JP2017145117A - Article conveyance device and article conveyance facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article conveyance device capable of achieving compactification of a moving body in a lateral direction while appropriately moving an article by a transfer mechanism.SOLUTION: A moving body 28 with a support part for supporting an article 1 comprises a transfer mechanism 32 for moving the article 1 between the support part and a transfer object part E, and guide members 33 for guiding the article 1 when the transfer mechanism 32 moves the article 1. The support part of the moving body 28 supports a plurality of articles 1 in a state of aligning them in a lateral direction. The guide members 33 are provided only on both outer sides of a first article group in the lateral direction. When moving a part of articles 1 among the first article group as a transfer object article 1 s, the transfer mechanism 32 guides one side of the transfer object article 1 s in the lateral direction with the guide member 33 and guides the other side of the transfer object article 1 s in the lateral direction with an article 1 d other than the transfer object article 1 s in the first article group.SELECTED DRAWING: Figure 21

Description

  The present invention relates to an article transport apparatus including a movable body including a support unit that supports an article, a first drive unit that moves the movable body, and an article transport facility including the article transport apparatus. .

A conventional example of such an article conveying apparatus is described in Japanese Patent Laid-Open No. 2003-300608 (Patent Document 1). In the article conveying apparatus of Patent Document 1, a moving body (transfer apparatus) is provided with a receiving plate, a picking unit, and a movable frame. When the article is supported by the receiving plate and moved by the picking unit, a pair of The movable frame is used to guide the article.
In addition, the article conveying apparatus of Patent Document 1 includes four sets of the above-described receiving plate, picking unit, and movable frame, and four articles are arranged in the lateral direction by a plurality of receiving plates provided in the moving body. Support in the state. When the picking unit moves one of the four articles, the article is guided by a pair of movable frames positioned on both sides in the lateral direction with respect to the article to be moved.

JP 2003-300608 A

In the above-described article transport device, when the transfer mechanism moves some of the articles, the article is guided by the pair of guide members located on both sides in the lateral direction with respect to the article to be moved. Therefore, the article can be appropriately moved in the front-rear direction when the article is moved by the transfer mechanism.
However, in the article conveying apparatus of Patent Document 1, by supporting a plurality of articles in a horizontal direction on the support portion, a pair of guide members is horizontally arranged corresponding to the plurality of articles supported by the support portion. It is necessary to provide a plurality of sets side by side, and the moving body tends to be large in the lateral direction. Therefore, the downsizing of the moving body in the lateral direction is required.

  Therefore, there is a need for an article transport apparatus and an article transport apparatus that can achieve compactness in the lateral direction of the moving body while being able to appropriately move the article by the transfer mechanism.

In the article conveying apparatus according to the present invention, the article conveying apparatus includes: a moving body including a support unit that supports an article; and a first driving unit that moves the moving body.
The moving body includes a transfer mechanism that moves an article between the support part and the transfer target part in a state where the support part and a transfer target part that is an object to which the article is transferred are arranged, and A guide member that guides the article when the transfer mechanism moves the article, and when the transfer mechanism moves the article between the support part and the transfer target part, The stop position is set as a target stop position, and when the moving body is positioned at the target stop position when viewed in the vertical direction, the direction in which the moving body and the transfer target portion are aligned is defined as the front-rear direction and viewed in the vertical direction. An article group composed of a plurality of articles that are supported by the support part and supported by the support part in a state where a plurality of articles are arranged in the transverse direction, with a direction intersecting the front-rear direction as a lateral direction. As the first group of articles, the guide member extends in the lateral direction. The transfer mechanism is provided only on both outer sides of the first article group, and the transfer mechanism moves the transfer target article that is a part of the first article group in the front-rear direction to support the transfer target article. When moving from a section to the transfer target section, the one side in the lateral direction of the transfer target article is performed with an article other than the transfer target article in the guide member or the first article group, The other side in the horizontal direction of the transfer object is guided by an article other than the transfer object in the first article group.

According to this characteristic configuration, when the first article group is composed of two articles arranged in the lateral direction, the transfer mechanism uses one article of the first article group as an object to be transferred from the support unit. When moving to the transfer target part, the guide on one side of the transfer target article in the lateral direction is performed by the guide member, and the guide on the other side of the transfer target article in the horizontal direction is the transfer target in the first article group. It is performed with an article other than the article, that is, with the remaining one article not to be transferred. In this way, since both sides in the horizontal direction of the transfer target article are guided by the guide member and one article that is not the transfer target article, the transfer target article is appropriately transferred from the support unit to the transfer target unit. it can.
In addition, when the first article group includes three articles arranged in the lateral direction, the transfer mechanism moves the article located at the center of the three articles arranged in the lateral direction of the first article group. When moving from the support unit to the transfer target unit as the load target article, the one side guide and the other side guide of the transfer target article are articles other than the transfer target article in the first article group, that is, This is done with articles located on both sides of the article to be transferred. As described above, since both sides in the horizontal direction of the transfer target article are guided by the two articles that are not transfer target articles, the transfer target articles can be appropriately transferred from the support unit to the transfer target unit.
In the case where the first article group is composed of three articles arranged in the horizontal direction, the transfer mechanism transfers the article located at the end of the three articles arranged in the horizontal direction of the first article group. When moving from the support section to the transfer target section as the target article, the transfer mechanism transfers one article that is a part of the first article group in the case of being composed of two articles arranged in the horizontal direction. Similar to the case where the target article is moved from the support section to the transfer target section, both lateral sides of the transfer target article are guided by the guide member and another one article.

And when moving some articles of a 1st article group as a transfer object from a support part to a transfer object part in a transfer device, articles other than a transfer object article in the 1st article group are transferred. By using the guide member for guiding the target article, the transfer target article can be appropriately transferred from the support portion to the transfer target portion without providing the guide member between the articles constituting the first article group.
That is, since it is not necessary to provide the guide member between the articles constituting the first article group, the articles constituting the first article group can be supported by the support portion in a state of being in close contact in the lateral direction. . Therefore, the lateral width of the support portion can be configured in a compact manner, and as a result, the movable body including the support portion can be configured in the lateral direction in a compact manner.
In this manner, the movable body can be configured to be compact in the lateral direction while appropriately moving the article by the transfer mechanism.

The characteristic configuration of the article conveying facility according to the present invention is an article conveying facility comprising: a storage shelf in which storage units for storing articles are arranged in the vertical direction; and the article conveying device according to claim 1.
Each of the plurality of storage units includes a plurality of storage regions corresponding to the transfer target unit arranged in the horizontal direction so that a plurality of articles can be stored in the horizontal direction, and When the loading mechanism moves the article, the loading mechanism includes a second guide member that contacts the article from the lateral direction and guides the article in the front-rear direction, and the second guide member has the movable body at the target stop position. 2nd article group which is arrange | positioned in the said accommodating part side in the said front-back direction rather than the said guide member with which the said mobile body was located in the state located in the state, and is comprised by several articles accommodated in the said accommodating part Is provided only on both outer sides in the lateral direction.

According to this configuration, when the second article group includes two articles arranged in the horizontal direction, and the storage unit includes two storage areas in the horizontal direction, the transfer mechanism is When the transfer target article is moved to one of the two storage areas arranged in the direction, the lateral guide of the transfer target article is performed by the second guide member. Guidance on the other side of the direction is performed with articles stored in other storage areas. In this way, on both sides in the lateral direction of the article to be transferred, guided by the guide member and the articles already stored in the storage section, closer to the storage section than the position where the guide members are provided in the front-rear direction. Therefore, the transfer target article can be appropriately transferred from the support unit to the transfer target unit.
In addition, when the second article group is configured by three articles arranged in the horizontal direction, and the storage unit includes three storage areas in the horizontal direction, the transfer mechanism is arranged in the horizontal direction. When moving the transfer target article to the storage area located in the center of the two storage areas, the lateral guide and the other side guide of the transfer target article are stored in the other storage areas. Done with goods. As described above, since both sides in the lateral direction of the article to be transferred are guided by the articles already stored in the storage section on the storage section side of the place where the guide member is provided in the front-rear direction, The article can be appropriately transferred from the support part to the transfer target part.

Then, when the transfer target article is moved to a part of the plurality of storage areas of the storage unit by the transfer device, the article already stored in the storage unit is used for guiding the transfer target article. Even if the two guide members are provided only on both outer sides of the second article group in the lateral direction, the transfer target article can be appropriately transferred from the support portion to the storage area.
And since the 2nd guide member is not provided between the articles | goods which comprise the 2nd article group, it can be accommodated in a storage part in the state which closely contacted the 2nd article group in the horizontal direction. Therefore, the horizontal width of the storage unit can be configured compactly, and as a result, the storage shelf including the storage unit can be configured compactly in the horizontal direction.

  Here, the transfer mechanism includes a locking portion that locks the article in the front-rear direction, a first guide portion that guides the locking portion in the front-rear direction, and the locking portion in the front-rear direction. A second driving unit that moves the locking member in the front-rear direction in the second driving unit in a state where the moving body is stopped at the target stop position, and the support unit. The article is moved between the transfer target portion, and the moving body is configured such that a distance between the pair of guide members in the horizontal direction is a first distance and a width that is wider than the first distance in the horizontal direction. A third drive unit that changes to an interval, and the article transport device includes a control unit that controls the second drive unit and the third drive unit, and the control unit stores articles from the support unit in the storage. In the case of moving to the part, the movement of the article is started by starting the movement of the locking part at the first interval. Start and before the movement of the article to the transfer target portion is completed and when the tip of the article is located within the front-rear width of the second guide member, the interval between the guide members is changed from the first interval. It is preferable to control the second drive unit and the third drive unit so as to switch to the second interval.

According to this configuration, when the article is transferred from the support portion to the storage portion, the pair of guide members starts moving the locking portion at a narrow interval and starts moving the article. Can be guided by the guide member, and other articles in the first group of articles used for guiding the transfer target article can be restricted from shifting in the lateral direction.
Further, the distance between the pair of guide members is changed from the first distance to the second distance before the movement of the article to the transfer target portion is completed and when the tip of the article is positioned within the front-rear width of the second guide member. Therefore, the guide member does not properly guide the lateral displacement of the other articles in the first group of articles. In this state, the tip of the article is already positioned within the longitudinal width of the second guide member. Therefore, the transfer target article can be guided by the second guide member.

  For example, when the guide member and the second guide member are not arranged in the front-rear direction, the direction in which the guide member guides the transfer target article is different from the direction in which the second guide member guides. There is. Even in such a case, the distance between the pair of guide members is set to the first interval before the movement of the article to the transfer target portion is completed and the tip of the article is positioned within the front-rear width of the second guide member. In order to switch to the second interval, the portion on the storage unit side of the transfer target article is guided by the second guide member, and the portion of the transfer target article on the side opposite to the storage unit side is moved in the lateral direction. Since it is allowed, damage to the article can be avoided.

  The transfer mechanism includes a locking portion that locks the article in the front-rear direction, a first guide portion that guides the locking portion in the front-rear direction, and the locking portion in the front-rear direction. A second drive unit that is moved, and the movable unit is moved in the front-rear direction by the second drive unit in a state where the moving body is stopped at the target stop position, and the support unit and the The article is moved to and from the transfer target part, and the first article group and the second article group are two articles arranged in the lateral direction, and the transfer mechanism is configured to move the locking part to the first part. A pair of two articles in one article group is provided corresponding to each of the two articles, and when the two articles constituting the first article group are moved from the support section to the transfer target section, the second drive section By moving the pair of locking portions integrally, the one side and the other side of the two articles in the lateral direction Performing both the guide in the guide member, it is preferable to move the transfer target portion together two articles to be supported by the support portion.

According to this configuration, only one of the two articles constituting the first article group is set as the transfer target article by moving one of the pair of the locking portions by the second drive unit, and the transfer target is set. The article (one article) can be moved from the support portion to the transfer target portion. Further, by moving both of the pair of locking portions integrally with the second drive unit, both of the two articles constituting the first group of articles are used as transfer target articles, and the transfer target articles thereof. (Two articles) can be moved from the support part to the transfer target part.
And when a transfer mechanism moves two articles which comprise the 1st article group as a transfer object from a support part to a transfer object part, one side and the other side of the horizontal direction of a transfer object article Guidance is performed by the guide member and the second guide member. As described above, since both sides in the horizontal direction of the transfer target article are guided by the guide member and the second guide member, the transfer target article is supported even when all the articles constituting the first article group are moved together. Can be appropriately transferred from the part to the transfer target part.

  Further, the article is supported by the support portion, and the width in the lateral direction becomes narrower as at least one end portion of the one end portion in the front-rear direction and the other end portion toward the tip end side. It is suitable if it is formed in a shape.

  According to this configuration, when the transfer mechanism moves the transfer target article to the storage area of the storage unit, the end of the transfer target article on the storage unit side and the article already stored in the storage unit At least one of the end portions on the transfer device side has a shape in which the width in the lateral direction becomes narrower toward the front end side. Therefore, even if the transfer mechanism and the storage section are relatively displaced in the lateral direction, the transfer target article is placed between the second guide member and the article already stored in the storage section, or in the storage section. It is easy to move between articles already stored.

  In addition, the article includes a locked portion that is locked by the locking portion at an end portion on the opposite side to the direction in which the storage shelf exists in the front-rear direction while being supported by the support portion, It is preferable that the locking portion is formed in a round bar shape in which at least a portion locked to the locked portion extends in the vertical direction.

  According to this configuration, for example, since the storage shelf is inclined with respect to the moving direction of the locking portion in the transfer mechanism when viewed in the vertical direction, the transfer portion is moved by the movement of the locking portion of the transfer mechanism. The direction in which the target article moves may be different from the direction in which the transfer target article is guided by the second guide member of the storage shelf. Even in such a case, since the locked portion of the article is locked to the round bar-shaped portion of the locking portion, the article is easy to swing around the locking portion, and the article is , The posture of the article can be easily changed to a posture suitable for the second guide member, and breakage of the article when the article is guided by the second guide member can be avoided.

Top view of the goods transport facility The perspective view which looked at the storage shelf from diagonally forward Perspective view of server viewed from diagonally above A perspective view of the server as seen from diagonally below Perspective view of locking mechanism Side view of locking mechanism Front view of lock mechanism Top view of storage Side view of stacker crane Side view of the lifting body Front view of elevator Plan view of the article transfer device Control block diagram Operational diagram when storing or taking out two servers by the article transfer device Operational diagram when storing or taking out two servers by the article transfer device Operational diagram when storing or taking out two servers by the article transfer device Operational diagram when storing or taking out two servers by the article transfer device Action diagram when storing or taking out one server by the article transfer device Action diagram when storing or taking out one server by the article transfer device Action diagram when storing or taking out one server by the article transfer device Action diagram when storing or taking out one server by the article transfer device The front view of the latching | locking part and to-be-latched part in another Embodiment 6. The top view which shows the state which the server inclined with respect to the transfer apparatus in another Embodiment 6. Operational diagram when two dummy articles are stored or taken out by the article transfer device in another embodiment 7 Operational diagram when storing or taking out one dummy article and one server by the article transfer apparatus in another embodiment 7 Operational diagram when one dummy article is stored or taken out by the article transfer device in another embodiment 7

Hereinafter, an embodiment of an article conveyance facility provided with an article conveyance device according to the present invention will be described based on the drawings.
As shown in FIG. 1, the article transport facility includes a stacker crane 2 as an article transport device that transports the article 1, a storage shelf 4 in which storage units 3 that store the articles 1 are arranged in the vertical direction Y, and a delivery A conveyor 5 and a warehousing conveyor 6 are provided. A plurality of storage shelves 4 are arranged side by side in the horizontal direction X, and the stacker crane 2 moves in the horizontal direction X along the storage shelves 4 arranged in parallel.
The direction in which the stacker crane 2 travels when viewed in the vertical direction Y is the horizontal direction X, and the direction orthogonal to the horizontal direction X when viewed in the vertical direction Y is described as the front-rear direction Z. Further, as shown in FIG. 2, with respect to the front-rear direction Z, the direction in which the storage rack 4 is present with respect to the travel path is centered on the travel path on which the stacker crane 2 travels, and the opposite direction is the front direction Z2. Will be described.

  In the article transport facility according to the present embodiment, a storage shelf 4 in which the articles 1 are stored is installed. When the article 1 stored in the storage shelf 4 is damaged and needs to be exchanged, the article 1 to be exchanged is taken out of the storage unit 3 by the stacker crane 2 and the article 1 to be exchanged. Is transferred to the unloading conveyor 5, and the new article 1 received by the receiving conveyor 6 is transferred by the stacker crane 2 to the storage section 3 (the storage section 3 from which the replacement target article 1 is taken out).

[Articles]
In this embodiment, the server 1 s as the article 1 is stored in the storage shelf 4 and is transported by the stacker crane 2. Further, the article transport facility includes a dummy article 1d (see FIG. 18 and the like) in which the shape of the article 1 viewed in the vertical direction Y is the same as that of the server 1s. In this embodiment, the stacker crane 2 has two cases where the two servers 1s are transported together and the server 1s and the dummy article 1d are transported together. In contrast, the dummy article 1 d is not stored in the storage unit 3.
Next, although the server 1s will be described, the front-rear direction Z and the lateral direction X of the server 1s are identified and described based on the attitude of the server 1s stored in the storage unit 3.

As shown in FIG. 2, the server 1 s is formed such that the width in the front-rear direction Z is wider than the width in the horizontal direction X, and the long side of the server 1 s is stored in the storage shelf 4 in a posture along the front-rear direction. .
As shown in FIGS. 3 and 4, the server 1 s includes a housing 8 and a substrate (not shown) on which a CPU, a memory, a hard disk, and the like are mounted. The housing 8 is formed of a bottom surface portion 9 and a wall portion 10 erected perpendicularly from the bottom surface portion 9, and the housing 8 is formed in a box shape that opens upward and rearward. The substrate is fixed on the bottom surface portion 9.

The bottom surface portion 9 includes a rear end portion 9a on the rear side and a front portion 9b that is a portion on the front direction Z2 side from the rear end portion 9a.
The front portion 9b is formed in a rectangular shape when viewed in the vertical direction Y. The rear end portion 9a is a rectangular portion formed in a rectangular shape whose width in the lateral direction X is narrower than that of the front portion 9b, and is located between the rectangular portion and the front portion 9b, and the rear direction Z1 when viewed in the vertical direction Y. And a tapered portion formed in a tapered shape having a width in the lateral direction X that is narrower toward the side. Thus, by forming the rear end portion 9a of the bottom surface portion 9, the rear end portion of the article 1 is formed in a shape in which the width in the lateral direction X becomes narrower toward the front end side.
In the present embodiment, a part of the end portion on the rear side of the article 1 is formed in a tapered shape, but the entire end portion on the rear side of the article 1 may be tapered.

As the wall portion 10, a lateral wall portion 10a that is located at the end portion in the lateral direction X and extends in the front-rear direction, and a front wall portion 10b that is located at the end portion in the front direction Z2 and extends in the lateral direction X are provided. .
The server 1 s is provided with rod-shaped first and second engaging portions 11 and 12 for positioning, a lock mechanism 13, and a locked portion 16. As shown in FIG. 3, the first engaging portion 11 is disposed at the rear end of the article 1 so as to protrude upward from the bottom surface portion 9, and as shown in FIG. 4, the second engaging portion 11 The part 12 is arranged at the front end of the article 1 so as to protrude downward from the bottom face part 9. The locked portion 16 is disposed on the front surface of the front wall portion 10b of the article 1 and is formed in a U shape when viewed in the vertical direction Y. The locked portion 16 is configured such that a locking portion 37 of a transfer mechanism 32 described later can be locked from above between the locked portion 16 and the front wall portion 10b. Further, the locked portion 16 is disposed on each of the one side portion and the other side portion of the front wall portion 10b of the article 1 from the center in the lateral direction X, and the article 1 has a pair of locked portions. A portion 16 is provided.

As shown in FIGS. 5 to 7, the lock mechanism 13 is disposed at the front end of the article 1.
The lock mechanism 13 includes an engaging body 14 formed of a leaf spring and a swinging body 15 that swings around an axial center along the front-rear direction.
The engaging body 14 protrudes downward from a fixing portion 14 a fixed to the upper surface of the bottom surface portion 9, a contact portion 14 b operated upward by the rocking body 15, and a hole penetrating in the vertical direction Y of the bottom surface portion 9. A third engaging portion 14c. The oscillating body 15 is connected to the front wall portion 10b so that the middle portion in the longitudinal direction can oscillate around the axial center along the front-rear direction, and one end portion in the longitudinal direction of the oscillating body 15 Projecting forward from a hole penetrating in the direction Z. An operated portion 15 a is formed by a portion protruding from the front wall portion 10 b of the rocking body 15. The operated portion 15 a protrudes forward from the central portion in the lateral direction X of the front wall portion 10 b of the article 1.

  As shown in FIGS. 5 to 7, the lock mechanism 13 is in a locked state in which the third engagement portion 14 c protrudes downward from the bottom surface portion 9 when the operated portion 15 a is not operated. Then, the lock mechanism 13 moves the operation portion 38 downward from the state shown in FIG. 7 and pushes the operated portion 15a downward, so that the other end portion in the longitudinal direction of the rocking body 15 abuts. The portion 14b is pushed upward, and thereby the engaged portion 15b is switched to the unlocked state in which it does not protrude downward from the bottom surface portion 9. Further, the lock mechanism 13 is switched from the unlocked state to the locked state by the restoring force of the leaf spring as the pushing operation on the operated portion 15a is released.

〔Storage rack〕
The storage shelf 4 includes a shelf structure 17 and a shelf board 20. The shelf structure 17 is composed of a base frame 18 formed of a frame material and a flat plate material 19. A plurality of storage units 3 arranged in the vertical direction Y are formed in the storage shelf 4 by dividing the storage space formed in the shelf structure 17 into a plurality of spaces arranged in the vertical direction Y by a plurality of shelf plates 20. Has been.
Incidentally, the uppermost storage unit 3 is formed between a portion of the shelf structure 17 that covers the upper portion of the storage space and the shelf plate 20 that is positioned at the top of the plurality of shelf plates 20. In addition, the lowermost storage unit 3 is formed between a portion of the shelf structure 17 that covers the lower part of the storage space and the shelf plate 20 positioned at the bottom of the plurality of shelf plates 20.

As shown in FIG. 8, each of the plurality of storage units 3 provided in the storage shelf 4 stores a plurality of articles 1 arranged in the horizontal direction X with a plurality of storage areas E arranged in the horizontal direction X. It is configured to be possible.
Specifically, the interval between the pair of side walls 17a covering both lateral sides of the storage space in the shelf structure 17 is several millimeters larger than twice the lateral width of the article 1 (the width in the lateral direction X of the front portion 9b). It is an interval.
In addition, the distance between the pair of shelf plates 20 adjacent to the vertical direction Y in the vertical direction Y is about several millimeters larger than the portion having the largest vertical width in the product 1. It is stored in a state supported from below by the upper surface of 20.

Each of the plurality of storage units 3 includes a pair of storage areas E arranged in the horizontal direction X, and is configured to be stored in a state where the pair of articles 1 are arranged in the horizontal direction X. The pair of side walls 17a functions as a second guide member 24 that contacts the article 1 from the lateral direction X and guides the article 1 in the front-rear direction when the article 1 is moved by a transfer mechanism 32 described later. Thus, the second guide member 24 is provided in each of the pair of storage portions 3 as described above.
Then, the second guide member 24 provided in this way is located on the rear side Z1 side in the front-rear direction Z (storage) with respect to the guide member 33 provided on the lift 28 with the lift 28 positioned at the target stop position. And provided on both outer sides in the lateral direction X of the second group of articles composed of two articles 1 stored in the storage section 3.
The target stop position of the elevating body 28 is a position where the elevating body 28 is stopped when the article 1 is moved between the support portion 31 and the storage area E of the storage portion 3. Further, when the lifting body 28 is located at the target stop position, the lifting body 28 and the storage area E are arranged in the front-rear direction Z.

A first engaged portion 21 is provided at the rear end of the shelf board 20, and when the article 1 is stored in the storage area E of the storage section 3, the first engaging portion of the article 1 is stored. 11 engages with the first engaged portion 21. A second engaged portion 22 is provided at the front end of the shelf board 20, and when the article 1 is stored in the storage area E of the storage section 3, the second engagement of the article 1 is performed. The joining portion 12 engages with the second engaged portion 22.
A third engaged portion 23 is provided at the front end of the shelf board 20, and the lock mechanism 13 of the article 1 is moved in a state where the article 1 is stored in the storage area E of the storage section 3. By switching to the locked state, the third engagement portion 14 c of the lock mechanism 13 is engaged with the third engaged portion 23.
Note that, in the same manner as the shelf board 20, a first engaged portion 21, a second engaged portion 22, and a third engaged portion 23 are provided in a portion covering the lower portion of the storage space in the shelf structure 17. ing.

  The storage shelves 4 are installed on both sides in the front-rear direction with respect to the travel path of the stacker crane 2, and the storage areas E are installed on both sides in the front-rear direction with respect to the moving object stopped at the target stop position. The storage area E corresponds to the transfer target part.

[Stacker crane]
As shown in FIGS. 1 and 9, the stacker crane 2 includes a lifting / lowering body 28 having a support portion 31 that supports the article 1 from below, and a first driving unit that is a driving unit that moves the lifting / lowering body 28. The motor M1 (refer FIG. 13) and the 2nd motor M2 (refer FIG. 13) which is a raising / lowering drive part are provided.
In other words, the stacker crane 2 includes a traveling carriage 26 that serves as a traveling section that travels along the traveling route, a support 27 that is a second guide provided on the traveling carriage 26, and a support 27. A lifting body 28 that moves in the vertical direction Y, a first motor M1 that travels the traveling carriage 26, and a second motor M2 that moves the lifting body 28 in the vertical direction Y along the column 27 are provided. Then, the traveling carriage 26 travels by driving the first motor M1 and the lifting body 28 moves in the lateral direction X, and the lifting body 28 moves in the vertical direction Y by driving the second motor M2.
Thus, the elevating body 28 is configured to move in the horizontal direction X and the vertical direction Y by driving the first motor M1 and the second motor M2, and the elevating body 28 is configured to move in the vertical direction Y and the horizontal direction X. It corresponds to a moving body that moves to. The first motor M1 and the second motor M2 correspond to a first drive unit that moves the moving body.

  The traveling carriage 26 travels along the lateral direction X on the pair of guide rails 25. The pair of guide rails 25 are arranged in a state extending in the lateral direction X and aligned with each other in the front-rear direction Z. The column 27 is erected on the traveling carriage 26 and guides the lifting body 28 in the vertical direction Y.

As shown in FIGS. 10 to 12, the elevating body 28 includes a support portion 31, a transfer mechanism 32, and a guide member 33.
The support part 31 is configured by arranging two pairs of support bodies 31 a arranged in the horizontal direction X in parallel in the horizontal direction X. A pair of supports 31a is configured to support one article 1 from below. That is, the support portion 31 supports two articles 1 arranged in the horizontal direction X by arranging two pairs of support bodies 31a in the horizontal direction X in parallel. The plurality of articles 1 supported by the support portion 31 is referred to as a first article group. The two articles 1 supported by the shelf board 20 of the storage shelf 4 are referred to as a second article group. The first article group and the second article group are two articles 1 arranged in the lateral direction X.

  The transfer mechanism 32 moves the article 1 between the support section 31 and the transfer target section in a state where the support section 31 and the transfer target section to which the article 1 is transferred are aligned in the front-rear direction Z. . The transfer mechanism 32 includes a fork device 35 that can be moved back and forth in the front-rear direction Z, a slide body 36 that is supported by the primary fork 35a of the fork device 35 so as to be movable in the front-rear direction Z, and an article supported by the slide body 36. 1 is provided with a locking portion 37 that is locked in the front-rear direction, and an operation portion 38 that is supported by the slide body 36 and switches the lock mechanism 13 of the article 1 from the locked state to the unlocked state. In addition, the transfer mechanism 32 includes a third motor M3 that is a withdrawal / retraction drive unit that moves the fork device 35 back and forth, and an interlocking mechanism that moves the slide body 36 in the front-rear direction Z in conjunction with the withdrawal and withdrawal of the fork device 35. And a fourth motor M4 that moves the fork device 35 in the vertical direction Y with respect to the support portion 31 and moves the locking portion 37 and the operation portion 38 in the vertical direction Y.

  As described above, the transfer mechanism 32 includes the locking portion 37 and the fork device 35. The fork device 35 (specifically, the primary fork 35a and the fork base portion 35b) corresponds to a first guide portion that guides the locking portion 37 in the front-rear direction, and the third motor M3 moves the locking portion 37 in the front-rear direction Z. This corresponds to the second driving unit. And the transfer mechanism 32 moves the latching | locking part 37 to the front-back direction Z with the 3rd motor M3 in the state in which the raising / lowering body 28 is located in a target stop position, and thereby, between the support part 31 and a transfer object part. The article 1 is moved between them. The locking portion 37 is constituted by a pair of locking bodies 37a, and the pair of locking bodies 37a are simultaneously locked separately to the pair of locked portions 16 provided in one article 1. To do. The locking portion 37 (each of the pair of locking bodies 37a) is formed in a plate shape extending in the vertical direction Y and the horizontal direction X. Similar to the locking portion 37, the operation portion 38 is formed in a plate shape extending in the vertical direction Y and the horizontal direction X. The operation portion 38 is provided between the pair of locking bodies 37a in the lateral direction X.

By driving the third motor M3, the primary fork 35a moves in the front-rear direction Z with respect to the fork base portion 35b, and the fork device 35 moves back and forth in the front-rear direction Z. As the primary fork 35a protrudes in the rearward direction Z1 in conjunction with the withdrawal and withdrawal of the fork device 35, the slide body 36 moves to the end of the primary fork 35a in the rearward direction Z1, and the primary fork 35a The slide body 36 is configured to move to the end portion of the primary fork 35a in the front direction Z2 as it is retracted in the front direction Z2. The third motor M3 corresponds to a second drive unit that moves the locking portion 37 in the front-rear direction Z.
By driving the fourth motor M4, the fork device 35 moves in the vertical direction Y with respect to the support portion 31. By the movement of the fork device 35 in the vertical direction Y, the first height that is the height at which the locking portion 37 is locked to the locked portion 16 of the article 1, and the locking portion 37 from the locked portion 16. The locking portion 37 is moved to the second height, which is the height when it is detached and retracted upward.

The transfer mechanism 32 moves the locking portion 37 in the front-rear direction by the third motor M3 in a state in which the elevating body 28 is stopped at the target stop position, and between the support portion 31 and the storage area E of the storage portion 3. To move the article 1.
In other words, when the article 1 is moved from the storage region E of the storage unit 3 to the support unit 31, the transfer mechanism 32 moves the locking unit 37 in the state where the lifting body 28 is stopped at the target stop position. The fork device 35 is protruded in the rearward direction Z1 from the retracted state in the state where it is raised to two heights, and the locking part 37 is placed between the locked part 16 and the front wall part 10b of the article 1 in the front-rear direction Z Position. Thereafter, the fork device 35 is lowered to lower the locking portion 37 to the first height and the locking portion 37 is locked to the article 1, and then the fork device 35 is retracted to the retracted state. By lowering the fork device 35 in this way, the operated portion 15a is pushed downward by the operating portion 38, the lock mechanism 13 is switched from the locked state to the unlocked state, and then the locking portion 37 is moved forward. By moving in the direction Z2, the locked portion 16 of the article 1 is pulled by the locking portion 37, and the article 1 moves in the rear direction Z1. In this way, the article 1 moves from the storage area E of the storage unit 3 to the support unit 31.
Further, when the transfer mechanism 32 moves the article 1 from the support section 31 to the storage area E of the storage section 3, the article supported by the support section 31 with the lifting body 28 stopped at the target stop position. In the state where the locking portion 37 is locked to 1, the fork device 35 is protruded from the retracted state in the rear direction Z1. As a result, the front wall 10 b of the article 1 is pushed by the locking part 37, the article 1 moves in the rear direction Z <b> 1, and the article 1 is moved from the support part 31 to the storage area E of the storage part 3. Thereafter, the fork device 35 is lifted to raise the locking portion 37 to the second height to release the locking portion 37 from the article 1, and then the fork device 35 is retracted to the retracted state. By raising the fork device 35 in this way, the downward pressing operation of the operated portion 15a by the operating portion 38 is released, and the lock mechanism 13 is switched from the unlocked state to the locked state.

The transfer mechanism 32 includes a plurality of sets of fork devices 35, slide bodies 36, locking portions 37, and operation portions 38 in accordance with the number of articles 1 in the first article group (two in this embodiment) ( The transfer mechanism 32 includes a pair of locking portions 37 corresponding to the two articles 1 in the first article group.
The transfer mechanism 32 moves the pair of locking portions 37 integrally with the third motor M3, thereby collecting the two articles 1 supported by the support portion 31 into the storage area E of the storage portion 3. Can be moved. As described above, when the two articles 1 are collectively moved from the support portion 31 to the storage area E of the storage section 3 by the transfer mechanism 32, both the one side and the other side of the two articles 1 in the lateral direction X are displayed. Guidance is performed by a pair of guide members 33.
In addition, the transfer mechanism 32 moves one of the pair of locking portions 37 by the third motor M3, so that one of the two items 1 supported by the support unit 31 (first item 1) A part of the articles 1) of the article group can be moved to the storage area E of the storage section 3. In this way, when one article 1 is moved from the support unit 31 to the storage area E of the storage unit 3 by the transfer mechanism 32, guidance on one side in the lateral direction X of the one article 1 to be transferred is performed. It is performed by the guide member 33, and the other side guide in the lateral direction X of the article 1 to be transferred is performed by the other articles 1 in the first article group.

When the case of moving one article 1 is described, as described above, one article 1 (a part of articles 1 in the first article group) of the two articles 1 supported by the support portion 31 is selected. When moving to the storage area E of the storage unit 3, the dummy article 1 d is supported by the support part 31 as the other article 1 of the first article group. In short, the first article group includes a server 1s that is the article 1 to be transferred and a dummy article 1d that is not to be transferred.
Then, with respect to the article 1 to be transferred in the lateral direction X, the side on which the dummy article 1d exists is the other side, and the opposite side is the one side. When moving from the storage unit 3 to the storage area E of the storage unit 3, guidance on one side in the lateral direction X of the article 1 to be transferred is performed by the guide member 33, and the other side in the lateral direction X of the article 1 to be transferred is placed. Side guidance is provided by the dummy article 1d.

Further, as described above, when one article 1 (a part of articles 1 of the first article group) of the two articles 1 supported by the support portion 31 is moved to the storage area E of the storage portion 3. One of the second article group is the article 1 to be transferred, and the other of the second article group is the article 1 already stored in the storage unit 3.
Then, in the lateral direction X, the side where the stored article 1 is present is the other side and the opposite side is the one side, and the transfer mechanism 32 supports the article 1 to be transferred. When moving from the section 31 to the storage area E of the storage section 3, the one side in the lateral direction X of the article 1 to be transferred is guided by the side wall 17a, and the article 1 in the lateral direction X of the article 1 to be transferred is moved. The guidance on the other side is performed by the stored article 1.

  The lifting body 28 includes a pair of guide members 33 that guide the article 1 in the front-rear direction Z when the transfer mechanism 32 moves the article 1, and a distance in the lateral direction X between the pair of guide members 33 is a first interval. And a fifth motor M5 that changes to a second interval that is wider in the lateral direction X than the first interval. Each of the pair of guide members 33 is provided only on both outer sides of the first article group in the lateral direction X. By driving the fifth motor M5, the pair of guide members 33 move in the lateral direction X in opposite directions, and the distance between the pair of guide members 33 in the lateral direction X is slightly (several) depending on the lateral width of the first article group. The interval is changed to a first interval which is a wide interval and a second interval which is wider in the lateral direction X than the first interval. The second interval includes an interval in which both of the pair of guide members 33 are moved away from each other (an interval between the pair of guide members 33 indicated by a solid line in FIG. 17), and only one of the pair of guide members 33. There is an interval (an interval between a pair of guide members 33 indicated by a solid line in FIG. 21) that is moved so as to be separated from each other. The fifth motor M5 corresponds to a third drive unit that changes the interval between the pair of guide members 33 to the first interval and the second interval. In addition, the pair of guide members 33 correspond to a third guide portion that contacts the article 1 from the lateral direction X and guides the article 1 in the front-rear direction Z when the transfer mechanism 32 moves the article 1.

The lifting body 28 includes a connecting portion 41, a swinging portion 42, a swinging mechanism 43, a slide mechanism 44, and a rotating mechanism 45.
The support column 27 is erected on one end portion in the lateral direction X of the traveling carriage 26, and the connecting portion 41 is vertically directed to the support column 27 so as to be positioned on one side in the lateral direction X with respect to the support column 27. Y is movably engaged. Thus, the lifting body 28 in which the connecting portion 41 is engaged with the support column 27 is located on one side in the lateral direction X with respect to the support column 27, and the article transfer device 30 including the support portion 31 is in the up-down direction. It is arranged at a position where it does not overlap the traveling carriage 26 as seen from Y.

The swinging part 42 is formed in an L shape when viewed in the front-rear direction Z, and the upper end of the swinging part 42 is connected to the connecting part 41 so as to be swingable around the swinging axis along the front-rear direction Z. Yes. The swinging part 42 supports the support part 31, the transfer mechanism 32, and the guide member 33 via the slide mechanism 44 and the rotation mechanism 45.
The swing mechanism 43 causes the support portion 31, the transfer mechanism 32, and the guide member 33 to move by swinging the swing portion 42 around the swing axis with respect to the connecting portion 41 by driving the eighth motor M8. It is configured to swing integrally. The support 31, the transfer mechanism 32, and the guide member 33 are moved together by the swing mechanism 43, the slide mechanism 44, and the rotation mechanism 45. Hereinafter, the support 31, the transfer mechanism 32, and the guide are guided. The member 33 and the members connecting them may be collectively referred to as the article transfer device 30.

The rotating mechanism 45 is supported by the swinging part 42 so as to be positioned below the swinging part 42, and supports the slide mechanism 44 so as to be rotatable around the rotation axis along the vertical direction Y. The slide mechanism 44 supports the article transfer device 30 so as to be movable in the lateral direction X.
The rotation mechanism 45 rotates the article transfer device 30 supported by the slide mechanism 44 by rotating the slide mechanism 44 around the rotation axis with respect to the swinging portion 42 by driving the sixth motor M6. It is configured to rotate around the axis. Thus, by rotating the article transfer device 30 around the rotation axis, the support portion 31, the transfer mechanism 32, and the guide member 33 rotate integrally around the vertical axis.
The slide mechanism 44 is configured to move the article transfer device 30 in the lateral direction X with respect to the swinging portion 42 by driving the seventh motor M7. By moving the article transfer device 30 in the lateral direction X in this way, the support portion 31, the transfer mechanism 32, and the guide member 33 are integrally moved in the lateral direction X.

The support portion 31 is disposed between the pair of guide rails 25 in the front-rear direction Z as shown in FIG. 11 and at a position that does not overlap the traveling carriage 26 when viewed in the vertical direction Y as shown in FIGS. Has been.
In addition, the pair of guide members 33 is disposed between the support portion 31, the fork device 35, and the third motor M <b> 3 in the vertical direction Y. If it demonstrates, the upper end of a pair of guide member 33 will be located above the upper surface (surface in which the article | item 1 is mounted) located in the upper end of the support part 31, and is lower than the lower end of the fork apparatus 35 and the 3rd motor M3. Is located. The lower ends of the pair of guide members 33 are located between the upper end and the lower end of the support portion 31 in the vertical direction Y.
The connecting portion 41, the swinging portion 42, the swinging mechanism 43, the slide mechanism 44, the rotating mechanism 45 and the fork device 35 are entirely above the upper end of the support portion 31 and the upper end of the article 1 supported by the support portion 31. Is located.

  The rotation mechanism 45 can change the direction in which the article 1 is moved by the transfer mechanism 32 by rotating the transfer mechanism 32 by 180 degrees with the sixth motor M6. Therefore, the storage shelves 4 are installed on both sides in the front-rear direction Z with respect to the movement path of the stacker crane 2, and the storage areas E of the storage units 3 exist on both sides in the front-rear direction Z with respect to the lifting body 28. The transfer mechanism 32 can move the article 1 between the storage area E of the storage unit 3 and the support unit 31 existing on both sides thereof.

  The elevating body 28 includes an imaging device 47 and a distance measuring sensor 48. The imaging device 47 and the distance measuring sensor 48 are supported by the article transfer device 30 so as to move integrally with the fork device 35 and the support portion 31.

〔Control device〕
The stacker crane 2 is provided with a control device H that controls the traveling of the traveling carriage 26, the elevation of the elevating body 28, and the operation of the transfer mechanism 32. The control device H may be mounted on the stacker crane 2 so as to move integrally with the stacker crane 2 or may be installed on the floor surface F so as not to move integrally with the stacker crane 2. Good. The control device H corresponds to a control unit that controls the first drive unit and the second drive unit.

The control device H executes movement control and transfer control. In addition, after the execution of the movement control is completed, the control device H executes the correction control before starting the transfer control.
The movement control is control for moving the elevating body 28 to the target stop position. The transfer control is a control for moving the article 1 between the support unit 31 and the storage area E of the storage unit 3. As the transfer control, the both-side take-out control, the both-side storage control, the one-out control, and the one-side storage control There is.

  As shown in FIGS. 14 to 16, the two-side take-out control is a control for moving a pair of articles 1 (a pair of servers 1 s) stored in the storage unit 3 from the storage region E to the support unit 31. In both-side storage control, as shown in the order of FIGS. 16, 17, 15, and 14, the pair of articles 1 (a pair of servers 1 s) supported by the support portion 31 are moved from the support portion 31 to the storage area E. Control. On the other hand, the take-out control supports one article 1 (server 1s) of the pair of articles 1 (a pair of servers 1s) stored in the storage unit 3 from the storage area E as shown in FIGS. This is the control to move the unit 31. On the other hand, as shown in the order of FIG. 20, FIG. 21, FIG. 19, FIG. 18, the storage control is performed for one article 1 (a pair of articles 1 (server 1s and dummy article 1d) supported by the support section 31 ( In this control, the server 1s) is moved from the support 31 to the storage area E.

  Next, the movement control, the transfer control, and the correction control will be described. The case where the transfer target portion is the storage area E of the storage portion 3 will be described as an example, and the transfer target portion is set as the exit conveyor 5 or the entrance conveyor. In the case of 6, the operation of the stacker crane 2 is the same as the case where the transfer target portion is the storage area E of the storage unit 3, and the description thereof is omitted.

  The control device H stores information indicating the target stop position. The target stop position is set for each of the plurality of storage units 3 in each of the plurality of storage shelves 4. This target stop position is a stop position of the elevating body 28 to which the article 1 can be transferred between the storage unit 3 and the support unit 31 with respect to the storage unit 3. The position is set. In the movement control, the operations of the first motor M1 and the second motor M2 are controlled so as to move the elevating body 28 to the target stop position, and if necessary, the object to be transferred in the direction in which the transfer mechanism 32 protrudes. The operation of the sixth motor M6 is controlled so that the storage section 3 exists.

In the correction control, the sixth motor M6 and the seventh motor M7 are to correct the posture of the article transfer device 30 based on the imaging information captured by the imaging device 47 and the distance information detected by the distance measuring sensor 48. And controls the eighth motor M8.
Specifically, in the correction control, based on the imaging information captured by the imaging device 47 and the distance information detected by the distance measuring sensor 48, the posture of the article transfer device 30 is an appropriate posture with respect to the storage unit 3. , The eighth motor M8 of the swing mechanism 43 is controlled so that the posture around the longitudinal axis becomes an appropriate posture.
In the correction control, the position in the lateral direction X with respect to the storage unit 3 of the article transfer device 30 is appropriate based on the imaging information captured by the imaging device 47 and the distance information detected by the distance measuring sensor 48. When it is determined that the position is shifted in the lateral direction X from the correct position, the seventh motor M7 of the slide mechanism 44 is controlled so that the position in the lateral direction X becomes an appropriate position.
In the correction control, the position in the vertical direction Y with respect to the storage unit 3 of the article transfer device 30 is appropriate based on the imaging information captured by the imaging device 47 and the distance information detected by the distance measuring sensor 48. When it is determined that the position is shifted in the vertical direction Y from the correct position, the second motor M2 is controlled so that the position in the vertical direction Y becomes an appropriate position.

Next, transfer control will be described.
When both-side take-out control is started, as shown in FIG. 14, the article 1 is not supported on the support portion 31, and two servers 1 s are stored in the storage portion 3. Further, the pair of guide members 33 is at the second interval.
In the two-side take-out control, as shown in FIG. 15, after the pair of fork devices 35 are protruded until the locking portion 37 comes into contact with the front wall portion 10b of the server 1s stored in the storage portion 3, The locking portion 37 of the pair of fork devices 35 is lowered from the first height to the second height, so that the locking portion 37 is locked to the locked portion 16 of the server 1 s and the operation portion 38 locks the locking mechanism. By operating the 13 operated parts 15a, the lock mechanism 13 is switched from the locked state to the unlocked state. Thereafter, as shown in FIG. 16, after the pair of fork devices 35 are retracted to the pull-out position and the two servers 1 s stored in the storage unit 3 are collectively moved from the storage unit 3 to the support unit 31, The pair of guide members 33 is switched from the second interval to the first interval.

When the two-sided storage control is started, as shown in FIG. 16, two servers 1 s are supported on the support portion 31, and no server 1 s is stored in the storage portion 3. Further, the pair of guide members 33 is at the first interval.
In the both-side storage control, as shown in FIG. 15, after the pair of fork devices 35 are projected until the first engagement portion 11 of the server 1 s to be stored abuts the first engaged portion 21, The fork device 35 is raised from the second height to the first height to disengage the locking portion 37 from the locked portion 16 of the server 1 s and the operated portion by the operating portion 38. The operation of 15a is canceled to switch the lock mechanism 13 from the unlocked state to the locked state. Further, during the movement of the two servers 1s in this way, specifically, as shown in FIG. 17, between the rear end of the rear end 9a and the front end of the rear end 9a in the server 1s being moved. In addition, the pair of guide members 33 are switched from the second interval to the first interval in a state where the front end of the side wall 17a is positioned in the front-rear direction. Thereafter, as shown in FIG. 14, the pair of fork devices 35 are retracted to the reference position.

On the other hand, when the take-out control is started, as shown in FIG. 18, one dummy article 1 d is supported on the support portion 31, and two servers 1 s are stored in the storage portion 3. Further, the pair of guide members 33 is at the second interval.
In the one-side take-out control, as shown in FIG. 19, one of the pair of fork devices 35 is projected until the locking portion 37 contacts the front wall portion 10 b of the server 1 s stored in the storage portion 3. After that, the locking portion 37 of the fork device 35 is lowered from the first height to the second height so that the locking portion 37 is locked to the locked portion 16 of the server 1s and at the operation portion 38. The operated portion 15a of the lock mechanism 13 is operated to switch the lock mechanism 13 from the locked state to the unlocked state. After that, as shown in FIG. 20, both the pair of fork devices 35 are retracted to the drawing position, and the two servers 1 s stored in the storage unit 3 are collectively moved from the storage unit 3 to the support unit 31. Thereafter, the pair of guide members 33 is switched from the second interval to the first interval.

On the other hand, when the storage control is started, as shown in FIG. 20, the server 1 s and the dummy article 1 d are supported by the support portion 31, and one server 1 s is stored in the storage portion 3. Further, the pair of guide members 33 is at the first interval.
In the one-side storage control, as shown in FIG. 19, one of the pair of fork devices 35 is protruded until the first engaging portion 11 of the server 1 s to be stored comes into contact with the first engaged portion 21. Thereafter, the locking portion 37 of one of the fork devices 35 is raised from the second height to the first height so that the locking portion 37 is detached upward from the locked portion 16 of the server 1 s and the operation portion 38. The operation of the operated portion 15a is released to switch the lock mechanism 13 from the unlocked state to the locked state. Further, during the movement of one server 1s in this way, specifically, as shown in FIG. 21, between the rear end of the rear end 9a and the front end of the rear end 9a in the server 1s being moved. In addition, in a state where the front end of the side wall 17a is located in the front-rear direction, the interval between the pair of guide members 33 is switched from the second interval to the first interval. Then, as shown in FIG. 18, one fork device 35 is retracted to the reference position.

Thus, when the transfer mechanism 32 moves the two articles 1 constituting the first group of articles from the support unit 31 to the storage area E as the transfer target articles, one of the transfer target articles in the lateral direction X is displayed. The guide on the side and the guide on the other side are performed by the guide member 33. As described above, since both sides in the lateral direction X of the transfer target article are guided by the guide member 33, the transfer target article can be appropriately transferred from the support portion 31 to the storage area E.
Further, when the transfer mechanism 32 moves one article 1 in the first article group as a transfer target article from the support unit 31 to the storage area E, the transfer mechanism 32 on one side in the lateral direction X of the transfer target article. Guidance is performed by the guide member 33, and guidance on the other side in the lateral direction X of the transfer target article is performed by the other article 1 of the first article group. Thus, since both sides in the lateral direction X of the transfer target article are guided by the guide member 33 and the other articles 1 of the first article group, the transfer target article is appropriately transferred from the support portion 31 to the storage area E. Can be transferred.

[Another embodiment]
(1) In the above embodiment, each of the plurality of storage units is configured to be capable of being stored in a state where a plurality of articles are arranged in the horizontal direction in the horizontal direction. You may comprise so that only the goods of this can be accommodated. In this case, when the transfer device moves the article to be transferred between the support unit and the storage unit, both the lateral guide and the other side guide of the transfer target article are Guided by the second guide member.

(2) In the above embodiment, when the article is moved from the support part to the storage part, the front end of the side wall in the front-rear direction between the rear end of the article to be transferred and the front end of the rear end part. In the state where the pair of guide members is switched from the first interval to the second interval, the front end of the rear end portion of the article to be transferred is positioned within the front-rear width of the side wall in the front-rear direction. The pair of guide members may be switched from the first interval to the second interval. That is, when the article is moved from the support portion to the storage portion, the movement of the locking portion is started at the first interval to start the movement of the article, and before the movement of the article to the transfer target portion is completed and What is necessary is just to switch the space | interval of a pair of guide member from a 1st space | interval to a 2nd space | interval, when the front-end | tip of an article | item is located in the front-back width of a 2nd guide member.
Further, the pair of guide members may be switched from the first interval to the second interval immediately before the rear end of the rear end portion of the article to be transferred is positioned within the front-rear width of the side wall in the front-rear direction. The first interval may be maintained until the movement to the transfer target portion is completed.

(3) In the above embodiment, only one end portion in the front-rear direction of the article is formed in a shape in which the width in the lateral direction becomes narrower toward the front end side. You may form both ends with the shape where the width of a horizontal direction becomes narrow as it goes to the front end side. Moreover, you may form the shape seen in the up-down direction of the articles | goods in the rectangular shape.

(4) In the above embodiment, the first article group is two articles arranged in the lateral direction, but the first article group may be three or more articles arranged in the lateral direction. In this case, the support unit supports three or more articles in a state of being arranged in the horizontal direction.
Further, although the second article group is two articles arranged in the lateral direction, the second article group may be three or more articles arranged in the lateral direction. In this case, three or more storage areas are set in the storage unit in the horizontal direction.

  For example, in the case where the first article group is three articles arranged in the lateral direction, only the article located in the center in the lateral direction in the three articles in the first article group is set as the transfer target article. When the transfer target article is moved in the front-rear direction by the transfer mechanism and moved from the support unit to the storage area, the transfer mechanism guides one side of the transfer target article in the lateral direction of the first article group. One of the other articles (an article located on one side with respect to the transfer target article) is used, and the other side guide in the lateral direction of the transfer target article is included in the other articles of the first article group. The other article (the article located on the other side with respect to the transfer target article) is moved to move the transfer target article in the front-rear direction.

(5) In the above embodiment, a plurality of storage units are arranged side by side in the vertical direction and the horizontal direction. However, a plurality of storage units may be arranged side by side only in the vertical direction or only in the horizontal direction.
In the above embodiment, the article is a server and a dummy article, but the article may be changed as appropriate, for example, a pallet for supporting a load, a container for storing a load, or the like.

(6) In the above embodiment, the locking portion is configured by a pair of locking bodies, but the locking portion may be configured by only one locking body, or three or more locking bodies. You may comprise. In accordance with this, the article may be provided with only one locked portion, or may be provided with three or more locked portions. Incidentally, the number of locking portions may be different from the number of locked portions. For example, a plurality of locking portions may be locked to one locked portion.
In the said embodiment, although the latching | locking part (each of a pair of latching body) was formed in the plate shape extended in an up-down direction and a horizontal direction, the shape of a latching | locking part is a shape which can be latched to a to-be-latched part. If necessary, the shape may be appropriately changed. For example, the shape of the locking portion may be formed in a round bar shape extending in the vertical direction.

That is, for example, the locking portion may be configured by only one locking body, and the locking body may be formed in a round bar shape extending in the vertical direction. Specifically, the locking portion may be configured as follows.
As shown in FIG. 22, the locked portion 16 is disposed only in the central portion in the lateral direction X of the front wall portion 10 b of the article 1. The locking portion 37 is constituted by one locking body 37a formed in a round bar shape extending in the vertical direction Y. Further, the locked portion 16 and the locking body 37a are formed so that the inner dimension in the lateral direction X of the U-shaped locked portion 16 is larger than the outer dimension in the lateral direction X of the locking body 37a. The locking body 37 a is locked to the locked portion 16 while being movable in the lateral direction X with respect to the locked portion 16.
In this way, even when the locking portion 37 is locked to the locked portion 16 of the article 1 as shown in FIG. The article easily swings around the locking body 37a.

Further, as shown in FIG. 22, the operated portion 15 a of the locking mechanism 13 in the article 1 protrudes from a portion on one side of the front wall portion 10 b of the article 1 from the center in the lateral direction X. The operation unit 38 is formed in a plate shape extending in the vertical direction Y and the horizontal direction X. The operation portion 38 is provided on both one side and the other side in the lateral direction with respect to the locking body 37a.
In this way, by providing the transfer mechanism 32 with a pair of operation units 38, the operated unit 15 a protrudes from a portion on one side of the front wall 10 b of the article 1 from the center in the lateral direction X. Even when the operated portion 15a protrudes from the other side from the center in the lateral direction X of the front wall portion 10b of the article 1, the lock mechanism 13 of the article 1 can be unlocked. In the case where it is assumed that the operated portion 15a only protrudes from a portion on one side of the front wall portion 10b of the article 1 in the lateral direction X, the operating portion 38 is placed laterally with respect to the locking body 37a. It may be provided only on one side of the direction.

(7) Although the dummy article is not stored in the storage unit in the above embodiment, the dummy article may be stored in the storage unit. As described above, when the dummy article is stored in the storage unit instead of the server, the first engagement part, the second engagement part, or the locking mechanism is added to the dummy article in addition to the locked part, similarly to the server. May be provided.
Specifically, as shown in FIG. 24, two dummy articles 1d are used as transfer target articles, and a pair of dummy articles 1d supported by the support portion 31 of the lifting / lowering body 28 are supported by executing both-side storage control. The part 31 may be moved to the storage area E, or the pair of dummy articles 1d stored in the storage area E of the storage part 3 may be moved from the storage area E to the support part 31 by both-side take-out control.
Further, as shown in FIG. 25, one server 1 s supported by the support portion 31 of the lifting / lowering body 28 by executing storage control using one server 1 s and one dummy article 1 d as the transfer target article. And one dummy article 1d may be moved from the support part 31 to the storage area E, and one server 1s and one dummy article 1d stored in the storage area E of the storage part 3 are controlled by both-out control. May be moved from the storage area E to the support portion 31.
In addition, as shown in FIG. 26, one dummy article 1d is set as an object to be transferred, and one server 1s and one dummy article 1d supported by the support portion 31 of the lifting body 28 by executing one storage control. Only one dummy article 1d may be moved from the support portion 31 to the storage area E, and one server 1s and one dummy article stored in the storage area E of the storage section 3 by the take-out control. Only one dummy article 1d of 1d may be moved from the storage area E to the support portion 31.

1 article 1s server (article)
1d Dummy article (article)
2 Stacker crane (article conveying device)
3 Storage Unit 4 Storage Shelf 17a Side Wall (Second Guide Member)
28 Lifting body (moving body)
31 Supporting Section 32 Transfer Mechanism 33 Guide Member 35 Fork Device (First Guide Section)
37 Locking part E Storage area (transfer target part)
H Control device (control unit)
M1 first motor (first drive unit)
M2 second motor (first drive unit)
M3 3rd motor (2nd drive part)
M5 5th motor (3rd drive part)
X Horizontal direction Y Vertical direction Z Front-back direction

Claims (6)

An article conveying apparatus comprising: a moving body provided with a support portion that supports an article; and a first drive unit that moves the moving body,
The moving body includes a transfer mechanism that moves an article between the support part and the transfer target part in a state where the support part and a transfer target part that is an object to which the article is transferred are arranged, and A guide member that guides the article when the transfer mechanism moves the article,
When the transfer mechanism moves an article between the support part and the transfer target part, a position at which the moving body is stopped is set as a target stop position, and the moving body is seen as the target stop position when viewed in the vertical direction. The direction in which the movable body and the transfer target part are arranged in the state positioned in the front-rear direction, and the direction crossing the front-rear direction when viewed in the vertical direction,
The support portion supports a plurality of articles arranged in the lateral direction,
An article group composed of a plurality of articles supported by the support portion is defined as a first article group.
The guide member is provided only on both outer sides of the first article group in the lateral direction,
When the transfer mechanism moves a transfer target article that is a part of the first article group in the front-rear direction to move the transfer target article from the support portion to the transfer target portion, Guidance on one side in the lateral direction of the transfer target article is performed by an article other than the transfer target article in the guide member or the first article group, and guidance on the other side in the horizontal direction of the transfer target article. An article transporting apparatus that performs the process on an article other than the transfer target article in the first article group. An article transport facility comprising a storage shelf in which storage units for storing articles are arranged in the vertical direction, and the article transport device according to claim 1,
Each of the plurality of storage units includes a plurality of storage regions corresponding to the transfer target unit arranged in the horizontal direction so that a plurality of articles can be stored in the horizontal direction, and A second guide member that contacts the article from the lateral direction and guides the article in the front-rear direction when the mounting mechanism moves the article;
The second guide member is disposed closer to the storage unit in the front-rear direction than the guide member provided in the mobile body in a state where the mobile body is located at the target stop position, and the storage unit Article conveying equipment provided only on both outer sides in the lateral direction of the second article group composed of a plurality of articles housed in the container. The transfer mechanism includes a locking portion that locks the article in the front-rear direction, a first guide portion that guides the locking portion in the front-rear direction, and a movement of the locking portion in the front-rear direction. A second drive unit, wherein the locking unit is moved in the front-rear direction by the second drive unit in a state where the movable body is stopped at the target stop position, and the support unit and the transfer unit Move the item to and from the target part,
The moving body includes a third drive unit that changes a distance between the pair of guide members in the lateral direction to a first distance and a second distance that is wider than the first distance in the lateral direction.
The article conveying apparatus includes a control unit that controls the second driving unit and the third driving unit,
In the case where the control unit moves the article from the support unit to the storage unit, the control unit starts the movement of the locking unit at the first interval to start the movement of the article, and moves the article to the transfer target unit. So that the distance between the pair of guide members is switched from the first distance to the second distance when the movement of the article is completed and the front end of the article is located within the front-rear width of the second guide member. The article conveyance facility according to claim 2, wherein the second drive unit and the third drive unit are controlled. The transfer mechanism includes a locking portion that locks the article in the front-rear direction, a first guide portion that guides the locking portion in the front-rear direction, and a movement of the locking portion in the front-rear direction. A second drive unit, wherein the locking unit is moved in the front-rear direction by the second drive unit in a state where the movable body is stopped at the target stop position, and the support unit and the transfer unit Move the item to and from the target part,
The first article group and the second article group are two articles arranged in the lateral direction,
The transfer mechanism includes a pair of the locking portions corresponding to each of two articles in the first article group, and the two articles constituting the first article group are transferred from the support section to the transfer target section. When the second drive unit moves the pair of locking portions together, the guide member can guide both the one side and the other side of the two articles in the lateral direction. The article conveyance equipment according to claim 2 or 3, wherein the two articles supported by the support part are collectively moved to the transfer target part.   The article has a shape in which the width in the lateral direction becomes narrower as at least one end of the one end in the front-rear direction and the other end in the front-end direction is supported by the support portion. The article conveyance facility according to any one of claims 2 to 4, which is formed. The article includes a locked portion to which the locking portion is locked at an end portion on the opposite side to the direction in which the storage shelf exists in the front-rear direction while being supported by the support portion,
6. The article conveying facility according to any one of claims 2 to 5, wherein the locking portion is formed in a round bar shape in which at least a portion locked to the locked portion extends in the vertical direction.

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