JP2022016076A - Article transfer device and automated warehouse - Google Patents

Abstract

To smoothly transfer an article.SOLUTION: An article transfer device 50 includes: a first transfer unit 52A and a second transfer unit 52B each of which applies force for transferring an article between an article support unit and itself; a first placement plate 60A that is adjacent to the first transfer unit 52A and extends toward the second transfer unit 52B; a second placement plate 60B that is adjacent to the second transfer unit 52B and extends toward the first transfer unit 52A; an interval adjustment mechanism 70 that moves at least one of the first transfer unit 52A and the second transfer unit 52B closer to or away from the other; and a placing guide member 80 that is interposed between a corresponding placement plate and the article support unit and guides an article to be transferred. The placing guide member 80 is formed separately from the corresponding placement plate, and has a placing guide surface 81 that inclines toward the article support unit between the position of the corresponding placement plate and the position of the article support portion in a direction of transfer of the article.SELECTED DRAWING: Figure 7

Description

This disclosure relates to goods transfer equipment and automated warehouses.

Patent Document 1 discloses that the bottom plates extend from each of the pair of picking frame portions, and that the pair of bottom plates overlap each other according to the distance between the pair of picking frame portions.

Patent Document 2 discloses that each pair of advancing / retreating member support pedestals is provided with a luggage mounting plate projecting inward, and the distance between the pair of advancing / retreating member support pedestals is adjusted according to the width of the luggage. ing.

In Patent Document 3, the bottom surface of the loading area is defined by a pair of loading plates, and the shelf-side portion of the pair of loading plates is formed in a guide shape that inclines downward toward the shelf. Is disclosed.

Japanese Unexamined Patent Publication No. 2012-144327 Japanese Unexamined Patent Publication No. 2012-184085 International Publication No. 2010/049987

In the techniques disclosed in Patent Document 1 and Patent Document 2, since the bottom plate or the luggage mounting plate is not provided with the guide-shaped portion, the article is transferred when the article is transferred to the bottom plate or the luggage mounting plate. There is a risk of getting caught in the mounting device.

In the technique disclosed in Patent Document 2, a guide-shaped portion is formed on the loading plate itself. Therefore, assuming that the loading plate moves, the guide-shaped portion moves together with the loading plate. Therefore, there is a possibility that the guide-shaped portion cannot be arranged at an effective position for suppressing the catching of the article.

Therefore, it is an object of the present disclosure to enable smooth transfer of goods.

In order to solve the above problem, the article transfer device according to the first aspect is the first transfer in which a force for transferring the article is applied to and from the article support portion on one side of the article to be transferred. The second transfer unit that exerts a force for transferring the article between the mounting unit and the article support portion on the other side of the article, and the second transfer unit adjacent to the first transfer unit. The first mounting plate extending toward the unit, the second mounting plate adjacent to the second transfer unit and extending toward the first transfer unit, the first transfer unit and the above. An interval adjusting mechanism for moving at least one of the second transfer units by approaching and separating, a corresponding mounting plate among the first mounting plate and the second mounting plate, and the article support portion. A mounting guide member for guiding the article to be transferred is provided in between, and the previously described mounting guide member is formed separately from the corresponding mounting plate, and the moving direction of the article is provided. It is provided with a mounting guide surface that is inclined toward the article support portion between the position of the corresponding mounting plate and the position of the article support portion in the above.

The second aspect is the article transfer device according to the first aspect, wherein the above-mentioned placement guide member is formed separately from the first transfer unit and the second transfer unit. Is.

The third aspect is the article transfer device according to the first or second aspect, and the interval adjusting mechanism includes a tip portion of the first mounting plate and a tip portion of the second mounting plate. At least one of the first transfer unit and the second transfer unit is moved by approaching and separating from each other so that the first transfer unit and the second transfer unit are separated from each other, and the above-mentioned placement guide surface is the tip end portion of the first placement plate. It is provided in a region corresponding to the tip of the first mounting plate and the tip of the second mounting plate in a state where the tip of the second mounting plate is farthest from the tip of the second mounting plate.

A fourth aspect is the article transfer device according to any one of the first to third aspects, wherein the interval adjusting mechanism is a tip portion of the first mounting plate and the second mounting plate. At least one of the first transfer unit and the second transfer unit is moved by approaching and separating from each other so that the tip portion overlaps with each other, and the above-mentioned mounting guide surface is the first mounting plate. It is provided in a region corresponding to a section where a boundary between the first mounting plate and the second mounting plate appears in a plan view in a state where the second mounting plate and the second mounting plate overlap each other.

The fifth aspect is the article transfer device according to any one of the first to the fourth aspects, wherein the first mounting plate and the second mounting plate are most separated from each other. The placement guide surface extends between the first mounting plate and the article support portion, and between the second mounting plate and the article support portion.

A sixth aspect is the article transfer device according to any one of the first to fifth aspects, wherein the first transfer unit is supported at a fixed position with respect to the base, and the corresponding mounting plate is The second mounting plate, and the spacing adjusting mechanism, moves the second transfer unit closer to and further away from the first transfer unit.

A seventh aspect is the article transfer device according to any one of the first to sixth aspects, wherein the previously described placement guide member is in the transfer direction of the article separately from the previously described placement guide surface. It has a reverse mounting guide surface that inclines downward toward the corresponding mounting plate between the position of the corresponding mounting plate and the position of the article support portion.

The eighth aspect is the article transfer device according to the seventh aspect, in which the first mounting plate and the second mounting plate overlap each other in an approaching state, and the previously described mounting guide member is the previously described mounting. An upper guide surface is provided between the guide surface and the reverse mounting guide surface, and the previously described mounting guide surface and the reverse mounting guide surface are inclined downward from the upper guide surface, and the upper guide surface is formed. Of the first mounting plate and the second mounting plate, those overlapping above are located at the same height as or above the mounting surface.

The automated warehouse according to the ninth aspect includes an article storage unit including a plurality of article support portions, an article transfer device according to any one of the first to eighth aspects, and the article transfer device. A transfer traveling device including a carriage for moving between positions facing the article support is provided.

According to the first aspect, since the mounting guide member is formed separately from the corresponding mounting plate, it is placed in a position suitable for smooth movement of the article regardless of the movement of the corresponding mounting plate. The placement guide member can be placed. For example, even when the second mounting plate is configured to move, the mounting guide member can be arranged at a position suitable for smooth movement of the article. Therefore, the article can be smoothly transferred.

According to the second aspect, the degree of freedom of the placement position of the mounting guide member can be improved.

According to the third aspect, in a state where the tip end portion of the first mounting plate and the tip end portion of the second mounting plate are farthest from each other, the article is first placed while being guided by the mounting guide surface. Move on the board and the second mounting board. Therefore, it is difficult for the article to get caught in the tip of the first mounting plate and the tip of the second mounting plate.

According to the fourth aspect, in a state where the first mounting plate and the second mounting plate are overlapped with each other, the article is guided by the mounting guide surface, and the first mounting plate and the second mounting plate are guided. Move on and on. Therefore, it is difficult for the article to get caught in the tip portion of the first mounting plate or the tip portion of the second mounting plate at the boundary between the first mounting plate and the second mounting plate in a plan view.

According to the fifth aspect, the article is smoothly transferred by the first mounting plate and the second mounting plate.

According to the sixth aspect, a mounting guide member is provided separately from the second mounting plate that moves together with the second transfer unit. Therefore, the mounting guide member can be provided at a fixed position.

According to the seventh aspect, when the article is transferred from the corresponding mounting plate to the article support portion, the article is less likely to be caught by the mounting guide member.

According to the eighth aspect, when the article is transferred from the article support portion toward the first mounting plate and the second mounting plate, the article passes through the mounting guide surface and the upper guide surface. Is smoothly guided on the mounting surface of the first mounting plate and the mounting surface of the second mounting plate. On the contrary, when it is transferred, the mounting surface of the first mounting plate and the second mounting plate that overlap upward is positioned at the same position as or lower than the height of the upper guide surface in the mounting guide member. do. However, the article is guided by the reverse mounting guide surface and is smoothly guided to the article support portion via the mounting guide surface.

According to the ninth aspect, a plurality of types of articles having different widths can be smoothly stored in or delivered to the article storage unit.

It is a schematic side view which shows the automated warehouse. It is a schematic plan view which shows the automated warehouse. It is a perspective view which shows the transfer traveling apparatus. It is a perspective view which shows the transfer traveling apparatus. It is a top view which shows the transfer traveling apparatus. It is explanatory drawing which shows the structural example of the transmission mechanism of the driving force in the 2nd transfer unit. It is a top view which shows the transfer traveling apparatus. FIG. 7 is a partial cross-sectional view taken along the line VIII-VIII in FIG. FIG. 7 is a partial cross-sectional view taken along the line IX-IX in FIG. FIG. 7 is a partial cross-sectional view taken along the line IX-IX in FIG. It is a partial cross-sectional view which shows the example which changed the height of a mounting guide member.

Hereinafter, the article transfer device and the automated warehouse according to the embodiment will be described. Here, an example in which an article transfer device is incorporated in an automated warehouse will be described. The article transfer device is not limited to the example of being incorporated in an automated warehouse, and can be applied to an apparatus for taking in or sending articles having various widths between a shelf or a table.

<About the overall configuration>
The overall configuration of the automated warehouse will be described. FIG. 1 is a schematic side view showing an automated warehouse 20, and FIG. 2 is a schematic plan view showing an automated warehouse.

The automated warehouse 20 includes an article storage unit 21 and a transfer traveling device 40 including an article transfer device 50.

The article storage unit 21 is provided on at least one side of the travel path 38 on which the transfer traveling device 40 described later travels. Here, a pair of article storage portions 21 are provided on both sides of the traveling path 38. The transfer traveling device 40 traveling on the traveling path 38 can put the article 30 in and out of both of the pair of article storage portions 21.

The article storage unit 21 includes a plurality of shelf units 22. The shelf unit 22 includes a plurality of shelf boards 24 as a plurality of article support portions. The shelf boards 24 are supported at intervals in the vertical direction, and the article 30 can be placed on each shelf board 24. Here, a plurality of articles 30 are placed side by side at intervals on each shelf board 24. The article storage unit 21 is configured by arranging a plurality of shelf units 22 so as to be arranged in a row. Looking at the article storage unit 21 as a whole, a plurality of articles 30 are stored in a state of being arranged vertically and horizontally. Article 30 is taken in and out of each shelf board 24 from the traveling path 38 side. The plurality of supports need not be shelves. For example, the article support may be a pair of rails that support both sides of the bottom of the article. Further, the article support portion may be a hanging rail that supports the article in a suspended state.

A plurality of types of articles 30 having different width dimensions may be placed on the shelf board 24. The dimensions between the articles 30 are set to a size equal to or larger than the minimum gap into which the advance / retreat arms 54A and 54B, which will be described later, can enter. Therefore, a plurality of articles 30 can be placed on each shelf board 24 as close as possible with a gap equal to or larger than the minimum gap. For example, for an article 30 having a relatively large width, three articles 30 may be stored in one shelf board 24 (see the shelf board 24 in the third row from the left in FIGS. 1 and 2). On the other hand, for articles having a relatively small width, five articles 30 can be stored in one shelf board 24 (see the left shelf board 24 in FIG. 1). As a result, the article 30 can be efficiently stored in each shelf board 24.

The article storage unit 21 is provided with a temporary storage shelf 26 and an elevating mechanism unit 28. In the present embodiment, a temporary storage shelf 26 and an elevating mechanism portion 28 are provided at one end of the article storage portion 21 in the extending direction.

The elevating mechanism unit 28 includes an elevating shelf 28a and an elevating drive mechanism 28b. The elevating drive mechanism 28b drives the elevating shelf 28a up and down to a position facing the shelf board 24 of each stage. As a result, the goods 30 to be stored can be moved up and down to the vertical position of the shelf board 24 to be stored. On the contrary, the article 30 to be delivered can be moved up and down from the position of the stored shelf board 24 to a height position suitable for taking out.

The temporary storage shelf 26 is provided, for example, between the article storage unit 21 and the elevating mechanism unit 28. The temporary storage shelf 26 is provided corresponding to the shelf board 24 of each stage. Each temporary storage shelf 26 is configured to receive the article 30 from the elevating mechanism unit 28, and to temporarily place the article 30 until the article 30 is received by the transfer traveling device 40. On the contrary, each temporary storage shelf 26 can temporarily place the article 30 until the article 30 is received from the transfer traveling device 40 and the elevating mechanism unit 28 receives the article 30. It is configured in. The temporary storage shelf 26 is also an example of a support portion that supports the article.

The article 30 is transferred between the temporary storage shelf 26 and the elevating mechanism portion 28, for example, by rotationally driving the rollers provided therein by a rotary drive unit such as a motor in both forward and reverse directions. This can be done by pushing the article 30 placed on the temporary storage shelf 26 or the elevating mechanism portion 28 by driving an actuator such as a cylinder.

The temporary storage shelf 26 and the elevating mechanism portion 28 may be provided in the extending direction intermediate portion of the article storage portion 21. The temporary storage shelf 26 and the elevating mechanism portion 28 may be provided at a plurality of locations with respect to the article storage portion 21.

The travel path 38 is provided along the article storage section 21, here between the pair of article storage sections 21, along the extending direction between them. Therefore, the article storage unit 21 can store a plurality of articles 30 in a state of being arranged along the extending direction of the traveling path 38. The travel path 38 extends along the extending direction of the article storage unit 21 and extends to the temporary storage shelf 26.

Here, a plurality of traveling paths 38 are provided corresponding to the upper and lower shelf boards 24. Each runway 38 includes a pair of rails 39, 39. The pair of rails 39, 39 are supported by the pair of article storage portions 21 along the horizontal direction along the extending direction of the article storage portion 21. As a result, the pair of rails 39, 39 are supported in parallel postures at intervals.

The rails 39 and 39 may also serve as a horizontal frame for each shelf unit 22. The rails 39 and 39 do not have a function as a frame of the shelf unit 22, and may be configured as a separate body from the shelf unit 22. Further, the traveling path does not have to be composed of a pair of rails, and may be configured as an elongated plate-shaped traveling path on which the transfer traveling device 40 can travel, or the carriage may be suspended. It may be configured as a rail supported by.

The transfer traveling device 40 includes a carriage 42 and an article transfer device 50.

The article transfer device 50 is a device for transferring an article from another location to its own location, or transferring an article from its own location to another location. In the present embodiment, the article transfer device 50 transfers the article 30 from the shelf board 24 or the temporary storage shelf 26 to the article transfer device 50 side, or the article 30 is transferred from the article transfer device 50 to the shelf board 24 or An example of transferring to the temporary storage shelf 26 is shown. The article transfer device is not limited to the above example, and may be a device for transferring the article 30 to another place, for example, a device for transferring the article between the article transfer device and the conveyor. good.

The carriage 42 is configured to move the article transfer device 50 between the positions corresponding to the plurality of shelves 24, which is an example of the plurality of article support portions. In the present embodiment, one article transfer device 50 is mounted on one trolley 42. In each shelf, the carriage 42 reciprocates on the rails 39 and 39, so that the article transfer device 50 faces any of the plurality of shelf boards 24 in the shelf (specifically, the shelf). It moves to the position where the article 30 is placed on the plate 24 or the position facing the vacant position where the article 30 should be placed). In the present embodiment, the article transfer device 50 also moves to a position facing the temporary storage shelf 26 by the traveling of the trolley 42.

As the trolley 42 travels, the article transfer device 50 moves to the position where the article 30 is placed among the shelf board 24 and the temporary storage shelf 26, and the article 30 is transferred from the shelf board 24 or the temporary storage shelf 26. It can be transferred to the mounting device 50 side. Alternatively, the article transfer device 50 moves the article 30 on the article transfer device 50 side to a vacant position where the article should be placed among the shelf board 24 and the temporary storage shelf 26, and the article 30 on the article transfer device 50 side is moved to the shelf board 24 or the temporary storage shelf 26. Can be reprinted on the side.

It is not essential that the transfer traveling device 40 and the rails 39 and 39 are provided for each shelf stage. For example, the rails 39, 39 and the transfer traveling device 40 may be provided in common on a plurality of shelves. In this case, for example, by stacking a plurality of article transfer devices 50 on a trolley traveling on a traveling path, articles may be taken in and out of a plurality of shelves. Further, for example, one article transfer device 50 may be supported by an elevating mechanism so as to be able to move up and down on a trolley traveling on a traveling path, so that the article 30 can be taken in and out of a plurality of shelves. Further, a plurality of transfer carts may travel on one travel path.

The operation of the transfer traveling device 40 is controlled by the control unit 36. The control unit 36 is composed of a computer including a CPU, ROM, RAM, a storage device (flash memory, etc.) and the like. The CPU as a processor executes arithmetic processing according to a program stored in the storage device, so that the control unit 36 controls the operation of the transfer traveling device 40.

The control of the transfer traveling device 40 by the control unit 36 includes the traveling control of the carriage 42 and the control of the transfer operation of the article transfer device 50.

For example, the control unit 36 generates and updates the storage information in which the specific information (identification code, article name, etc.) of the article 30 and the storage position are associated with each other at the time of warehousing and delivery of the article 30. The stored information may be stored in the storage device in the control unit 36, or may be stored in another server device or the like. At the time of warehousing, the control unit 36 identifies a vacant position in the article storage unit 21 with reference to the input specific information and storage information of the article 30 to be taken out, and takes in the article 30 from the temporary storage shelf 26. However, the transfer traveling device 40 is moved to a position of the article storage unit 21 facing the vacant position. Further, when the specific information of the article 30 to be delivered is input by the operator or the like at the time of delivery, the control unit 36 refers to the specific information and the storage information of the article 30 to be delivered, and is the article storage unit. The storage position of the goods to be shipped 30 in 21 is specified, and the empty transfer traveling device 40 is moved to a position of the goods storage unit 21 facing the storage position of the goods 30 to be shipped, and then the temporary storage shelf 26 is used. Move towards.

Further, as the control of the transfer operation with respect to the article transfer device 50, it is assumed that the transfer operation is to take the article 30 into the article transfer device 50 and the transfer operation to send the article 30 from the article transfer device 50. .. For example, in the control unit 36, the article transfer device 50 is in a state where the empty transfer traveling device 40 is moved to a position facing the temporary storage shelf 26 or the shelf board 24 on which the article 30 to be taken in is placed. To perform a transfer operation for taking in the article 30. Further, for example, the article 30 is sent from the article transfer device 50 in a state where the transfer traveling device 40 that has taken in the article 30 has moved to a position facing an empty portion of the empty temporary storage shelf 26 or the shelf board 24. Have the transfer operation performed. These transfer operations will be further described later.

Here, the control unit 36 also controls the transfer operation of the article 30 between the temporary storage shelf 26 and the elevating mechanism unit 28, and the elevating operation of the elevating mechanism unit 28.

In the automated warehouse, the articles 30 to be stored under the control of the control unit 36 are stored in the article storage unit 21 from the elevating mechanism unit 28 via the temporary storage shelf 26 and the transfer traveling device 40. Further, under the control of the control unit 36, the article 30 to be delivered is delivered to the outside from the article storage unit 21 via the transfer traveling device 40, the temporary storage shelf 26, and the elevating mechanism unit 28.

<About the transfer traveling device>
The transfer traveling device 40 will be described more specifically.

3 and 4 are perspective views showing the transfer traveling device 40. FIG. 5 is a plan view showing the transfer traveling device 40. 3 and 5 show a state in which an article 30 having a wider width than in the case of FIG. 4 can be transferred, and FIG. 4 shows a state in which an article 30 having a narrower width than in the case of FIGS. 3 and 5 can be transferred. It shows the state. In FIG. 5, the configurations of the first mounting plate 60A and the second mounting plate 60B are simplified. In the following description, for convenience, the traveling direction of the transfer traveling device 40 may be referred to as a width direction, and one side in the horizontal direction orthogonal to the traveling direction may be referred to as a front and the other side may be referred to as a rear.

As described above, the bogie 42 is configured to be able to reciprocate on the traveling path 38. The article transfer device 50 is supported on the carriage 42.

The bogie 42 includes a base 43, wheels 44 and 45, and a traveling drive unit 46, and is configured to be able to travel on the traveling path 38.

The base 43 is a portion that rotatably supports the wheels 44 and 45 and also supports the traveling drive unit 46. Here, the base 43 includes a square frame-shaped portion. Two wheels 44 are rotatably supported on one side of the base 43 (the right side of FIGS. 3 to 5). Two wheels 45 are rotatably supported on the other side of the base 43 (the left side of FIGS. 3 to 5). The traveling drive unit 46 is supported on a portion of the base 43 that is closer to one side. The front wheel 44 of the two wheels 44 and the front wheel 45 of the two wheels 45 roll on one of the two rails 39, the rear wheel 44 of the two wheels 44 and the two. The rear wheel 45 of the wheels 45 rolls on the other of the two rails 39. The traveling drive unit 46 includes a traveling motor 46a that can rotate in both forward and reverse directions. The rotational driving force of the traveling motor 46a is transmitted to the axles of the two wheels 44 directly or via a transmission mechanism such as a pulley or a gear. Then, under the control of the control unit 36, the rotation direction and the rotation amount of the traveling motor 46a are controlled, so that the transfer traveling device 40 moves to an arbitrary position facing the shelf board 24 or the temporary storage shelf 26.

The portion of the base 43 closer to one side is covered with the cover 47, but this is not essential.

The article transfer device 50 is supported by the base 43. The article transfer device 50 includes a first transfer unit 52A, a second transfer unit 52B, a first mounting plate 60A, a second mounting plate 60B, and an interval adjusting mechanism 70. Further, the article transfer device 50 includes a placement guide member 80. The mounting guide member 80 moves the article 30 from below when the article 30 is transferred from the shelf plate 24 toward at least one of the first mounting plate 60A and the second mounting plate 60B or vice versa. It is a member that guides while supporting.

The first transfer unit 52A is configured to exert a force for transferring the article 30 to and from the shelf board 24 on one side of the article 30 to be transferred. The second transfer unit 52B is configured to exert a force for transferring the article 30 to and from the shelf board 24 on the other side of the article 30 to be transferred. That is, the first transfer unit 52A and the second transfer unit 52B are provided so as to line up the articles 30 to be transferred between them at intervals where the articles 30 to be transferred can be arranged. Then, the first transfer unit 52A exerts a transfer force on one side of the article 30, and the second transfer unit 52B exerts a transfer force on the other side of the article 30. The force for transferring the article 30 is a force for pushing the article 30 from the article transfer device 50 toward the shelf board 24 or a force for pulling the article 30 from the shelf board 24 toward the article transfer device 50.

More specifically, the first transfer unit 52A is provided in a portion closer to one side with respect to the base 43, in this case, a portion closer to the center with respect to the cover 47. The first transfer unit 52A includes an arm base 53A and an advancing / retreating arm 54A.

The arm base 53A is formed in a long shape. The arm base 53A is fixed to the base 43 by screwing or the like on the upper side of the base 43 in a posture orthogonal to the width direction and along the front-rear direction. The advancing / retreating arm 54A is supported by a guide rail or the like with respect to the arm base 53A so as to be able to advance / retreat on both sides of the arm base 53A in the longitudinal direction. The advancing / retreating arm 54A may be expandable / contractible as the advancing / retreating operation with respect to the arm base 53A is performed. Hook pieces 55A that can be laid down by driving a drive unit such as a motor are provided at both ends of the advance / retreat arm 54A. Therefore, in the present embodiment, the first transfer unit 52A is fixed at a fixed position with respect to the base 43.

The second transfer unit 52B is provided in a portion closer to the other side than the first transfer unit 52A with respect to the base 43. The second transfer unit 52B includes an arm base 53B corresponding to the arm base 53A and an advancing / retreating arm 54B corresponding to the advancing / retreating arm 54B.

The arm base 53B is formed in a long shape. The arm base 53B is provided on the upper side of the base 43 in a posture orthogonal to the width direction and along the front-rear direction. The movable support portion 53Ba projects downward from the lower part of the arm base 53B. The movable support portion 53Ba is movably supported in the width direction by the base 43. For example, a guide rail 43a extending in the width direction is provided inside a pair of frame-shaped portions extending in the width direction of the base 43. Runners 53Bc that can move along the guide rails 43a are provided at both front and rear ends of the movable support portion 53Ba (see FIG. 4). Then, each of the runners 53Bc at both front and rear ends of the movable support portion 53Ba is movably supported along the front and rear guide rails 43a, so that the movable support portion 53Ba is movably supported with respect to the base 43 in the width direction. Will be done. The arm base 53B is movably supported along the width direction by the movable support portion 53Ba.

The movable support portion 53Ba supports the arm base 53B on the upper side of the base 43 so as to be movable in the width direction in a posture orthogonal to the width direction and along the front-rear direction. Similar to the above, the advancing / retreating arm 54B is supported on both sides of the arm base 53B in the longitudinal direction so as to be able to advance / retreat with respect to the arm base 53B. Hook pieces 55B that can be laid down by driving a drive unit such as a motor are provided at both ends of the advance / retreat arm 54B. By moving the arm base 53B on the other side in the width direction with respect to the arm base 53A along the width direction, the distance between the first transfer unit 52A and the second transfer unit 52B is adjusted. The other side portion of the arm base 53B is covered with the cover 48.

Then, when the article 30 is transferred to the transfer traveling device 40, the pair of advancing / retreating arms is in a state where the transfer traveling device 40 faces the article 30 placed on the shelf board 24 or the temporary storage shelf 26. The 54A and 54B are advanced and moved, and the article 30 is arranged at a position sandwiching the article 30 from both sides. In this state, the hook pieces 55A and 55B are knocked down and hooked on the back side of the article 30. Then, when the pair of advancing / retreating arms 54A and 54B are retracted and moved to the carriage 42 side, a force for transferring the pair of advancing / retreating arms 54A and 54B so as to be pulled into the transfer traveling device 40 side acts on both side portions of the article 30. As a result, the article 30 is taken into the transfer traveling device 40 side.

Further, when the article 30 on the transfer traveling device 40 is transferred to the shelf board 24 or the temporary storage shelf 26, the hook pieces 55A and 55B on the front side in the delivery direction are tilted and hooked on both sides of the article 30. In this state, the pair of advancing / retreating arms 54A and 54B are advanced and moved from the transfer traveling device 40. Then, a force for transferring the article 30 to the shelf board 24 or the temporary storage shelf 26 acts on both sides of the article 30. As a result, the article 30 is sent to the shelf board 24 or the temporary storage shelf 26.

The first mounting plate 60A is a plate-shaped portion adjacent to the first transfer unit 52A and extending toward the second transfer unit 52B. There may be a gap between the first mounting plate 60A and the first transfer unit 52A. More specifically, the first mounting plate 60A is formed in the shape of a rectangular plate. The dimension in the front-rear direction of the first mounting plate 60A is smaller than the dimension in the front-rear direction of the base 43. Here, the dimensions of the first mounting plate 60A in the front-rear direction are set to a size that spreads between two long frame-shaped portions extending in the width direction in the base 43. The first mounting plate 60A is arranged so as to spread horizontally in a region adjacent to the first transfer unit 52A on the second transfer unit 52B side at a height position corresponding to the upward surface of the base 43. Will be done. The first mounting plate 60A is fixed to at least one of the arm base 53A and the base 43 by screwing or the like. The article 30 drawn by the first transfer unit 52A may slide on the first mounting plate 60A and be mounted on the first mounting plate 60A. Therefore, the upper surface of the first mounting plate 60A includes a mounting surface 60Af on which the article 30 can be mounted in contact with the article 30. Of the first mounting plate 60A, the portion on the first transfer unit 52A side is the base end portion, and the portion on the second transfer unit 52B side is the tip end portion.

A lateral transfer guide 59A is provided above the base end portion of the first mounting plate 60A. The lateral transfer guide 59A includes a central guide surface 59A1 and a pair of end guide surfaces 59A2. The central guide surface 59A1 is formed in a rectangular shape, and is formed in a shape extending in the front-rear direction in a posture along the vertical direction in the width direction. The front end guide surface 59A2 is formed as an inclined surface toward the other side (outside) in the width direction from the front end of the central guide surface 59A1 toward the front. The rear end guide surface 59A2 is formed as an inclined surface toward the other side (outside) in the width direction from the rear end of the central guide surface 59A1 toward the rear. When the article 30 is taken into the first mounting plate 60A, the article 30 is guided toward the inside of the first transfer unit 52A by coming into contact with the lateral transfer guide 59A, particularly the end guide surface 59A2. To.

The second mounting plate 60B is a plate-shaped portion adjacent to the second transfer unit 52B and extending toward the first transfer unit 52A. There may be a gap between the second mounting plate 60B and the second transfer unit 52B. More specifically, the second mounting plate 60B is formed in the shape of a rectangular plate. The dimension in the front-rear direction of the second mounting plate 60B is smaller than the dimension in the front-rear direction of the base 43. Here, the dimensions of the second mounting plate 60B in the front-rear direction are set to a size that spreads between two long frame-shaped portions extending in the width direction in the base 43. The second mounting plate 60B is arranged so as to spread horizontally in a region adjacent to the first transfer unit 52A with respect to the second transfer unit 52B at a height position corresponding to the upward surface of the base 43. Will be done. The second mounting plate 60B is fixed to the arm base 53B by screwing or the like. Therefore, the second mounting plate 60B can move in the width direction in the transfer traveling device 40 together with the second transfer unit 52B. The article 30 drawn by the second transfer unit 52B may slide on the second mounting plate 60B and be mounted on the second mounting plate 60B. Therefore, the upper surface of the second mounting plate 60B includes a mounting surface 60Bf on which the article 30 can be mounted in contact with the article 30. Of the second mounting plate 60B, the portion on the second transfer unit 52B side is the base end portion, and the portion on the first transfer unit 52A side is the tip end portion. A horizontal transfer guide 59B similar to the horizontal transfer guide 59A is provided above the base end portion of the second mounting plate 60B.

The first mounting plate 60A and the second mounting plate 60B will be described in more detail later.

The interval adjusting mechanism 70 moves at least one of the first transfer unit 52A and the second transfer unit 52B in close proximity to each other. In the present embodiment, the spacing adjusting mechanism 70 has a state in which the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B are separated from each other, and the mounting surface 60Af and the second mounting surface 60Af of the first mounting plate 60A. At least one of the first transfer unit 52A and the second transfer unit 52B can be moved closer to and separated from each other while the mounting surface 60Bf of the mounting plate 60B overlaps with the mounting surface 60Bf. Here, the state in which the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B are separated from each other means that the tip portion of the first mounting plate 60A and the second mounting plate are separated from each other in a plan view. A state in which the tip of 60B is separated from the tip. In this state, a gap extending in the front-rear direction may be formed between the tip of the first mounting plate 60A and the tip of the second mounting plate 60B. Further, the state in which the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B overlap is that the mounting surface 60Af and the mounting surface 60Bf are at least in a plan view. A state of partial overlap. Therefore, for example, the portion of the first mounting plate 60A on which the article 30 is not mounted (for example, the portion of the guide-shaped portion at the end where the article 30 is not contacted and mounted) and the second mounting plate. Even if the mounting surface 60Bf on the 60B overlaps in a plan view, the latter is not in an overlapping state unless the mounting surface 60Af and the mounting surface 60Bf overlap in a plan view.

The interval adjusting mechanism 70 has the first transfer unit 52A and the second transfer unit 52B while maintaining a state in which the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B are separated from each other. At least one of them may be moved close to each other. Further, the interval adjusting mechanism 70 moves the first transfer unit 52A and the second transfer unit 52A and the second transfer unit 52A while the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B are overlapped with each other. At least one of the mounting unit 52B may be moved close to or separated from the mounting unit 52B.

Further, in the present embodiment, an example in which the interval adjusting mechanism 70 moves the second transfer unit 52B closer to or further away from the first transfer unit 52A will be described. More specifically, the interval adjusting mechanism 70 includes an interval adjusting drive unit 71 and a transmission mechanism 72. The interval adjusting drive unit 71 is, for example, a motor that can rotate in both forward and reverse directions. Here, the interval adjusting drive unit 71 is fixed to the inner portion of the long frame-shaped portion on the other side of the base 43 in a posture in which the drive shaft is oriented in the vertical direction. The transmission mechanism 72 includes a gear 72a and an annular belt 72b. The gear 72a is supported with respect to the base 43 at a position separated from the spacing adjusting drive unit 71 to the other side in the width direction. At this position, the gear 72a is rotatably supported around a rotation axis along the vertical direction. A gear is also fixed to the rotating shaft of the interval adjusting drive unit 71, and an annular belt 72b is wound around the gear and the gear 72a of the interval adjusting drive unit 71. Then, the annular belt 72b is rotated by the rotational driving force of the interval adjusting drive unit 71.

The movable support portion 53Ba of the second transfer unit 52B is fixed to a part of the annular belt 72b. Then, the annular belt 72b can be rotated in both directions by rotationally driving the interval adjusting drive unit 71 in both forward and reverse directions, and the second transfer unit 52B and the second mounting plate 60B can rotate in both directions. It can move in the width direction.

The closest approach width and the maximum separation width between the first transfer unit 52A and the second transfer unit 52B are set according to the maximum width and the minimum width of the article 30 assumed to be the transfer target. For example, if the assumed width of the article 30 is 190-500 mm, the closest width between the horizontal transfer guide 59A on the first transfer unit 52A side and the horizontal transfer guide 59B on the second transfer unit 52B is 230 mm. , The maximum separation width may be set to 510 mm. The width of the first transfer unit 52A and the second transfer unit 52B may be adjustable in two steps of only the maximum approach width and the maximum separation width, or may be intermediate between the minimum approach width and the maximum separation width. It may also be adjustable in size. In the latter case, the width of the first transfer unit 52A and the second transfer unit 52B may be adjustable stepwise or continuously.

In the maximum separation width, the distance between the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B is arbitrary, but the width may be such that the article 30 does not fall off. For example, the distance between the tip of the first mounting plate 60A and the tip of the second mounting plate 60B may be less than 1/3 of the maximum separation width. Further, the degree to which the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B overlap with each other in the minimum approach width is arbitrary, but for example, the mounting surface 60Af and the mounting surface One of the 60Bf may be in a state of overlapping more than half with the other, and one of the mounting surface 60Af and the mounting surface 60Bf may be in a state of being totally overlapped with the other. You may. Especially in the latter case, the first transfer unit 52A and the second transfer unit 52A and the second transfer unit 52A while making the gap between the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B as small as possible in the maximum separated state. The distance adjustment range with the transfer unit 52B can be increased.

The configuration for moving the second transfer unit 52B in the width direction is not limited to the above example. For example, the second transfer unit 52B may be configured to move in the width direction by a linear moving mechanism by a combination of a ball screw mechanism and a motor, a linear motor, a fluid cylinder, or the like.

Further, in the present embodiment, as described above, the first transfer unit 52A is provided at a fixed position in the width direction of the transfer traveling device 40, and the second transfer unit 52B is provided in the width direction of the transfer traveling device 40. A movable example is explained. However, the first transfer unit 52A may be movable along the width direction of the transfer traveling device 40, and the second transfer unit 52B may be provided at a fixed position in the width direction of the transfer traveling device 40. Further, both the first transfer unit 52A and the second transfer unit 52B may be movable along the width direction of the transfer traveling device 40.

An example of a configuration in which the advancing / retreating arm 54A in the first transfer unit 52A and the advancing / retreating arm 54B in the second transfer unit 52B are driven by a common drive unit will be described.

FIG. 6 is an explanatory diagram showing an example of a driving force transmission configuration in the second transfer unit 52B. As shown in FIGS. 4 to 6, the spline shaft 49S extending in the width direction is rotatably supported at the intermediate portion in the front-rear direction of the base 43. A motor 49M, which is an example of a widthwise moving drive unit, is provided adjacent to the spline shaft 49S. The rotational driving force of the motor 49M is transmitted to the spline shaft 49S via a transmission mechanism such as a belt and a gear. As a result, the rotation of the motor 49M in both forward and reverse directions is transmitted to the spline shaft 49S, and the spline shaft 49S is rotationally driven in both forward and reverse directions.

A pair of pulleys 53Br1 and 53Br1 are rotatably supported by a movable support portion 53Ba below the arm base 53B in the second transfer unit 52B, apart from each other in the front-rear direction. The transmission belt 53Bb is wound around the pair of pulleys 53Br1 and 53Br1.

A plurality of auxiliary pulleys 53Br2 are provided inside one of the path portions of the transmission belt 53Bb wound around the pair of pulleys 53Br1 and 53Br1. The plurality of auxiliary pulleys 53Br2 suppress the movement of the transmission belt 53Bb to the inner peripheral side.

A gear is formed on the outer peripheral portion of the transmission belt 53Bb, and the tooth portion 54Bg provided on the advancing / retreating arm 54B is pressed against one of the path portions of the transmission belt 53Bb (see FIG. 6). Then, by driving the transmission belt 53Bb in both forward and reverse directions by driving the motor 49M, the advancing / retreating arm 54B can be moved forward / backward to both ends of the arm base 53A. A plurality of auxiliary pulleys 53Br2 are provided on the inner peripheral side of the portion of the transmission belt 53Bb where the tooth portion 54Bg of the advance / retreat arm 54B meshes, and the movement of the transmission belt 53Bb to the inner peripheral side is suppressed. The meshing between the portion and the transmission belt 53Bb can be more reliably maintained.

A pair of pulleys 53Br3 and 53Br3 are provided inside the other path portion of the transmission belt 53Bb wound around the pair of pulleys 53Br1 and 53Br1. Between the pair of pulleys 53Br3 and 53Br3, a space is provided so that a drive pulley 53Brd, which will be described later, can be arranged.

The drive pulley 53Brd is pressed against the transmission belt 53Bb from the outer peripheral side of the transmission belt 53Bb between the pair of pulleys 53Br3 and 53Br3. Then, when the drive pulley 53Brd rotates in both forward and reverse directions, the transmission belt 53Bb rotates in both forward and reverse directions according to the rotation direction.

A spline hole 53Brh is formed in the drive pulley 53Brd. At least one convex portion extending along the axial direction thereof is formed on the outer periphery of the spline shaft 49S, and at least one groove into which the convex portion is fitted is formed in the spline hole 53Brh. The spline shaft 49S is movable along the axial direction of the spline hole 53Brh and is inserted in a non-rotating state.

Therefore, even if the second transfer unit 52B moves in the width direction of the transfer traveling device 40, the spline shaft 49S is kept inserted into the spline hole 53Brh in a non-rotating state. Further, the same configuration as described above can be adopted for the first transfer unit 52A. Therefore, the rotational driving force of one common motor 49M is transmitted to both the first transfer unit 52A and the second transfer unit 52B by the spline shaft 49S, and the respective advance / retreat arms 54A and 54B are synchronized. Can be driven forward and backward. Regarding the first transfer unit 52A, the drive pulley corresponding to the drive pulley 53Brd may be fixed in a state where it cannot move in the axial direction with respect to the spline shaft 49S.

Of course, the example of driving the advance / retreat arms 54A and 54B to advance / retreat is not limited to the above example. Further, the advance / retreat arms 54A and 54B may be driven in advance / retreat by separate drive units. For example, the advancing / retreating arms 54A and 54B may be separately advanced / retreated by a linear moving mechanism, a linear motor, a fluid cylinder, or the like, which is a combination of a ball screw mechanism and a motor.

<About the 1st and 2nd mounting plates>
The first mounting plate 60A and the second mounting plate 60B will be described more specifically. FIG. 7 is a plan view showing the transfer traveling device 40. FIG. 8 is a partial cross-sectional view taken along line VIII-VIII in FIG. 7 and 8 show the transfer traveling device 40 in the maximum distance state. In FIG. 7, the second transfer unit 52B and the second mounting plate 60B in the closest state are shown by a two-dot chain line, and in FIG. 8, the second mounting plate 60B overlapping the first mounting plate 60A is represented by a two-dot chain line. It is shown.

The first mounting plate 60A includes a main plate portion 61A and a downward projecting piece 66A. The main plate portion 61A is formed in a square plate shape, and is provided so as to extend to a region adjacent to the second mounting plate 60B side with respect to the first transfer unit 52A. The downward projecting piece 66A projects downward from the side portion of the main plate portion 61A on the side of the shelf plate 24 or the temporary storage shelf 26.

The portion of the main plate portion 61A other than the collision suppressing portion 63A, which will be described later, is widened in a horizontal posture. The upper surface of the portion of the main plate portion 61A that expands in the horizontal posture is the mounting surface 60Af. A collision suppressing portion 63A is provided at the tip of the first mounting plate 60A on the second mounting plate 60B side. The collision suppressing portion 63A is a portion that suppresses a collision between the tip portions of the first mounting plate 60A and the second mounting plate 60B when they approach each other. The collision between the tip portions means a state in which the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B come into contact with each other and the movement in the approaching direction is hindered.

In the present embodiment, the collision suppressing portion 63A is provided at the tip end portion of the first mounting plate 60A, and one side in the thickness direction of the first mounting plate 60A is provided toward the tip edge of the first mounting plate 60A. Here, it is formed in a shape including the guide surface 63Af facing the lower side). More specifically, in the collision suppressing portion 63A, the tip portion of the first mounting plate 60A is directed toward the tip edge of the first mounting plate 60A on one side in the thickness direction of the first mounting plate 60A. It is configured to be formed in a plate-shaped part that inclines toward (here, the lower side). The upper surface of the collision suppressing portion 63A is the guide surface 63Af. In the present embodiment, since the second mounting plate 60B is overlapped on the first mounting plate 60A, the collision suppressing portion 63A and the guide surface 63Af are lowered toward the tip edge of the first mounting plate 60A. It is tilted toward. When the first mounting plate 60A overlaps the second mounting plate 60B, the inclination directions of the collision suppressing portion and the guide surface may be opposite to each other.

Then, when the first mounting plate 60A and the second mounting plate 60B approach and overlap each other, when the tip portion of the second mounting plate 60B comes into contact with the guide surface 63Af, the tip of the second mounting plate 60B The portion moves upward along the guide surface 63Af. As a result, the second mounting plate 60B is pushed upward relative to the first mounting plate 60A. Therefore, the collision between the tip portion of the first mounting plate 60A and the tip portion of the second mounting plate 60B is suppressed, and the first mounting plate 60A and the second mounting plate 60B can be smoothly overlapped with each other. ..

The collision suppressing portion may be provided on the second mounting plate 60B side. In this case, for example, if the second mounting plate 60B overlaps the first mounting plate 60A, the collision suppressing portion moves toward the tip edge of the second mounting plate 60B at the tip portion. The shape may include a guide surface that is inclined upward. The collision suppressing portion may be provided on both the first mounting plate 60A and the second mounting plate 60B. The collision suppressing portion may be a portion processed so that the tip surface of the first mounting plate 60A or the second mounting plate 60B is an inclined surface.

It is not essential that the collision suppressing portion has a shape including a guide surface. For example, the collision suppressing portion may be a roller rotatably provided at the tip of at least one of the first mounting plate 60A and the second mounting plate 60B. For example, a roller may be provided at the tip of the first mounting plate 60A so as to be rotatable around a rotation axis along the front-rear direction of the transfer traveling device 40. In this case, when the tip of the second mounting plate 60B comes into contact with the roller, the tip of the second mounting plate 60B can be relatively displaced upward or downward while the roller rotates. Even in this case, the collision between the tip of the first mounting plate 60A and the tip of the second mounting plate 60B is suppressed.

The first mounting plate 60A is supported in a horizontal state by fixing the base end portion of the first mounting plate 60A to the base 43 or the arm base 53A by screwing or the like. In this embodiment, the first mounting plate 60A is also supported by the support rod 65A.

The support rod 65A is a rod-shaped member that extends below the first mounting plate 60A from the tip end portion of the first mounting plate 60A toward the second mounting plate 60B. The support rod 65A supports the first mounting plate 60A from below through a position above the lower edge of the guide surface 63Af. In this embodiment, a plurality of (three here) support rods 65A are provided.

More specifically, the support rod 65A includes a rod main body portion 65A1 and a support bracket 65A2. A support bracket 65A2 is provided below the first mounting plate 60A. The support bracket 65A2 is formed in the shape of an elongated gutter that opens upward. One end of the support bracket 65A2 is fixed to the base 43 via a frame or the like below the base end of the first mounting plate 60A. The support bracket 65A2 extends below the first mounting plate 60A from the base end portion of the first mounting plate 60A toward a position in front of the tip end portion of the first mounting plate 60A. A fixing piece 65A2p is provided at the other end of the support bracket 65A2. An extension piece 61Ap extending in the horizontal direction is formed on the tip edge of the first mounting plate 60A (that is, the tip edge of the collision suppressing portion 63A). By fixing the fixing piece 65A2p to the lower side of the extension piece 61Ap by screwing or the like, the other end of the support bracket 65A2 is fixed to the first mounting plate 60A, so that the first mounting plate 60A is It is supported from below by the support rod 65A.

The rod body portion 65A1 is formed in the shape of a round bar. The rod body portion 65A1 may have another long shape, for example, a square rod shape. One end of the rod body 65A1 is fitted and supported in the other end of the support bracket 65A2. One end of the rod body 65A1 and the other end of the support bracket 65A2 may be fixed by screwing, welding, or the like. The rod main body portion 65A1 extends downward toward the base end portion of the second mounting plate 60B and penetrates through a through hole formed in the movable support portion 53Ba. The rod body portion 65A1 does not have to penetrate the movable support portion 53Ba. The other end of the rod body portion 65A1 may be fixed to the base 43 via a frame or the like.

A U-shaped recess 60Ag is formed in a portion of the tip of the first mounting plate 60A where the support rod 65A is arranged. The concave portion 60Ag is formed in a U-shaped concave shape extending from the extending piece 61Ap to the intermediate portion in the height direction of the guide surface 63Af. At the tip of the support bracket 65A2, a part of the rod main body 65A1 projects upward from the support bracket 65A2 and is arranged in the recess 60Ag. Therefore, the upward surface portion of the rod main body portion 65A1 extends downward from the vertical intermediate portion of the guide surface 63Af along the horizontal direction toward the lower side of the second mounting plate 60B. Therefore, for example, even if the tip portion of the second mounting plate 60B is lower than the initially assumed position, the second mounting plate 60B is supported by the upward surface portion of the rod body portion 65A1 and is below it. It is suppressed from going down. In this state, when the second mounting plate 60B approaches the first mounting plate 60A, the tip portion of the second mounting plate 60B is guided by the upward surface portion of the rod main body portion 65A1 and the guide surface 63Af. It moves up and is further guided by the guide surface 63Af and moves onto the first mounting plate 60A (see arrow P1 in FIG. 8). As described above, the first mounting plate 60A and the second mounting plate 60B are in a state where the tip portion of the second mounting plate 60B is located above the lower edge of the guide surface 63Af of the first mounting plate 60A. Even if the tip of the second mounting plate 60B tries to hang down, it is guaranteed that the guide surface 63Af guides the second mounting plate 60B. As a result, the first mounting plate 60A and the second mounting plate 60B can be smoothly overlapped with each other.

A downward projecting piece 66A is formed on the side portion of the first mounting plate 60A on the side where the shelf plate 24 or the temporary storage shelf 26 is provided. The downward projecting piece 66A is provided on both side portions of the first mounting plate 60A (front side portion and rear side portion with reference to the transfer traveling device 40). The downward projecting piece 66A is formed in an elongated plate shape along the width direction of the transfer traveling device 40, and projects downward from the mounting surface 60Af. A gap is provided between the downward projecting piece 66A and the base 43 so that the downward projecting piece 66B on the second mounting plate 60B side, which will be described later, can enter. A gap is also provided between the downward projecting piece 66A and the mounting guide member 80, which will be described later, into which the downward projecting piece 66B on the second mounting plate 60B side can enter.

The portion of the downward projecting piece 66A close to the mounting surface 60Af is formed on the mounting guide surface 66Af1 that faces downward toward the shelf board 24. In the present embodiment, the mounting guide surface 66Af1 is formed in a curved surface shape that is convex outward when viewed along the width direction (see FIG. 9).

The overlapping guide surface 66Af2 is formed on the side portion of the first mounting plate 60A on the shelf plate 24 or the temporary storage shelf 26 side, that is, the tip portion of the downward projecting piece 66A. The overlapping guide surface 66Af2 is formed in a shape that faces inward toward the tip edge of the first mounting plate 60A. In other words, a pair of overlapping guide surfaces 66Af2 are formed on both sides of the tip end portion of the first mounting plate 60A. When the first mounting plate 60A is viewed in a plan view, the pair of overlapping guide surfaces 66Af2 have a shape that faces inward toward the tip edge of the first mounting plate 60A. That is, the tip portion of the first mounting plate 60A is formed in a shape in which the width becomes narrower toward the tip end. When the first mounting plate 60A and the second mounting plate 60B overlap each other, the downward projecting piece 66B on the second mounting plate 60B side, which will be described later, comes into contact with the pair of overlapping guide surfaces 66Af2. The mounting plate 60A and the second mounting plate 60B are aligned in a direction orthogonal to the approaching direction of the second mounting plate 60B. As a result, the first mounting plate 60A and the second mounting plate 60B can be smoothly overlapped with each other.

The second mounting plate 60B includes a main plate portion 61B and a downward projecting piece 66B. The second mounting plate 60B is supported so that the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B are arranged at different vertical positions. In the present embodiment, the second mounting plate 60B is supported so that the mounting surface 60Bf of the second mounting plate 60B is arranged above the mounting surface 60Af of the first mounting plate 60A. .. Therefore, the second mounting plate 60B is arranged on the first mounting plate 60A in a state where the first mounting plate 60A and the second mounting plate 60B are overlapped with each other. When the first mounting plate 60A and the second mounting plate 60B are supported so that the mounting surfaces 60Af and 60Bf are arranged at different vertical positions, the following two cases are included. The first is a case where the initial support positions of the first mounting plate 60A and the second mounting plate 60B are vertically different from each other. The second is that the initial support positions of the first mounting plate 60A and the second mounting plate 60B are at the same upper and lower positions, and as a result of at least one of them being able to move up and down, they are mounted in an overlapping state. This is a case where the placement surfaces 60Af and 60Bf can be arranged at different vertical positions.

The main plate portion 61B is formed in a square plate shape, and is provided so as to extend to a region adjacent to the first mounting plate 60A side with respect to the second transfer unit 52B. The tip portion of the main plate portion 61B includes a folded portion 61Bp folded downward. The folded-back portion 61Bp makes it easy to keep the tip portion of the main plate portion 61B in a straight state. The main plate portion 61B extends in a horizontal posture. The upper surface of the portion of the main plate portion 61B that expands in the horizontal posture is the mounting surface 60Bf.

The downward projecting piece 66B projects downward from both side portions of the main plate portion 61B on the shelf plate 24 or the temporary storage shelf 26 side. The downward projecting piece 66B has an elongated plate shape along the width direction of the transfer traveling device 40, and projects downward from the mounting surface 60Bf.

The dimension between the inward facing surfaces of the pair of downward projecting pieces 66B is larger than the dimension between the outward facing surfaces of the pair of downward projecting pieces 66A. Therefore, the first mounting plate 60A can be arranged between the pair of downward projecting pieces 66B. In a state where the first mounting plate 60A and the second mounting plate 60B are overlapped with each other, the downward projecting piece 66B is a long frame-shaped portion of the downward projecting piece 66A and the base 43 along the width direction (here, mounting). It enters the gap with the guide member 80).

The base end portion of the second mounting plate 60B is fixed to a portion on the second transfer unit 52B side, for example, the arm base 53B by screwing or the like. As a result, the second mounting plate 60B can move close to and separated from the first transfer unit 52A together with the second transfer unit 52B.

Further, the downward projecting piece 66B is movably supported along the direction connecting the first mounting plate 60A and the second mounting plate 60B, that is, the width direction of the transfer traveling device 40. More specifically, a guide rail 43b having a guide groove 43bg is provided inside a long frame-shaped portion of the base 43 along the width direction of the transfer traveling device 40. The guide rail 43b extends from the position next to the second mounting plate 60B in the maximum distance state to the position next to the first mounting plate 60A. The downward projecting piece 66B is provided with a movable body movably supported by the guide rail 43b. In this example, the movable body is a guide roller 67B rotatably supported by an outward portion of the downward projecting piece 66B. By moving the guide roller 67B while rolling in the guide groove 43bg, the downward projecting piece 66B is movably supported along the width direction of the transfer traveling device 40.

During the approaching and separating movement of the second mounting plate 60B, the guide roller 67B moves within the guide groove 43bg, so that the second mounting plate 60B approaches and separates toward the first mounting plate 60A at a predetermined height position. You will be guided to move. Therefore, the first mounting plate 60A and the second mounting plate 60B can be more smoothly overlapped with each other.

Further, the portion of the downward projecting piece 66B close to the mounting surface 60Bf is formed on the mounting guide surface 66Bf that faces downward toward the shelf board 24. In the present embodiment, the mounting guide surface 66Bf is formed in a curved surface shape that is convex outward when viewed along the width direction of the transfer traveling device 40 (see FIG. 9). The mounting guide surface 66Bf is formed in a curved surface shape that can cover the outside of the mounting guide surface 66Af1.

The support position of the second mounting plate 60B by the second transfer unit 52B and the guide roller 67B overlaps the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B. In this state, a gap S (see FIG. 8) may be provided between the first mounting plate 60A and the second mounting plate 60B. In this case, the first mounting plate 60A and the second mounting plate 60B may be in partial contact with each other. For example, the folded-back portion 61Bp in the second mounting plate 60B may be in contact with the first mounting plate 60A. If the first mounting plate 60A and the second mounting plate 60B can overlap with each other with the gap S interposed therebetween, the contact area between them can be made as small as possible.

<About the mounting guide member>
The mounting guide member 80 will be described more specifically. 9 and 10 are partial cross-sectional views taken along the line IX-IX in FIG. 7. In FIGS. 9 and 10, the rail 39 and the shelf board 24 are shown. FIG. 9 shows the article 30 to be taken in, and FIG. 10 shows the article 30 to be sent out.

As shown in FIGS. 7, 9 and 10, the mounting guide member 80 includes at least one of the first mounting plate 60A and the second mounting plate 60B, and the shelf plate 24 or the temporary storage plate 26. Intervenes between. When the target mounting plate of the first mounting plate 60A and the second mounting plate 60B to be guided from below at the time of transfer is grasped as the target mounting plate, the mounting guide member 80 is correspondingly mounted. It is interposed between the board and the shelf board 24 or the temporary storage shelf 26.

In the present embodiment, both the first mounting plate 60A and the second mounting plate 60B are corresponding mounting plates, and therefore, the mounting guide member 80 is the first mounting plate 60A and the second mounting plate. An example of interposing between the 60B and the shelf board 24 or the temporary storage shelf 26 will be described. The mounting guide member may be interposed between one of the first mounting plate 60A and the second mounting plate 60B and the shelf plate 24 or the temporary mounting shelf 26. For example, with respect to the first mounting plate 60A supported at a fixed position with respect to the base 43, a guide-shaped portion that supports the article 30 from below at the time of transfer is formed on the first mounting plate 60A itself. For the second mounting plate 60B that is movable with respect to the base 43, a mounting guide member may be provided separately from the second mounting plate 60B.

The mounting guide member 80 is provided on the front side and the rear side of the first mounting plate 60A and the second mounting plate 60B in the transfer traveling device 40. In the present embodiment, the mounting guide member 80 is fixed to each of the pair of long frame-shaped portions extending along the width direction of the transfer traveling device 40 in the base 43 by screwing or the like.

The mounting guide member 80 is formed separately from the corresponding mounting plate. In the present embodiment, the mounting guide member 80 is formed separately from both the first mounting plate 60A and the second mounting plate 60B. The mounting guide member may be integrally formed on one of the first mounting plate 60A and the second mounting plate 60B. For example, the mounting guide member may be integrally formed with the first mounting plate 60A fixed at a fixed position with respect to the base 43. In this case, the mounting guide member integrally formed on the first mounting plate 60A extends toward the second mounting plate 60B, and the second mounting plate 60B and the shelf plate 24 or the temporary storage plate 26 are extended. It may be intervened between and.

The mounting guide member 80 is the position of the first mounting plate 60A and the second mounting plate 60B in the transfer direction of the article 30 (front-rear direction in the transfer traveling device 40), and the shelf plate 24 or the temporary storage shelf 26. It has a mounting guide surface 81 that inclines toward the shelf board 24 or the temporary storage shelf 26 with respect to the position.

In the present embodiment, the mounting guide member 80 is formed in an elongated plate shape. The side portion of the mounting guide member 80 on the shelf board 24 or the temporary storage shelf 26 side is bent so as to face downward toward the shelf board 24 or the temporary storage shelf 26. The upper surface of this side portion is a mounting guide surface 81 that faces downward toward the shelf board 24 or the temporary storage shelf 26.

In addition to the above-mentioned mounting guide surface 81, the mounting guide member 80 has the positions of the first mounting plate 60A and the second mounting plate 60B in the transfer direction (front-back direction in the transfer traveling device 40) on the article 30. It has a reverse mounting guide surface 82 that inclines toward the first mounting plate 60A and the second mounting plate 60B between the positions of the shelf plate 24 or the temporary storage plate 26. In the present embodiment, the side portion of the mounting guide member 80 on the side of the first mounting plate 60A or the second mounting plate 60B (that is, the side portion on the side opposite to the mounting guide surface 81) is first mounted. It is bent downward toward the plate 60A or the second plate 60B. The upper surface of this side portion is a reverse mounting guide surface 82 that faces downward toward the first mounting plate 60A or the second mounting plate 60B.

The mounting guide member 80 has an upper guide surface 83 between the mounting guide surface 81 and the reverse mounting guide surface 82. The upper guide surface 83 is the guide surface at the highest position in the mounting guide member 80. Here, the upper guide surface 83 is a plane along the horizontal direction. The upper guide surface 83 may be a slightly inclined surface or a curved surface. The mounting guide surface 81 and the reverse mounting guide surface 82 are inclined downward toward a direction away from the upper guide surface 83.

Explaining an example of the height position of the upper guide surface 83, the upper guide surface 83 is above the lower side of the mounting surface 60Af and the mounting surface 60Bf (here, the mounting surface 60Af). , It may be located below the one on the upper side (here, the mounting surface 60Bf).

In this case, the article 30 on the shelf board 24 or the temporary storage shelf 26 is guided diagonally upward by the mounting guide surface 81, slides on the upper guide surface 83, and slides on the mounting guide surface 66Af1 of the first mounting plate 60A. Alternatively, it is guided by the mounting guide surface 66Bf of the second mounting plate 60B and moves onto the first mounting plate 60A or the second mounting plate 60B.

At this time, if the upper guide surface 83 is located at an intermediate position between the mounting surface 60Af and the mounting surface 60Bf, the difference in height between the upper guide surface 83 and the mounting surface 60Af and the mounting between the upper guide surface 83 and the mounting surface 80Af. The difference in height from the mounting surface 60Bf can be made as small as possible. As a result, the article 30 is smoothly taken in from the upper guide surface 83 toward the first mounting plate 60A and the second mounting plate 60B.

Further, the article 30 on the first mounting plate 60A and the second mounting plate 60B is guided by the reverse mounting guide surface 82 and moves onto the upper guide surface 83. Similar to the above, if the upper guide surface 83 is at an intermediate position between the mounting surface 60Af and the mounting surface 60Bf, the difference in height between the upper guide surface 83 and the mounting surface 60Af and the upper guide surface 83 Since the difference in height between the and the mounting surface 60Bf can be made as small as possible, the article 30 is smoothly fed toward the first mounting plate 60A and the second mounting plate 60B with less high-low displacement. If the upper guide surface 83 is at the same height as or on the rail 39 and the upper surface of the shelf plate 24 or the temporary storage shelf 26, the article 30 is placed on the shelf plate 24 or the temporary storage plate 24 or the temporary storage plate 24 via the rail 39 from the upper guide surface 83. It is smoothly delivered onto the storage shelf 26.

As shown in FIG. 11, the upper guide surface 83 is a mounting surface (here, the second mounting plate 60B) of the first mounting plate 60A and the second mounting plate 60B that overlap upward (here, the second mounting plate 60B). It may be located at the same level as or above the height of the mounting surface 60Bf).

In this case, the article 30 moves from the upper guide surface 83 to the same height position or the lower position with respect to the first mounting plate 60A or the second mounting plate 60B. Therefore, the article 30 is more reliably taken into the first mounting plate 60A or the second mounting plate 60B. When the article 30 moves in the opposite direction, the article 30 comes into contact with the reverse mounting guide surface 82, so that the article 30 can smoothly move onto the upper guide surface 83 while being guided diagonally upward.

In the present embodiment, an example has been described in which the mounting guide surface 81 of the mounting guide member 80 has a shape that faces downward toward the shelf board 24 or the temporary storage shelf 26. However, the mounting guide surface may have a shape that faces upward toward the shelf board 24 or the temporary storage shelf 26. In this case, the edge of the mounting guide surface may be set at a position lower than the upper surface of the rail 39 and the shelf board 24 or the temporary storage shelf 26. Similarly, the reverse mounting guide surface may have a shape that faces upward toward the first mounting plate 60A or the second mounting plate 60B. In this case, the edge of the reverse mounting guide surface may be set at a position lower than the mounting surfaces 60Af and Bf.

Further, in the above embodiment, one or both of the reverse mounting guide surface 82 and the upper guide surface 83 may be omitted. Further, the mounting guide surface 81 and the reverse mounting guide surface 82 may be flat or curved.

The mounting guide member 80 moves the article 30 from below when the article 30 is transferred between the shelf plate 24 or the temporary storage shelf 26 and the first mounting plate 60A and the second mounting plate 60B. It may be provided at any position where it can be supported and guided.

In relation to the arrangement area of the first mounting plate 60A and the second mounting plate 60B in the maximum distance state, and the arrangement area of the first mounting plate 60A and the second mounting plate 60B in the closest approaching state. An example of a preferable arrangement area of the mounting guide surface 81 in the guide member 80 will be described.

The width direction of the transfer traveling device 40 is used as a reference. In the maximum separation state, the arrangement area of the first mounting plate 60A is E1, the arrangement area of the second mounting plate 60B is E2, and the tip of the first mounting plate 60A and the tip of the second mounting plate 60B. The area corresponding to the unit is E3.

With the first mounting plate 60A and the second mounting plate 60B overlapping, the area corresponding to the section where the boundary between the first mounting plate 60A and the second mounting plate 60B appears in a plan view is designated as E4. do. In the present embodiment, the region E3 is a region between the tip edge of the second mounting plate 60B and the tip edge of the first mounting plate 60A in the closest state.

When the article 30 is transferred to the first mounting plate 60A and the second mounting plate 60B in a state where the first mounting plate 60A and the second mounting plate 60B are separated, the article 30 is the first tip. It is assumed that the portion or the tip portion of the second mounting plate 60B will be caught. In order to suppress this, the mounting guide surface 81 may be provided in the region E3. As a result, even if the article 30 is transferred onto the first mounting plate 60A and the second mounting plate 60B in a state where the first mounting plate 60A and the second mounting plate 60B are separated from each other, the article Since the 30 is transferred so as to ride on the first mounting plate 60A and the second mounting plate 60B, the article 30 is less likely to be caught on the tip portions thereof.

Further, in a state where the first mounting plate 60A and the second mounting plate 60B are overlapped with each other, the other edge appears as a step on one of them. In this state, if the article 30 is placed on the first mounting plate 60A and the second mounting plate 60B, it is assumed that the article 30 is caught on the edge of the step. Therefore, the mounting guide surface 81 may be provided in the area E4. As a result, even if the article 30 is transferred onto the first mounting plate 60A and the second mounting plate 60B in a state where the first mounting plate 60A and the second mounting plate 60B are overlapped with each other, the article Since the 30 is transferred so as to ride on the first mounting plate 60A and the second mounting plate 60B, the article 30 is less likely to be caught on the stepped tip portion.

Further, since the article 30 is transferred onto the first mounting plate 60A and the second mounting plate 60B, the mounting guide surface 81 is the first mounting plate 60A and the shelf plate 24 or a temporary storage shelf. It may be provided between the second mounting plate 60B and the shelf plate 24 or the temporary storage plate 26. In particular, in the maximum distance state, the mounting guide surface 81 may be provided in the regions E2 and E4 corresponding to the first mounting plate 60A and the second mounting plate 60B.

In the present embodiment, in the maximum distance state, the mounting guide surface 81 of the mounting guide member 80 extends from the outermost portion of the first mounting plate 60A to the outermost portion of the second mounting plate 60B. It is extended like this. Therefore, an example existing in all of the above regions E1, E2, E3, and E4 is exemplified. The mounting guide surface 81 may extend only to one or more of the regions E1, E2, E3, and E4.

<Effects, etc.>
According to the article transfer device 50 and the automated warehouse 20 configured as described above, since the mounting guide member 80 is formed separately from the corresponding mounting plate, it is irrelevant to the movement of the corresponding mounting plate. The mounting guide member 80 can be arranged at a position suitable for smooth movement of the article 30. For example, even when the second mounting plate 60B is configured to move, the mounting guide member 80 can be arranged at a position suitable for smooth movement of the article 30. Therefore, the article 30 can be smoothly transferred.

Further, since the mounting guide member 80 is formed separately from the first transfer unit 52A and the second transfer unit 52B, the degree of freedom in the placement position of the mounting guide member 80 can be improved. ..

Further, the mounting guide surface 81 is provided in the corresponding region E3 between the tip portions of the first mounting plate 60A and the tip portion of the second mounting plate 60B in a state of being farthest from each other. Therefore, the article 30 is not easily caught between the tip of the first mounting plate 60A and the tip of the second mounting plate 60B, and is placed on the first mounting plate 60A and the second mounting plate 60B door. Will be reprinted.

Further, in a state where the first mounting plate 60A and the second mounting plate 60B are overlapped with each other, the article 30 is guided by the mounting guide surface 81 and the first mounting plate 60A and the second mounting plate 60B. Move up. At this time, a step may occur at the boundary between the first mounting plate 60A and the second mounting plate 60B in a plan view, and the mounting guide surface 81 is provided in the region E4 where the step may occur. Therefore, it is difficult for the article 30 to get caught in the tip of the first mounting plate 60A or the tip of the second mounting plate 60B at the step.

Further, in a state where the first mounting plate 60A and the second mounting plate 60B are most separated from each other, the mounting guide surface 81 is provided between the first mounting plate 60A and the shelf plate 24 or the temporary storage plate 26. , Extends between the second mounting plate 60B and the shelf plate 24 or the temporary storage plate 26. Therefore, the article 30 is smoothly transferred to the first mounting plate 60A and the second mounting plate 60B.

Further, since the mounting guide member 80 is provided separately from the second mounting plate 60B that moves together with the second transfer unit 52B, the mounting guide member 80 can be firmly provided at a fixed position.

Further, since the mounting guide member 80 has the reverse mounting guide surface 82 on the side opposite to the mounting guide surface 81, the article 30 is transferred from the corresponding mounting plate to the shelf plate 24 or the temporary storage shelf 26. Even when the article 30 is not caught on the mounting guide member 80, the article 30 is smoothly transferred.

Further, the upper guide surface 83 is located at the same height as or above the height of the mounting surface (here, the mounting surface 60Bf) of the first mounting plate 60A and the second mounting plate 60B that overlap upward. .. Therefore, when the article 30 is transferred toward the first mounting plate 60A and the second mounting plate 60B, the article 30 passes over the mounting guide surface 81 and the upper guide surface 83. It is smoothly guided on the mounting surfaces 60Af and 60Bf. In the case of relocation, the mounting surface (here, the mounting surface 60Bf) of the first mounting plate 60A and the second mounting plate 60B that overlap upward is the upper guide surface of the mounting guide member 80. It is located at the same height as or lower than the height of 83. However, the article 30 is guided upward by the reverse mounting guide surface 82, and is smoothly guided toward the shelf board 24 or the temporary storage shelf 26 via the upper guide surface 83.

Further, according to the automated warehouse 20 provided with the transfer traveling device 40, a plurality of types of articles 30 having different widths can be smoothly stored in or delivered to the shelf board 24 or the temporary storage shelf 26. can.

20 Automated warehouse 21 Article storage 30 Article 40 Transfer traveling device 42 Cart 50 Article transfer device 52A 1st transfer unit 52B 2nd transfer unit 60A 1st mounting plate 60B 2nd mounting plate 60Af, 60Bf Surface 70 Spacing mechanism 80 Mounting guide member 81 Mounting guide surface 82 Reverse mounting guide surface 83 Upper guide surface

Claims (9)

A first transfer unit that exerts a force to transfer the article to and from the article support portion on one side of the article to be transferred.
A second transfer unit that exerts a force to transfer the article to and from the article support on the other side of the article.
A first mounting plate adjacent to the first transfer unit and extending toward the second transfer unit,
A second mounting plate adjacent to the second transfer unit and extending toward the first transfer unit,
An interval adjusting mechanism for moving at least one of the first transfer unit and the second transfer unit in close proximity to each other.
A mounting guide member that guides the article to be transferred by interposing between the corresponding mounting plate of the first mounting plate and the second mounting plate and the article support portion.
Equipped with
The above-mentioned placement guide member is formed separately from the corresponding mounting plate, and the article support portion is formed between the position of the corresponding mounting plate and the position of the article support portion in the transfer direction of the article. An article transfer device comprising a mounting guide surface that tilts towards. The article transfer device according to claim 1.
The above-mentioned placement guide member is an article transfer device formed separately from the first transfer unit and the second transfer unit. The article transfer device according to claim 1 or 2.
The spacing adjusting mechanism is such that the first transfer unit and the second transfer unit are separated from each other so that the tip end portion of the first mounting plate and the tip end portion of the second mounting plate are separated from each other. Move closer and further away at least one of them,
The above-mentioned mounting guide surface has the tip of the first mounting plate and the tip of the second mounting plate in a state where the tip of the first mounting plate and the tip of the second mounting plate are farthest from each other. An article transfer device provided in the corresponding area between the tip and the tip of the article. The article transfer device according to any one of claims 1 to 3.
The spacing adjusting mechanism includes the first transfer unit and the second transfer unit so that the tip of the first mounting plate and the tip of the second mounting plate overlap each other. Move closer and further away at least one of them,
The above-mentioned mounting guide surface is a section in which the boundary between the first mounting plate and the second mounting plate appears in a plan view in a state where the first mounting plate and the second mounting plate overlap each other. An article transfer device provided in the area corresponding to. The article transfer device according to any one of claims 1 to 4.
In a state where the first mounting plate and the second mounting plate are most distant from each other, the above-mentioned mounting guide surface is provided between the first mounting plate and the article support portion, and the second mounting. An article transfer device extending between the board and the article support portion. The article transfer device according to any one of claims 1 to 5.
The first transfer unit is supported in a fixed position with respect to the base.
The corresponding mounting plate is the second mounting plate.
The interval adjusting mechanism is an article transfer device that moves the second transfer unit closer to or further away from the first transfer unit. The article transfer device according to any one of claims 1 to 6.
The pre-described mounting guide member faces the corresponding mounting plate between the position of the corresponding mounting plate and the position of the article support portion in the transfer direction of the article, separately from the previously described mounting guide surface. An article transfer device having a reverse mounting guide surface that inclines downward with respect to. The article transfer device according to claim 7.
The first mounting plate and the second mounting plate overlap each other in an approaching state, and the first mounting plate and the second mounting plate overlap each other.
The previously described mounting guide member has an upper guide surface between the previously described mounting guide surface and the reverse mounting guide surface.
The above-mentioned mounting guide surface and the reverse mounting guide surface are inclined downward from the upper guide surface.
An article transfer device in which the upper guide surface is located at the same level as or above the height of the mounting surface of the first mounting plate and the second mounting plate that overlap each other. An article storage unit including a plurality of article support portions and
A transfer traveling including the article transfer device according to any one of claims 1 to 8 and a trolley for moving the article transfer device between positions facing the plurality of article support portions. With the equipment
Automated warehouse equipped with.

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