JP2018016433A - Article carrying facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article carrying facility that can transfer appropriately a plurality of different kinds of articles with different size while regulating change in postures of the articles when transferring the articles respectively.SOLUTION: In an article carrying facility, a transfer device is provided with a first regulating portion E1 and a second regulating portion E2 positioned lower than the first regulating portion E1, as regulating portions E which are arranged at a height position close to an upper end part of an article with the article being supported by a second supporting portion 45, where the first regulating portion E1 is arranged at a height position close to the upper end part of a first article supported by the second supporting portion 45, at which the portion overlaps with the first article in a planar view, and the second regulating portion E2 is provided at a height position close to an upper end part of a second article supported by the second supporting portion 45, which is configured to be positionally switchable between a regulated position at which the portion overlaps with the second article supported by the second supporting portion in a planar view and a retreated position at which the portion does not overlap with the first article supported by the second supporting portion in a planar view.SELECTED DRAWING: Figure 4

Description

  The present invention includes a mounting portion having a first support portion that supports the bottom portion of the article from below, and a second support portion that supports the bottom portion of the article from below, and the first support portion includes the first support portion. (2) Transfer that moves the article along the transfer direction across the first support and the second support in a state where the support is positioned at a transfer position where the support is opposed in the horizontal direction. And a moving unit that moves the transfer device to the transfer position, and the transfer device has an engagement unit that can engage with the article and move in the transfer direction. The article has an engaged portion that engages with the engaging portion at an end portion in the first direction from the first supporting portion toward the second supporting portion in the transfer direction. The present invention relates to an article conveyance facility.

  As a prior art relating to such an article conveying facility, Patent Document 1 (Japanese Patent Publication No. 53-20757) discloses a pair of shelves 1 and shelves arranged so as to face a loading platform (3) as a transfer device. 2 is disclosed in a stacker crane that moves in a passage formed between the two. In the article conveying facility of Patent Document 1, the loading platform (3) is configured such that the receiving plate (20 · 20) serving as the second support portion is opposed to the shelf plate (1a) serving as the first support portion in the shelf (1) serving as the placement portion. The container (16) as an article is moved in the transfer direction across the shelf plate (1a) and the receiving plate (20, 20a) in a state where 20a) is positioned at the transfer position that is in a horizontal positional relationship. It is designed to move along. The loading platform (3) moves to the transfer position by running and raising / lowering of the traveling cart and the lifting platform provided in the stacker crane.

Japanese Patent Publication No.53-20757

In the article conveying facility of Patent Document 1, the loading platform (3) includes a chain (10, 10a) disposed along a winding path along a horizontal plane, and an engaging portion attached to the chain (10, 10a). The hook (13, 22) is provided, and the hook (13, 22) is engaged with the handle (25) as the engaged portion of the container (16) by the rotation of the chain, and the rotation further proceeds. By doing so, the container (16) is moved in the transfer direction.
In a state where the loading platform (3) is located at the transfer position, a gap is formed between the shelf plate (1a) in the shelf (1) and the receiving plate (20, 20a) in the loading platform (3). The center of gravity of the container (16) may be extremely biased in the transfer direction depending on the storage position of the storage items stored in the container (16). In such a case, during the transfer operation of the container (16), the end on the first direction side of the container (16) falls into the gap between the shelf plate (1a) and the receiving plate (20, 20a), There is a possibility that the container (16) is largely inclined with respect to the horizontal direction and the handle (25) and the hooks (13, 22) are disengaged.
Thus, when the center of gravity of the article to be transferred is located at the end of the second direction opposite to the first direction among the two directions of the transfer direction, the first support part of the placement part; The end on the second direction side of the article falls into a gap formed between the second support part of the transfer device and the article is greatly inclined with respect to the horizontal direction, and is engaged with the engaging part. There is a risk of disengaging the parts.
In order to solve such a problem, there has been proposed a transfer device in which a restriction portion is provided at a height close to the upper end of an article that is supported by a second support portion. In this transfer device, when the article is inclined during transfer, the upper end of the article comes into contact with the restricting portion from below so that the inclination of the article can be regulated.
However, in order to regulate the inclination of the article by the regulation unit, the regulation unit must be positioned at a height corresponding to the height of the article. For this reason, in an article transport facility that handles multiple types of articles with different heights, if a restricting section for articles with a low height is provided, it interferes with articles with a high height. The problem that it cannot be loaded occurs.

  In view of the above situation, there is a need for an article transport facility that can appropriately transfer a plurality of types of articles having different heights in a state where the posture change of the article is regulated.

The characteristic configuration of the article conveyance facility according to the present invention is as follows:
A placement portion having a first support portion for supporting the bottom of the article from below;
The second support part that supports the bottom of the article from below is provided, and the second support part is positioned at a transfer position where the second support part is opposed to the first support part in the horizontal direction. A transfer device for moving the article along the transfer direction across the first support part and the second support part;
A moving unit that moves the transfer device to the transfer position;
The transfer device has an engaging portion that is engageable with the article and movable in the transfer direction,
The article has an engaged portion with which the engaging portion engages at an end portion in the first direction from the first supporting portion toward the second supporting portion in the transfer direction. In equipment,
The engaging portion and the engaged portion are engaged in a state where relative movement in the transfer direction is restricted and the engaged portion is detachable upward with respect to the engaging portion. Configured as
The transfer device has a restricting portion disposed at a height close to an upper end portion of the article in a state where the article is supported by the second support portion.
When the article moving across the first support part and the second support part is tilted beyond an allowable range with respect to the horizontal direction, the regulating part comes into contact with the upper end part of the article, Configured to regulate posture changes of the article,
The direction perpendicular to the transfer direction along the horizontal direction is the left-right direction,
The article includes a first article, a length in the left-right direction equal to or less than a length in the left-right direction of the first article, and a length in a vertical direction shorter than a length in the vertical direction of the first article. There are two articles,
As the restriction part, a first restriction part and a second restriction part positioned below the first restriction part are provided,
The first restricting portion is arranged at a height close to the upper end portion of the first article supported by the second support portion and at a position overlapping the first article in plan view.
The second restricting portion is provided at a height close to an upper end portion of the second article supported by the second support portion, and is flat with the second article supported by the second support portion. The position is configured to be switchable between a restriction position that overlaps in view and a retreat position that does not overlap in plan view with the first article supported by the second support part.

According to this characteristic configuration, in the state where the transfer device is engaged with the engaged portion included in the first article and the second article at the transfer position, By moving in the transfer direction, the article is moved between the first support part in the placement part and the second support part in the transfer device, and the article is supplied to the placement part, or from the placement part A transfer operation for taking out the article can be performed.
The moving unit may move the transfer device in the vertical direction from when the transfer device starts moving the article to be transferred to when it is completed. For example, in the case of a take-out operation for transferring an article from the placement unit to the transfer device, the engagement unit is moved in the first direction, the transfer device is raised, and the article is transferred from the transfer device to the placement unit. In the case of the feeding operation for transferring, the engaging portion is moved in the direction opposite to the first direction (second direction) and the transfer device is lowered to move the first supporting portion and the second supporting portion. The article can be supported on an appropriate side according to the position of the article in the loading direction. As described above, when the transfer device is raised or lowered during the transfer operation of the transfer device, the movement along the transfer direction may be temporarily stopped or may be continued.
When the center of gravity of the article is biased toward the second direction in the transfer direction, the end on the second direction side of the article is the first support part and the second support part in the take-out operation and supply operation by the transfer device. There is a risk that an article that falls into a gap formed between the first support portion and the second support portion will tilt beyond the allowable range with respect to the horizontal direction. When such an inclination occurs, it is conceivable that the engagement between the engaging portion and the engaged portion is disengaged and the article cannot be transferred. In this regard, according to this feature configuration, the regulating portion abuts on the upper end portion of the article, so that the posture change of the article is regulated, and the article is placed in a state in which the posture is maintained in an appropriate posture with respect to the horizontal direction. It can be moved in the transfer direction.
Further, as described above, when the transfer device is raised in the take-out operation, the height difference between the first support portion and the second support portion tends to increase, so that the center of gravity of the article is the first in the transfer direction. If it is biased toward the two directions, there is a high possibility that the end of the article on the second direction will fall into a gap formed between the first support and the second support. In this respect, since the change in the posture of the article by the restricting unit is appropriately regulated, it is possible to appropriately perform the take-out operation accompanied with the lifting of the transfer device.
Furthermore, in this characteristic configuration, as the restricting unit, the first restricting unit that restricts the posture change of the first article when the first article is transferred, and the second article when the second article is transferred. And a second restricting unit that regulates the posture change. In each case of transferring a plurality of types of articles having different lengths in the vertical direction, the posture change of the article to be transferred is regulated. Can be transferred appropriately.
Since the second restriction portion is provided at a height close to the upper end portion of the second article supported by the second support portion, the first article having a length in the vertical direction larger than that of the second article is transferred. Is transferred, it is considered that the second restricting portion is positioned in the range of the first article in the up and down direction, and obstructs the transfer of the first article. In this regard, in this feature configuration, the second restricting portion can be switched to a retracted position that does not overlap with the first article supported by the second supporting portion in plan view. By positioning the first article, the first article having the same length in the left-right direction as the second article or larger than the second article can be appropriately supported by the second support portion. Therefore, even when the first article is transferred, the first article can be appropriately transferred without the second restricting portion being in the way.
As described above, according to this characteristic configuration, an article that can be appropriately transferred in a state in which a change in posture of the article is regulated in each case where a plurality of kinds of articles having different sizes are transferred to the placement unit. Transport equipment can be obtained.

  Here, the second restricting portion is provided in a state in which it is urged to return to the restricting position by an elastic force of an elastic member, and the second restricting portion has a restricting surface along a horizontal plane. And an operated part that is provided above the second article restricting member and moves integrally with the second article restricting member between the restricting position and the retracted position. When the first article moves from the first support portion to the second support portion, the second article restricting member moves from the restricted position to the retracted position by moving while being pressed by the first article. It is preferable to change the position up to.

According to this configuration, when the first article is transferred from the first support section to the second support section, the second article regulating member is moved by moving the operated section while being pressed by the first article. The position is changed from the restricted position to the retracted position integrally with the operation part, and the second restricting part is switched from the restricted position to the retracted position. That is, as the first article moves from the first support portion to the second support portion, the second restriction portion switches from the restriction position to the retracted position.
Since the second restricting portion is biased back to the restricting position by the elastic force of the elastic member, the second restricting portion supported by the second supporting portion and pressed by the first article is located at the retracted position. When the first article moves toward the first support portion from the state where the second article is moved, the second restriction part moves toward the restriction position while maintaining the state where the operated part is pressed by the first article by the elastic force of the elastic member. Move. Therefore, as the first article moves from the second support portion to the first support portion, the second restricting portion switches from the retracted position to the restricting position.
As described above, since the second restricting portion can be switched to the restricting position or the retracted position by using the movement of the article, the drive portion for switching the second restricting portion to the restricting position or the retracted position and the control for controlling the drive portion. The second restricting portion can be changed between the restricting position and the retracted position without providing a separate portion.
In addition, by providing the operated part above the second article restricting member, when the second article is transferred, the operated part and the second article do not interfere with each other. The posture change of the second article can be appropriately regulated by the second article regulating member.

  In addition, it is preferable that the operated portion includes a rotation roller that rotates around a rotation vertical axis as the first article moves in the first direction when pressed by the first article. is there.

  According to this configuration, since the first article moves in the transfer direction while the rotating roller is pressed by the first article, the rotating roller rotates around the rotation vertical axis when the first article moves. The first article can move smoothly in the transfer direction, and the position of the second restricting portion can be switched smoothly between the restricting position and the retracted position.

  Further, the second article regulating member and the operated part are swung around a swinging vertical axis set at a position not overlapping with the first article in a plan view when supported by the second support part. It is preferable to be supported by a swinging support member that moves.

  According to this configuration, the operated portion and the second article restricting member can move in the left-right direction while moving in the transfer direction by swinging the swing support portion around the swing longitudinal axis. As compared with the configuration in which the operated portion and the second article regulating member move only in the linear movement direction only in the left-right direction, the position of the second regulating section accompanying movement of the first article in the transfer direction is less likely to occur. Switching is performed smoothly.

  The second article and the first article have the same length in the left-right direction, and the second support portion corresponds to the length in the left-right direction of the first article and the second article. It is preferable that the pair of guide portions are separated in the left-right direction by the distance, and the pair of guide portions regulate the positions of the first article and the second article in the left-right direction.

According to this configuration, in both cases of transferring the first article and transferring the second article, the article is transferred in a state where the left and right positions are regulated to the same position by the pair of guide portions. Move along the direction. Accordingly, the article can be appropriately moved along the transfer direction in a state where the engaging portion is engaged with the engaged portion.
Since the length of the second article in the left-right direction is the same as the length of the first article in the left-right direction, there is little difference in the left-right position between the retracted position and the restricted position of the second restricting portion.

Partial front view of goods storage shelf Perspective view of storage Front view of stacker crane Front view of transfer equipment mounted on the platform Plan view of the transfer device mounted on the platform Plan view for explaining the operation of taking out articles Plan view for explaining the operation of taking out a large article Operation explanatory diagram when the transfer device takes out a small article at the transfer position Operation explanatory diagram when the transfer device takes out a large article at the transfer position

  An embodiment in which an article conveying facility according to the present invention is applied to an article storage facility will be described with reference to the drawings. The article storage facility according to the present embodiment includes an article storage shelf 1 having a plurality of storage units 2 as mounting units, a transfer device 11 that performs a supply operation and an extraction operation of an article W with respect to the storage unit 2, and a transfer device. 11 is provided with a stacker crane 5 as a moving unit that moves 11 to the transfer position. Hereinafter, these configurations will be described in detail.

[Goods storage shelf]
As shown in FIGS. 1 and 2, the article storage shelf 1 includes a plurality of column sets 3 including a set of columns 3 a and 3 b arranged at equal intervals in the left-right direction X, and these column groups 3 are arranged in the vertical direction Y. The plurality of portions are connected to each other by traversing members. In the space between the column groups 3 adjacent in the left-right direction X, a plurality of storage units 2 are formed in a state where they are arranged vertically. The article storage shelf 1 can store two kinds of large and small articles W as articles of different sizes. That is, the storage unit 2 includes a large storage unit 2a that stores a large article W1 (first article) and a small storage part 2b that stores a small article W2 (second article).

  The storage unit 2 includes a pair of article supports 4 and 4 as first support parts that support both ends in the left-right direction X at the bottom of the large article W1 and the small article W2 from below. Each article support 4 is connected to the front column 3a and the rear column 3b of the column set 3, and includes a horizontal portion 4h and a vertical portion 4v extending in the transfer direction Z. A guide portion 4g that is inclined outwardly in the left-right direction X is formed at the end of the vertical portion 4v on the near side in the transfer direction Z, and at the end on the far side in the transfer direction Z of the vertical portion 4v. A stopper portion 4s protruding upward is formed.

  As shown in FIG. 2, the large article W1 and the small article W2 of this embodiment are both rectangular parallelepiped containers, and a load such as parts of the apparatus is accommodated therein although not shown. Note that the large article W1 and the small article W2 of the present embodiment include empty containers that do not contain loads. The small article W2 has a length in the vertical direction Y that is shorter than the length in the vertical direction Y of the large article W1 (less than half the length in this embodiment), and the length in the left-right direction X. Is configured to be the same as the length in the left-right direction X of the large article W1.

  The large article W1 and the small article W2 have a pair of left and right engaged portions 23 on the front side end surface in the transfer direction Z. Of the two directions of the transfer direction Z, the direction from the back to the front of the storage unit 2 is the first direction. The engaged portion 23 is formed with a groove having a downward opening in which both left and right ends and a lower end are opened, and a first engagement portion 34a and a second engagement portion 34b (described later) of the transfer device 11 (FIGS. 4 to 5). 9) is engaged with the engaged portion 23, and the large article W1 and the small article W2 are transferred by moving the first engaging part 34a and the second engaging part 34b in the transfer direction Z. Move along direction Z.

  The small article W2 has the same configuration as the large article W1 except that the small article W2 is different in that the length in the vertical direction Y is smaller than that of the large article W1. That is, the engaged portion 23 in the small article W2 has the same height and shape from the lower end of the small article W2 as the engaged portion 23 in the large article W1.

[Stacker crane]
In this embodiment, as shown in FIGS. 6 and 7, a pair of article storage shelves 1 are provided at intervals in the transfer direction Z in a posture in which the front of the storage unit 2 faces, and a pair of article storage shelves are provided. A linear travel route on which the stacker crane 5 travels is set between the shelves 1. In the following description, in the transfer direction Z, the movement direction of the article W when taking out the large article W1 or the small article W2 from the storage unit 2 will be described as the first direction Z1, and the opposite direction will be described as the second direction Z2. To do.

  As shown in FIG. 3, the stacker crane 5 is guided by the upper rail 6 a and the lower rail 6 b and can travel along the left-right direction X. The traveling carriage 7 guided by the lower rail 6b is provided with elevating masts 8 at both ends in the left-right direction X, and the upper frame 9 guided by the upper rail 6a is supported at the upper end of these elevating masts 8. It is connected to the.

  The traveling carriage 7 is provided with driving wheels 18d and driven wheels 18s as traveling wheels 18 that roll on the lower rail 6b, and a plurality of traveling guides that restrict movement in the width direction (transfer direction Z) of the traveling path. A roller 19a is provided. Similarly, the upper frame 9 is provided with a plurality of upper guide rollers 19b that restrict movement in the width direction (transfer direction Z) of the travel path. The traveling motor 17 rotates and drives the drive wheels 18d, so that the traveling carriage 7 travels in the left-right direction X, so that the stacker crane 5 travels along the traveling path along the left-right direction X.

  A lifting platform 10 on which a transfer device 11 is mounted is supported by being suspended from a plurality of lifting chains 12. The plurality of lifting chains 12 are wound around a plurality of upper guide sprockets 13 rotatably provided on the upper frame 9 and a plurality of lower guide sprockets 14 rotatably provided on the traveling carriage 7. As the elevating chain 12 moves along the winding path by the driving force, the elevating platform 10 is formed between the pair of elevating masts 8 while the plurality of elevating guide rollers 15 roll on the guide surfaces of the elevating mast 8. The lift path is configured to be lifted and lowered.

  The control unit 20 controls the traveling operation of the traveling carriage 7 in the stacker crane 5, the lifting operation of the lifting platform 10, and the transfer operation of the transfer device 11. The controller 20 and the elevator 10 are connected in a state that allows the elevator 10 to be raised and lowered by a power cable and a signal cable (not shown). When the article W is transferred to or from the storage unit 2, the control unit 20 should place the transfer device 11 at a transfer position set in advance for the storage unit 2 to be transferred. The operation of the traveling carriage 7 by the traveling motor 17, the lifting operation of the lifting platform 10 by the lifting motor 16, and the projecting operation of the moving frame 22 by the exit / retreat motor 24 described later are controlled. As described above, in the present embodiment, the stacker crane 5 (more specifically, the traveling carriage 7, the lifting platform 10, and the moving frame 22) is moved to the transfer position for the storage unit 2 as the mounting unit. This corresponds to a moving unit for moving.

[Transfer equipment]
Next, with reference to FIG.4 and FIG.5, the transfer apparatus 11 mounted in the raising / lowering stand 10 of the stacker crane 5 is demonstrated.
As shown in FIG. 4, a base 21 is fixed to the frame of the lifting platform 10, and a moving frame 22 is attached to the base 21 so as to be movable in the transfer direction Z. The transfer device 11 is attached to the moving frame 22, and the transfer device 11 moves along the transfer direction Z integrally with the moving frame 22. The moving frame 22 and the transfer device 11 are moved in and out by the moving mechanism D1 over the moving position relative to the base 21 and the moving position shifted from the moving position in the transfer direction Z to the second direction Z2. Operated. The protrusion operation from the movement position to the transfer position by the withdrawal / retraction mechanism D1 is started after the travel operation and the lifting operation of the stacker crane 5 are completed.

  The moving position is the position of the transfer device 11 in the transfer direction Z when the lifting operation of the lifting platform 10 and the traveling operation of the traveling carriage 7 are performed, and the transfer position is the transfer device 11. Is the position of the transfer device 11 in the left-right direction X, the up-down direction Y, and the transfer direction Z when the supply operation and the take-out operation of the article W are performed. The transfer position is a positional relationship in which a later-described pair of transfer device side support bodies 45 in the transfer device 11 are opposed to each other in a horizontal direction with respect to the pair of article support bodies 4 in the storage unit 2, in other words, a pair of articles. The support body 4 and the pair of transfer device side support bodies 45 are positioned at substantially the same height and are aligned in the transfer direction Z.

  In the present embodiment, as will be described later, midway ascending processing for raising the lifting platform 10 during the take-out operation and midway lowering processing for lowering the lifting platform 10 during the supply operation are performed. The region where the transfer device 11 exists from the start to the end of the operation is the transfer position. That is, the transfer position coincides with the movement trajectory of the transfer device 11 that moves up and down in the middle ascending process and the middle descending process, and has a predetermined range in the vertical direction Y from the transfer start position to the transfer end position. It is an area to have.

  As shown in FIG. 5, the retracting mechanism D1 includes a long rotating body 25 that is rotatable around the first vertical axis P1 and opposite sides of the first vertical axis P1 in the rotating body 25. The first operation unit 28a and the second operation unit 29b projecting upward at both ends located, and a pair of slits 27 in which the first operation unit 28a and the second operation unit 29b are detachable are formed. A plate 26 and an exit / retreat motor 24 that rotationally drives the rotating body 25 are provided.

  When the rotary body 25 is driven to rotate by a predetermined angle in one direction by the exit / retreat motor 24, one of the first operation unit 28 a and the second operation unit 29 b corresponds to the operation plate 26. The operated plate 26 is moved along the transfer direction Z while engaging the corresponding slits 27 in FIG. Since the operated plate 26 is fixed to the moving frame 22, when the operated plate 26 moves along the transfer direction Z, the moving frame 22 and the transfer device 11 attached thereto are moved in the transfer direction. Move integrally along Z. The operation amount of the exit / retreat motor 24 may be set in advance corresponding to the displacement amount in the transfer direction Z with respect to the movement position and the transfer position, and the exit / retreat motor 24 may be servo-controlled, A sensor for detecting that the moving frame 22 or the transfer device 11 is located at the movement position and the transfer position is provided, and based on the detection information of this sensor, the exit / retreat motor 24 is controlled to stop. May be.

  As shown in FIGS. 4 and 5, the transfer device 11 includes a pair of transfer device side support bodies 45 as second support portions that support the bottom of the article W from below, and the transfer device 11 transfers the transfer device 11. A push-pull operation mechanism D2 that moves the article W in the transfer direction Z in a state where the article W is located at the mounting position is provided. The pair of transfer device side supports 45 includes a pair of left and right guides 44 spaced apart in the left and right direction X by a distance corresponding to the length in the left and right direction X of the large article W1 and the small article W2. Regulates the positions of the large article W1 and the small article W2 in the left-right direction X. When the large article W1 and the small article W2 are moved in the transfer direction Z by the push / pull operation mechanism D2, the position of the article W in the left-right direction X is regulated, so the movement of the article W when the article W is transferred The route is stable.

The push-pull operation mechanism D2 moves the article along the transfer direction Z across the pair of article support bodies 4 and the pair of transfer apparatus side support bodies 45 in a state where the transfer apparatus 11 is located at the transfer position. Move.
The push-pull operation mechanism D2 includes a pair of left and right push-pull operation units (a first push-pull operation unit C1 and a second push-pull operation unit C2), and a first push-pull operation unit C1 and a second push-pull operation unit C2. A universal joint 31 that couples the drive shaft 30 and a hook motor 29 that rotationally drives the drive shaft 30 are provided.

  Since the first push-pull operation unit C1 and the second push-pull operation unit C2 have the same configuration, the first push-pull operation unit C1 will be described as a representative. The first push / pull operation section C1 includes a chain 33 arranged in an annular shape along a winding path along the horizontal direction, and three sprockets (drive sprocket 32a, driven sprocket 32b, The tension sprocket 32c) and the first engagement portion 34a and the second engagement provided in a posture projecting upward from the winding surface of the chain 33 at two locations that bisect the annular winding path of the chain 33. Part 34b.

  The first engaging portion 34 a is engaged when the article W is transferred to the storage portion 2 belonging to one of the article storage shelves 1 of the pair of article storage shelves 1. The second engaging portion 34b is connected to the storage portion 2 belonging to the other article storage shelf 1 of the pair of article storage shelves 1. It is an engaging part that engages with the engaged part 23 of the article W to be transferred and moves along the transfer direction Z when supplying and taking out the article W. As described above, the transfer device 11 has an engaging portion that can engage with the article W and move in the transfer direction Z.

  In the supply operation and the take-out operation, the first engagement portion 34a and the second engagement portion 34b in the first push / pull operation portion C1 and the second push / pull operation portion C2 are respectively connected to the first push / pull operation portion C1 and the second push / pull operation portion C1. The article W is moved along the transfer direction Z by moving the path portions facing each other out of the winding paths of the two chains 33 of the two push / pull operation unit C2 along the transfer direction Z. The transfer of the article W by the first engagement portion 34a and the transfer of the article W by the second engagement portion 34b are different except that the first direction Z1 and the second direction Z2 with respect to the transfer direction Z are opposite. Therefore, in the following description, of the first engaging portion 34a and the second engaging portion 34b, the first engaging portion 34a is engaged with the engaged portion 23 of the article W, so that the transfer device 11 is engaged. A description will be given of a case where the supply operation and the extraction operation with respect to the storage unit 2 are performed.

  The first engagement portion 34a in the first push-pull operation portion C1 and the second push-pull operation portion C2 and the engaged portion 23 in the article W are in a state where relative movement in the transfer direction Z is restricted and The engaged portion 23 is configured to engage with the one engaging portion 34a in a state where it can be detached upward. That is, as described above, as shown in FIG. 2, the engaged portion 23 is formed with a groove having a downward opening in which both the left and right ends and the lower end are opened, and the first engaging portion 34 a is the engaged portion 23. The first engaging portion 34a moves in the transfer direction Z while being engaged with the groove portion.

  In performing the take-out operation of the article W, the stacker crane 5 keeps the transfer device 11 in the moving position on the lifting platform 10 and the target stop position for the storage unit 2 in which the article W to be taken out is stored. The traveling carriage 7 is positioned at the position, and the lifting platform 10 is positioned at the target lifting position with respect to the storage unit 2 to be in the state shown in FIG. From this state, when the moving frame 22 is operated to protrude in the second direction Z2 by a set amount, the transfer device 11 moves as shown in FIGS. 6 (a), 6 (b) and 7 (a), 7 (b). Switch from the transfer position to the transfer position.

  When the transfer device 11 is positioned at the transfer position, the first engagement portion 34a moves along the outer periphery of the drive sprocket 32a by the rotation of the annular chain 33, so that the storage portion 2 The first engagement portion 34a enters the engagement portion 23 of the article W supported by the pair of article support bodies 4 from the opening on the outer side in the left-right direction X, and FIGS. As shown in FIG. 3, the first engaged portion 34a and the engaged portion 23 are in a state in which the relative movement in the transfer direction Z is restricted, and the engaged portion 23 is above the first engaging portion 34a. To be engaged in a detachable state. In such a state, the first engagement portion 34a moves the path portions facing each other out of the winding paths of the two chains 33 of the first push / pull operation portion C1 and the second push / pull operation portion C2. 6 (b) (c) and FIGS. 7 (b) (c) and FIGS. 8 and 9, the article W moves along the transfer direction Z by moving along the first direction Z1. Move.

  When the first engaging portion 34a moves to the end on the first direction Z1 side in the transfer direction Z, the rotation of the chain 33 is stopped, and the engagement state between the first engaging portion 34a and the engaged portion 23 is reached. As shown in FIGS. 6C, 6D, 7C, and 7D, the moving frame 22 is retreated in the first direction Z1 by the set amount while the state is maintained. The apparatus 11 is switched from the transfer position to the movement position.

  In the present embodiment, the stacker crane 5 executes midway ascent processing for raising the lifting platform 10 by a set amount during the take-out operation of the transfer device 11. That is, as shown in FIGS. 8 and 9, during the movement of the article W in the first direction Z <b> 1, the movement amount in the first direction Z <b> 1 scheduled in the take-out operation, that is, the transfer end from the transfer start position is completed. When the movement of the set amount of the movement amount to the position is completed, the lifting platform 10 is raised by the set lift amount. In the present embodiment, the lifting platform 10 is raised when the movement of 80% of the movement amount in the first direction Z1 scheduled in the take-out operation is completed. The rising timing of the lifting platform 10 during the take-out operation is detected by a rotation amount detection unit that detects the rotation amount of the chain 33. The rotation amount detection unit detects, for example, a rotary encoder that detects the rotation amount of the drive sprocket 32a, or a striker that is provided at a set distance from the first engagement unit 34a in the winding path direction of the chain 33. What is necessary is just to comprise by a limit switch etc.

  When the transfer device 11 performs the supply operation, the reverse operation of the above-described take-out operation is performed, and thus the description thereof is omitted. The same applies to the stacker crane 5 in the middle of the supply operation of the transfer device 11 in the middle of a lowering process for lowering the lifting platform 10 by a set amount.

  In the take-out operation, the load of the article W is shared and supported by both the pair of article supports 4 of the storage unit 2 and the pair of transfer device side supports 45 of the transfer device 11. Is executed, the end of the article W on the second direction Z2 side is separated from the article support 4 of the storage unit 2, and the total load of the article W is transferred by the pair of transfer device side supports 45 of the transfer device 11. Is in a supported state. In this case, when the center of gravity is extremely biased at the end of the article W on the second direction Z2 side, the article W moving across the pair of article support bodies 4 and the pair of transfer device side support bodies 45 is horizontal. There is a risk of tilting beyond the allowable range with respect to the direction.

  When the ascending process is executed, the height difference between the pair of article supports 4 and the pair of transfer device side supports 45 tends to increase, so that the center of gravity of the article W is the second direction in the transfer direction Z. If biased to the Z2 side, the end of the article W on the second direction Z2 side is likely to fall into a gap formed between the pair of article support bodies 4 and the pair of transfer device side support bodies 45. Become. Even in the case where the take-out operation is performed without an ascending process on the way, between the pair of transfer device side supports 45 of the transfer device 11 located at the transfer position and the pair of article supports 4 in the storage unit 2. Since the gap is formed in the transfer direction Z, the end of the article W on the second direction Z2 side may fall into the gap.

  Therefore, as shown in FIGS. 4, 8, and 9, the transfer device 11 of the article transport facility of the present embodiment has the article W in a state where the article W is supported by the pair of transfer device side support bodies 45. It has the control part E arrange | positioned at the height close | similar to the upper end part. When the article W moving across the pair of article supports 4 and the pair of transfer device side supports 45 is tilted beyond the allowable range with respect to the horizontal direction, the restricting portion E is the upper end of the article W. The posture change of the article W is regulated by abutting on.

  As the restriction part E, a first restriction part E1 that is a restriction part E for the large article W1 and a second restriction part E2 that is a restriction part E for the small article W2 are provided. The second restricting part E2 is located below the first restricting part E1.

  As shown in FIG.4 and FIG.9, the 1st control part E1 is the height (length set to the up-down direction Y) which adjoins the upper end part of the large article W1 currently supported by a pair of transfer apparatus side support body 45. As shown in FIG. (For example, a height at which a gap of 5 mm is formed) and is disposed in a fixed state at a position overlapping the large article W1 in plan view.

  As shown in FIGS. 4, 7, and 8, the second restriction portion E <b> 2 has a height (in the vertical direction Y) close to the upper end portion of the small article W <b> 2 supported by the pair of transfer device side support bodies 45. A restriction position that overlaps with the small article W2 supported by the pair of transfer device side support bodies 45 in a plan view, and is provided at a set length (for example, a height at which a gap of 5 mm) is formed. The position of the large article W1 supported by the transfer device side support body 45 can be switched to a retracted position that does not overlap in plan view.

  The first restricting portion E1 and the second restricting portion E2 are supported by a restricting portion support 35 disposed above the first push / pull operation portion C1 and the second push / pull operation portion C2. The restricting portion support 35 is provided with respect to the support frame 37 to which the first restricting portion E1 and the second restricting portion E2 are attached, a plurality of brackets 36 that fix the support frame 37 to the moving frame 22, and the support frame 37. A large article restricting part support 38 for attaching the first restricting part E1 and a small article restricting part support 39 for attaching the second restricting part E2 to the support frame 37 are provided. In FIG. 5, the first restricting portion E1 is not shown in order to avoid complication of the drawing.

  The first restricting portions E1 are provided in pairs in the left-right direction X, and each first restricting portion E1 includes a large article restricting member 40 supported by the large article restricting portion support 38. The large article restricting member 40 is constituted by a long resin member extending in the transfer direction Z. In the present embodiment, the length of the article W is longer than half of the length in the transfer direction Z.

  There are four second restricting portions E2 distributed in the left-right direction X and the transfer direction Z, and each second restricting portion E2 is around the second vertical axis P2 by the small article restricting portion support 39. A support arm 42 slidably supported on the support arm 42, a rotation roller 46 rotatable around the third longitudinal axis P 3 set at the swing end of the support arm 42 and above the support arm 42, and horizontally The posture of the support arm 42 is regulated so that the small article regulating member 41 attached below the swinging end portion of the support arm 42 and the second regulating portion E2 are positioned at the regulated position with the regulating surface along the lower side facing downward. A coil spring 43 that biases the position posture by an elastic force.

  The second restricting portion E2 is provided in a state where it is urged to return to the restricting position by the elastic force of the coil spring 43 as an elastic member. A rotating roller 46 is provided as an operated portion that is provided above the second restricting portion E2 and moves integrally with the second restricting portion E2 between the restricting position and the retracted position. As shown in FIG. 7, when the large article W <b> 1 moves from the pair of article supports 4 of the storage unit 2 to the pair of transfer device side supports 45 of the transfer device 11, the rotary roller 46 is concerned with the large article W <b> 1. The second restricting portion E2 is moved from the restricting position to the retracted position by moving in a state pressed by.

  As shown in FIGS. 4 and 7, the second vertical axis P <b> 2, which is the center at which the support arm 42 swings, is supported by a pair of transfer device side support bodies 45 of the transfer device 11. It is set to a position that does not overlap with the large article W1 in plan view. In the present embodiment, the large article W1 and the small article W2 have the same length in the left-right direction X, and both are regulated at the same position in the left-right direction X by the pair of left and right guides 44. P2 is a position that does not overlap with the small article W2 in a plan view when supported by the pair of transfer device side support bodies 45.

  Thus, in this embodiment, when the operated part is pressed by the large article W1, the rotation of the large article W1 in the first direction Z1 is performed around the rotation vertical axis (third vertical axis P3). A rotating roller 46 is provided. Further, the second restricting portion E2 and the rotating roller 46 as the operated portion are positioned so as not to overlap with the large article W1 in a plan view when supported by the pair of transfer device side support bodies 45 of the transfer device 11. It is supported by a support arm 42 as a swing support member that swings around a set swing vertical axis (second vertical axis P2).

  With the above configuration, when transferring the large article W1, as shown in FIG. 9, when the posture change of the large article W1 is restricted by the first restricting portion E1, and the small article W2 is transferred. As shown in FIG. 8, the change in the posture of the small article W2 is restricted by the second restricting portion E2 located at the restricting position. Thereby, even if the center of gravity in the transfer direction Z of the article W to be transferred is extremely biased toward the second direction Z2, the second direction of the article W in the final stage of the take-out operation or the early stage of the supply operation The end on the Z2 side falls into a gap formed between the pair of transfer device side supports 45 of the transfer device 11 and the pair of article supports 4 in the storage unit 2, and the transfer device 11 This prevents the first engaging portion 34a from being disengaged from the engaged portion 23 of the article W. Further, when the large article W1 is transferred, as shown in FIG. 7, the second restriction portion E2 moves to the restriction position and the retracted position as the large article W1 moves in the transfer direction Z. In the take-out operation, the second restricting part E2 does not interfere with the transfer of the large article W1, and the large article W1 can be appropriately taken out from the storage part 2. Therefore, in each case of transferring two types of articles W (large article W1 and small article W2) having different lengths in the vertical direction Y, the article W is appropriately transferred in a state in which the posture change of the article W to be transferred is regulated. Can be listed.

[Another embodiment]
The invention made by the inventor has been specifically described based on the embodiment of the invention. However, the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the invention. Hereinafter, another embodiment of the present invention will be illustrated. The above embodiment and the following embodiment can be combined within a range where no contradiction occurs.

(1) In the said embodiment, although the length of the left-right direction was the same as the length of the left-right direction of a 1st article as a 2nd article, the length of the left-right direction was a 1st article as a 2nd article. It may be shorter than the length in the left-right direction.

(2) In the above embodiment, the equipment that handles only the first article and the second article is exemplified as the article. However, as the article, the length in the left-right direction is equal to or less than the length in the left-right direction of the first article, and the up-down direction. May be a facility that also handles a third article whose length is shorter than the vertical length of the second article.
In this case, the third restricting portion located below the second restricting portion is provided as a restricting portion at a height close to the upper end portion of the third article supported by the pair of transfer device side support bodies 45. In addition, a restriction position that overlaps with the third article supported by the pair of transfer device side support bodies 45 in a plan view, and the first article and the second article supported by the pair of transfer device side support bodies 45 What is necessary is just to comprise so that position switching is possible to the retreat position which does not overlap in planar view.
In addition, it is preferable that the to-be-engaged part in the third article has the same height and shape from the lower end of the article as the to-be-engaged part in the first article and the to-be-engaged part in the second article.

(3) In the above embodiment, the stacker crane that moves the transfer device in the left-right direction, the up-down direction, and the transfer direction is exemplified as the moving unit. However, the moving unit is not limited to this, and for example, the transfer device May be moved along one or both of the horizontal direction and the vertical direction, or may be moved along a curved movement path set on the floor surface.

(4) In the said embodiment, although the mounting part illustrated what was comprised in the storage part in an article | item storage shelf, as a mounting part, it is not restricted to this, For example, the end of the conveyance path of a roller conveyor Various configurations can be considered for the transfer device to supply and take out articles, such as a section and a lifting platform of the lifting and lowering conveying device.

(5) In the above embodiment, the second restricting portion at the restricting position is illustrated as being operated to the retracted position by the first article moving in the transfer direction. By providing a switching motor for switching the drive between the restricting position and the retracted position and controlling the operation of the switching motor, the second restricting part is retracted from the restricted position according to the type of article to be transferred. It is good also as a structure switched to a position.

(6) In the above embodiment, the configuration in which the engaging portion moves in the horizontal direction and engages with the engaged portion is disclosed, but the engaging portion swings around the horizontal axis along the transfer direction. In the structure that engages with the engaged portion in the above, or the engagement portion is rotated around the horizontal axis along the transfer direction with the engagement portion protruding to the position overlapping the engaged portion in the transfer direction. The structure which engages with a joint part may be sufficient.

(7) In the above embodiment, the second restricting portion swings around the swinging vertical axis and the position is switched between the restricting position and the retracted position, but the second restricting portion is transferred. You may comprise so that a position may switch to a control position and a retracted position by translating along a direction or the left-right direction.

2: Storage unit (mounting unit)
4: Article support part (first support part)
5: Stacker crane (moving part)
11: Transfer device 22: Moving frame (moving unit)
23: engaged portion 34a: first engaging portion (engaging portion)
34b: 2nd engaging part (engaging part)
41: Small article regulating member (second article regulating member)
42: Support arm (swing support member)
43: Coil spring (elastic member)
44: Left and right guides (a pair of guides)
45: Transfer device side support (second support part)
46: Rotating roller E: Restricting part E1: First restricting part E2: Second restricting part P2: Second vertical axis (oscillating vertical axis)
P3: Third vertical axis (rotational vertical axis)
W: Article W1: Large article (first article)
W2: Small article (second article)
X: left-right direction Y: up-down direction Z: transfer direction Z1: first direction Z2: second direction

Claims (5)

A placement portion having a first support portion for supporting the bottom of the article from below;
The second support part that supports the bottom of the article from below is provided, and the second support part is positioned at a transfer position where the second support part is opposed to the first support part in the horizontal direction. A transfer device for moving the article along the transfer direction across the first support part and the second support part;
A moving unit that moves the transfer device to the transfer position;
The transfer device has an engaging portion that is engageable with the article and movable in the transfer direction,
The article has an engaged portion with which the engaging portion engages at an end portion in the first direction from the first supporting portion toward the second supporting portion in the transfer direction. Equipment,
The engaging portion and the engaged portion are engaged in a state where relative movement in the transfer direction is restricted and the engaged portion is detachable upward with respect to the engaging portion. Configured as
The transfer device has a restricting portion disposed at a height close to an upper end portion of the article in a state where the article is supported by the second support portion.
When the article moving across the first support part and the second support part is tilted beyond an allowable range with respect to the horizontal direction, the regulating part comes into contact with the upper end part of the article, Configured to regulate posture changes of the article,
The direction perpendicular to the transfer direction along the horizontal direction is the left-right direction,
The article includes a first article, a length in the left-right direction equal to or less than a length in the left-right direction of the first article, and a length in a vertical direction shorter than a length in the vertical direction of the first article. There are two articles,
As the restriction part, a first restriction part and a second restriction part positioned below the first restriction part are provided,
The first restricting portion is arranged at a height close to the upper end portion of the first article supported by the second support portion and at a position overlapping the first article in plan view.
The second restricting portion is provided at a height close to an upper end portion of the second article supported by the second support portion, and is flat with the second article supported by the second support portion. An article conveying facility configured to be switchable between a restriction position that overlaps in view and a retracted position that does not overlap in plan view with the first article supported by the second support portion. The second restricting portion is provided in a state in which it is urged to return to the restricting position by the elastic force of an elastic member,
The second restricting portion includes a second article restricting member having a restricting surface along a horizontal plane and the second article restricting member provided above the second article restricting member and between the restricting position and the retracted position. And an operated part that moves integrally with the
When the first article moves from the first support part to the second support part, the operated part moves while being pressed by the first article, thereby restricting the second article regulating member. The article conveyance facility according to claim 1, wherein the position is changed from a position to the retracted position.   The said to-be-operated part is provided with the rotation roller which rotates to the surroundings of a rotation longitudinal axis with the movement to the said 1st direction of the said 1st article when it is pressed by the said 1st article. Goods transport equipment.   The second article regulating member and the operated part swing around a swinging vertical axis set at a position not overlapping the first article in plan view when supported by the second support part. The article conveyance facility according to claim 2 or 3, supported by a swing support member. The second article and the first article have the same length in the left-right direction,
The second support portion has a pair of guide portions separated in the left-right direction by a distance corresponding to the length in the left-right direction of the first article and the second article,
5. The article conveyance facility according to claim 1, wherein the pair of guide portions regulate positions of the first article and the second article in the left-right direction.

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