unit and the second extension unit set to the first setting interval, a retirement control that causes the first and second extension units to retract with the widthwise distance between the first and second extension units set to the first setting interval, and a position adjustment control that, after the protrusion control and before the retirement control, changes the widthwise distance between the first and second extension units from the first setting interval to the second setting interval, and then returns it from the second setting interval to the first setting interval, the transfer device according to claim 1.

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

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

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