JP5435271B2 - Article transfer device and article storage facility - Google Patents

Description

  The present invention provides a main body mounting portion on which an article can be mounted and supported, a retraction position that is movable toward and away from the horizontal direction and retracted toward the main body mounting portion, and a position to be transferred from the main body mounting portion. A pair of holding bodies that can be moved back and forth between the protruding positions, a holding state in which the pair of holding bodies are operated close to each other to hold the article from both sides, and the pair of holding bodies are operated separately to hold the article. An article transfer device provided with a holding state switching means that can be switched to a release state for releasing the door, and an exit / retreat drive means for driving the pair of holding bodies to move out and retract to the retracted position and the protruding position, The present invention also relates to an article storage facility having an article transport device including the article transfer device.

  The article transfer device as described above is provided in an article conveyance device such as a stacker crane, for example. The article transfer device is moved to the transfer position with respect to the transfer target location by the movement of the article transport device, and transfers the article between the main body mounting portion and the transfer target location at the transfer position. Yes. Then, when transferring an article from the transfer target location to the main body placing portion, the pair of holding bodies are moved from the retracted position to the protruding position after the pair of holding bodies are maintained in the released state, and then the pair of holding bodies are released from the released state. Switching to the clamping state. Thereafter, the pair of sandwiched bodies switched to the sandwiched state is maintained in the sandwiched state and is retracted from the projecting position to the retracted position. In addition, when transferring an article from the main body placement unit to a transfer target location, the pair of sandwiching bodies are maintained in the sandwiched state and are operated to project from the retracted position to the projecting position, and then the pair of sandwiched bodies are removed from the sandwiched state. Switching to the release state. Thereafter, the pair of sandwiched bodies switched to the released state is maintained in the released state and is retracted from the protruding position to the retracted position (see, for example, Patent Document 1).

  In the device described in Patent Literature 1, when a pair of sandwiching bodies is switched to a sandwiching state, the sandwiching body includes a sandwiching action portion that abuts on the side peripheral portion of the article and acts to sandwich the pair of sandwiching bodies. The article can be properly clamped by causing the clamping action portion provided in each of the two to abut on the side peripheral part of the article to perform the clamping action. In the apparatus described in Patent Document 1, the article to be transferred is a rectangular parallelepiped article, and can be engaged as a clamping action portion with an engaged portion formed on a side peripheral portion of the rectangular parallelepiped article. An engagement-type clamping action part (claw part) is provided.

JP 2004-224484 A

  In the apparatus described in Patent Document 1, the article to be transferred is a rectangular parallelepiped article, and the shape of the article to be transferred is one type. For example, a stacker provided with the article transfer device In a crane, it is required to store articles of different shapes in an article storage shelf, and in order to meet the demand, articles of different shapes can be transferred to and from the storage unit as an article transfer device. Desired.

  However, in the apparatus described in Patent Document 1, the sandwiching action part is an engagement-type sandwiching action part (claw part) that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article. Therefore, the shape of the article that can be properly clamped by the engagement-type clamping operation portion is limited to a rectangular parallelepiped shape and has an engaged portion, and articles of different shapes cannot be transferred. For example, as the shape of the article to be transferred, in addition to the rectangular parallelepiped article, a cylindrical article in which roll paper is wound around the shaft portion is also conceivable. The sandwiching action part cannot abut on the side peripheral part of the article to perform the sandwiching action, and the cylindrical article cannot be transferred properly.

  The present invention has been made paying attention to such a point, and the object thereof is to contact a side peripheral portion of an article having a plurality of shapes while holding the article, and to provide an article having a plurality of shapes. It is in the point which provides the goods transfer apparatus which can transfer.

In order to achieve this object, the first feature configuration of the article transfer device according to the present invention includes: a main body placement section on which an article can be placed and supported; and a main body placement section side which is movable toward and away from the horizontal direction. A pair of holding bodies that can be moved back and forth between a retracted position that is retracted to a position where the main body is placed, and a protruding position that protrudes toward the transfer target location, and the pair of holding bodies are operated close to each other to move the article on both sides. A holding state switching means that can be switched between a holding state in which the pair of holding bodies are moved apart and a release state in which the holding of the article is released to release the holding of the article, and the pair of holding bodies between the retracted position and the protruding position In the article transfer apparatus provided with exit / exit driving means for exit / exit driving,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state ,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
A pair of the first clamping action portions are provided in a state in which the second clamping action portions are arranged in the retracting direction of the clamping body, and a continuous inclined portion connected to the inclined surface portion of the second clamping action portion is provided. It is in the point provided .

According to this characteristic configuration, the main body mounting portion is configured such that the exit / retreat driving means causes the pair of holding bodies to move back and forth in a state in which the pair of holding bodies are moved closer to each other by the holding state switching means and switched to the holding state. The article is transferred between the transfer target location. When the pair of sandwiching bodies is switched to the sandwiching state, the sandwiching action portion provided in each of the pair of sandwiching bodies comes into contact with the side peripheral portion of the article and sandwiches. And the clamping action | operation part is provided with multiple places instead of one place, The side peripheral part of the article | item with respect to each of the multiple types of goods of a different shape by at least 1 or more of these clamping action | operation parts It comes into contact with and acts to clamp. Therefore, the pinching action can be accurately exerted on the articles having the respective shapes by at least one of the plurality of pinching action portions. Therefore, it is possible to realize an article transfer device capable of transferring a plurality of shaped articles by accurately exerting a clamping action on each of the plurality of shaped articles.
In addition, according to the present feature configuration, when transferring a rectangular parallelepiped article, the first clamping action portion is formed on the side periphery of the rectangular parallelepiped article when the pair of clamping bodies are switched to the clamping state. It can engage with the joint and abut against the side periphery of the article to effect clamping. Further, when transferring a cylindrical article, if the pair of clamping bodies are switched to the clamping state, the second clamping action portion can be brought into contact with the side periphery of the cylindrical article to perform the clamping action. Therefore, even if it is a rectangular parallelepiped shaped article or a cylindrical shaped article, the article can be transferred while accurately exerting a clamping action on the article.
Furthermore, according to this characteristic configuration, when the cylindrical article is transferred, when the pair of sandwiching bodies is switched to the sandwiching state, the pair of inclined surface portions of the second sandwiching action portion are arranged on the side peripheral portion of the cylindrical article. It will abut. Therefore, even if the center of the cylindrical article is deviated from the center of the pair of sandwiched bodies when in the sandwiched state, the article is not only in the approach and separation direction of the pair of sandwiched bodies due to the contact of the inclined surface portion,
It is also moved in the direction in which the pair of sandwiching bodies are withdrawn and retracted so that the center of the pair of sandwiching bodies and the center of the cylindrical article when aligned can be aligned. In this way, the center of the pair of sandwiched bodies in the sandwiched state and the center of the cylindrical article can be aligned so that they are in contact with the side periphery of the cylindrical article. It can be pinched.
In addition, according to this characteristic configuration, since the first clamping action part is provided with the continuous slope part that is continuous with the sloped surface part of the second clamping action part, the sloped surface part and the first clamping part of the second clamping action part are provided. By adjusting the inclination angle and arrangement position of the continuous inclined portion of the action portion, the inclined surface portion of the second holding action portion and the continuous inclination portion of the first holding action portion so as to be continuous along the outer peripheral portion of the cylindrical article. Can be arranged. Therefore, when the cylindrical article is transferred, in addition to the second clamping action part coming into contact with the side peripheral part of the cylindrical article, the continuous inclined part of the first clamping action part is also on the cylindrical article side. It will contact the peripheral part. As a result, the pinching action can be more accurately exhibited with respect to the cylindrical article, and the cylindrical article can be reliably transferred.

The second characteristic configuration of the article transfer device according to the present invention is such that when transferring an article from a transfer target location to the main body placement section, the pair of sandwiching bodies is maintained in the released state and is moved from the retraction position. After the projecting operation to the projecting position, the pair of sandwiching bodies are switched from the released state to the sandwiching state, and then the pair of sandwiching bodies are maintained in the sandwiching state, and the retracting operation is performed from the projecting position to the retracted position. Therefore, when controlling the operation of the holding state switching means and the operation of the exit / retreat driving means and transferring an article from the main body mounting portion to a transfer target location, the pair of holding bodies are held in the holding state. After maintaining the state and projecting from the retracted position to the projecting position, the pair of sandwiching bodies is switched from the sandwiching state to the releasing state, and then the pair of sandwiching bodies is maintained in the releasing state, Sudden A transfer control means for controlling the operation of the clamping state switching means and the operation of the withdrawal / retreat driving means for retreating from the position to the retraction position, and the transfer control means is provided from the main body mounting portion. When the article is transferred to the transfer target location, when the pair of holding members that are operated to protrude to the protruding position is switched from the holding state to the released state, only a set distance determined according to the shape of the article is used. The operation of the clamping state switching means is controlled so that the pair of clamping bodies are separated from the article and switched from the clamping state to the released state.

According to this characteristic configuration, when an article is transferred from the transfer target location to the main body mounting portion, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means, so that a pair of After holding the holding body in the released state and projecting from the retracted position to the protruding position, the pair of holding bodies are switched from the released state to the held state, so that the holding action part comes into contact with the side periphery of the article. A pinching action can be exhibited. Therefore, the article can be accurately sandwiched by the pair of sandwiching bodies, and then the transfer control unit controls the operation of the sandwiching state switching unit and the operation of the exit / retreat driving unit, thereby switching the paired state to the sandwiching state. The article can be transferred from the transfer target portion to the main body mounting portion by maintaining the holding body in the holding state and retracting from the protruding position to the retracted position .

A third characteristic configuration of the article transfer device according to the present invention includes: a main body placing portion on which an article can be placed and supported; a retraction position in which the article can be approached and separated in a horizontal direction and retreated toward the main body placing portion; A pair of sandwiching bodies that can be moved back and forth from the main body placement portion to the transfer target location side, a sandwiched state in which the pair of sandwiching bodies are operated to approach each other to sandwich the article from both sides, and the pair A holding state switching means capable of switching to a release state in which the holding body is released to release the holding of the article, and an exit / retreat driving means for driving the pair of holding bodies to the retracted position and the protruding position. In the article transfer device provided with
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means for controlling the operation of the clamping state switching means and the operation of the withdrawal / retraction drive means is provided, and the transfer control means is for transferring an article from the main body mounting portion to a transfer target location. In addition, when switching the pair of holding bodies that are operated to protrude to the protruding position from the holding state to the released state, the pair of holding bodies are separated from the article by a set distance determined in accordance with the shape of the article. An article transfer device for controlling an operation of the clamping state switching means to switch from the clamping state to the release state.

According to this characteristic configuration, the main body mounting portion is configured such that the exit / retreat driving means causes the pair of holding bodies to move back and forth in a state in which the pair of holding bodies are moved closer to each other by the holding state switching means and switched to the holding state. The article is transferred between the transfer target location. When the pair of sandwiching bodies is switched to the sandwiching state, the sandwiching action portion provided in each of the pair of sandwiching bodies comes into contact with the side peripheral portion of the article and sandwiches. And the clamping action | operation part is provided with multiple places instead of one place, The side peripheral part of the article | item with respect to each of the multiple types of goods of a different shape by at least 1 or more of these clamping action | operation parts It comes into contact with and acts to clamp. Therefore, the pinching action can be accurately exerted on the articles having the respective shapes by at least one of the plurality of pinching action portions. Therefore, it is possible to realize an article transfer device capable of transferring a plurality of shaped articles by accurately exerting a clamping action on each of the plurality of shaped articles.
In addition, according to the present feature configuration, when transferring a rectangular parallelepiped article, the first clamping action portion is formed on the side periphery of the rectangular parallelepiped article when the pair of clamping bodies are switched to the clamping state. It can engage with the joint and abut against the side periphery of the article to effect clamping. Further, when transferring a cylindrical article, if the pair of clamping bodies are switched to the clamping state, the second clamping action portion can be brought into contact with the side periphery of the cylindrical article to perform the clamping action. Therefore, even if it is a rectangular parallelepiped shaped article or a cylindrical shaped article, the article can be transferred while accurately exerting a clamping action on the article.
Furthermore, according to this characteristic configuration, when the cylindrical article is transferred, when the pair of sandwiching bodies is switched to the sandwiching state, the pair of inclined surface portions of the second sandwiching action portion are arranged on the side peripheral portion of the cylindrical article. It will abut. Therefore, even if the center of the cylindrical article is deviated from the center of the pair of sandwiched bodies when in the sandwiched state, the article is not only in the approach and separation direction of the pair of sandwiched bodies due to the contact of the inclined surface portion,
It is also moved in the direction in which the pair of sandwiching bodies are withdrawn and retracted so that the center of the pair of sandwiching bodies and the center of the cylindrical article when aligned can be aligned. In this way, the center of the pair of sandwiched bodies in the sandwiched state and the center of the cylindrical article can be aligned so that they are in contact with the side periphery of the cylindrical article. It can be pinched.
In addition , according to this characteristic configuration, when an article is transferred from the transfer target location to the main body mounting portion, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means. The pair of sandwiching bodies are maintained in the released state and operated to project from the retracted position to the projecting position, and then the pair of sandwiching bodies are switched from the released state to the sandwiched state, so that the sandwiching action unit moves to the side periphery of the article. It can abut and exert a clamping action. Therefore, the article can be accurately sandwiched by the pair of sandwiching bodies, and then the transfer control unit controls the operation of the sandwiching state switching unit and the operation of the exit / retreat driving unit, thereby switching the paired state to the sandwiching state. The article can be transferred from the transfer target portion to the main body mounting portion by maintaining the holding body in the holding state and retracting from the protruding position to the retracted position.

  In addition, when transferring an article from the main body mounting portion to a transfer target location, the transfer control means controls the operation of the holding state switching means and the operation of the withdrawal / retreat driving means, thereby holding the pair of holding bodies And holding the article in a projecting position from the retracted position to abut the side peripheral part of the article at the clamping action part and exhibit the clamping action, while accurately holding the article between the pair of clamping bodies The pair of sandwiching bodies can be protruded to the protruding position. Then, the transfer control means controls the operation of the holding state switching means so that the pair of holding bodies are switched from the holding state to the released state, thereby transferring the article from the main body mounting portion to the transfer target location. Can do.

Then, when the article is transferred from the main body placement portion to the transfer target location, the pair of sandwiching bodies are separated from the article when the pair of sandwiching bodies that are operated to project to the projecting position is switched from the sandwiched state to the released state. The distance required for the movement (the distance moved from the position in the holding state to the position where the pair of holding bodies can be retracted without contacting the pair of holding bodies in the released state) differs depending on the shape of the article. Therefore, when the pair of sandwiched bodies are separated from the article by a certain distance set to the maximum distance of the required distance that varies depending on the shape of the article, the pair of sandwiched bodies may be moved more than necessary. There is a possibility that the time required to transfer the article becomes longer. Therefore, according to the present feature configuration, when switching the pair of sandwiched bodies that are operated to project to the projecting position from the sandwiched state to the released state, the pair of sandwiched bodies is not separated from the article by a certain distance, but the shape of the article. a set distance defined according to the pair of clamping body is separated from the article in order to switch to the released state from the clamping state, the transfer control means controls the operation of the clamping state switching device. Therefore, as the set distance for separating the pair of sandwiched bodies from the article, it is possible to set a necessary minimum distance corresponding to each of the shape of the article, and to prevent the pair of sandwiched bodies from being moved more than necessary, The time required for transferring the articles can be shortened.

  A first characteristic configuration of the article storage facility according to the present invention is a traveling carriage that can travel along the shelf width direction of the article storage shelf, and a lifting platform that is driven up and down along a lifting mast standing on the traveling carriage; An article transfer device according to any one of the first to fifth characteristic configurations of the article transfer device according to the present invention is provided on the lifting platform of the article transfer device, and the article storage shelf has a shelf width direction. And a transport control means for controlling the operation of the article transport device with each of a plurality of storage units arranged in a vertically aligned state, a receiving cargo receiving unit, and an outgoing cargo receiving unit as a transfer target location. There is in point.

  According to this characteristic configuration, the article transporting device provided with the article transfer device can store the articles in the receiving section for warehousing into any of the plurality of storage sections of the article storage shelf, and is stored in the storage section. The goods which are in stock can be delivered to the goods receiving part for delivery. Then, as described in the article transfer device according to the present invention described above, the article transfer device provided in the article transport device accurately exerts a clamping action on each of a plurality of shapes of articles. Can be transferred to the storage unit from the receiving part for receiving goods, or can be transferred from the storage part to the receiving part for delivery. . Therefore, it is possible to realize a useful article storage facility that can meet the demand for storing articles of different shapes in the article storage shelf.

Top view of goods storage equipment Side view of goods storage equipment Plan view of the article transfer device Side view of article transfer device Side view of article transfer device Side view of article transfer device The top view which shows the state which made the paired clamping body the clamping state with respect to the 1st shape article and the 2nd shape article The top view which shows operation | movement of a pair of clamping body with respect to 1st shape articles | goods The top view which shows operation | movement of a pair of clamping body with respect to a 2nd shape article The top view which shows the clamping action | operation part in another embodiment

An embodiment of an article storage facility provided with an article transfer device according to the present invention will be described based on the drawings.
As shown in FIGS. 1 and 2, the article storage facility includes two article storage shelves 1 that are installed at an interval so that the front surfaces for putting in and out the articles face each other, and the two article storage shelves 1. And a stacker crane 3 (corresponding to an article conveying device) that automatically travels along the travel path 2 formed in the above.

  Each of the article storage shelves 1 includes a plurality of support bodies 1a erected at intervals in the shelf width direction (horizontal direction), and an article placement board 1b provided across the support bodies 1a arranged in the shelf width direction. It is configured with. The article storage shelf 1 is configured to store the article B in a form in which the article B is placed and supported by the article placement plate 1b, and the storage unit 4 that stores each article B includes the shelf width direction and the vertical direction. Are arranged in a row.

  About storage of the article | item B with respect to the article | item storage shelf 1, it is comprised so that the article | item B may be accommodated in the form which arranges the some article | item B in the shelf width direction on the article mounting board 1b. And about the goods B, two types of shape of 1st-shaped goods B1 of rectangular parallelepiped shape, such as a bucket, and cylindrical-shaped 2nd-shaped goods B2, such as what wound roll paper around the circumference of a shaft part, are carried out. The article B is a storage target. Moreover, about 2nd shape article | item B2, the magnitude | size in a radial direction differs.

  In the traveling path 2, a traveling rail 5 is installed on the floor side along the shelf width direction, and a guide rail 6 is installed on the ceiling side along the shelf width direction. Although not shown in the drawings, a load placement section (corresponding to a warehousing receiving section and a warehousing receiving section) for placing and supporting the article B entering the article storage shelf 1 and the article B exiting from the article storage shelf 1 is a shelf width. It is arranged on the side of the article storage shelf 1 in the direction. The stacker crane 3 is configured to be movable by the travel rail 5 and the guide rail 6 over the entire length of the article storage shelf 1 and the load placement portion in the width direction of the shelf.

  As shown in FIG. 2, the stacker crane 3 includes a traveling carriage 8 that can travel along the traveling rail 5, a lifting platform 10 that can be moved up and down along a lifting mast 9 that is erected on the traveling carriage 8, An article transfer device 11 (corresponding to the article transfer device according to the present invention) equipped on the lifting platform 10 is provided. In this embodiment, two article transfer apparatuses 11 are provided, and the two article transfer apparatuses 11 are arranged adjacent to each other in the shelf width direction.

  A pair of elevating masts 9 is provided in the front and rear, one at each of the front end portion and the rear end portion of the traveling carriage 8. An upper frame 12 that connects the upper ends of the pair of elevating masts 9 and is guided by the guide rail 6 is provided at the upper end of the elevating mast 9.

  The lifting platform 10 is supported and supported by a pair of lifting masts 9 erected on the traveling carriage 8 so as to be movable up and down, and is suspended and supported by a lifting chain 13 having one end connected to the left and right sides thereof. . The elevating chain 13 is wound around a plurality of rotation guide bodies (not shown) and is guided and arranged by the plurality of rotation guide bodies. The other end of the elevating chain 13 is connected to one end of the traveling carriage 10. It is connected to an equipped take-up drum (not shown). The elevating platform 10 can be moved up and down by rotating and rotating the elevating electric motor 16, which is an inverter-type motor, in the forward and reverse directions to perform the feeding operation and the winding operation of the elevating chain 13.

  The traveling carriage 8 is provided with one wheel 17 that can travel on the traveling rail 5 at each of the front end portion and the rear end portion, and one of the two wheels 17 is an inverter type motor. The driving wheel 17a is driven by the traveling electric motor 18, and the other wheel is configured as a freely driven driven wheel 17b. The traveling vehicle 8 can travel along the traveling rail 5 by rotating the drive wheel 17 a by the operation of the traveling electric motor 18.

  In order to detect the traveling position of the traveling carriage 8 on the traveling rail 5, the traveling carriage 8 is provided with a traveling laser rangefinder (not shown). Measurement light is projected from the traveling laser rangefinder to the reflector installed at the end of the traveling rail 5, and the traveling laser rangefinder receives the measurement light reflected by the reflector. Then, the traveling position of the traveling carriage 8 is detected by detecting the distance from the traveling carriage 8 to the reflector.

  In order to detect the lift position of the lift 10 on the lift path, the traveling carriage 8 is provided with a lift laser rangefinder (not shown). This elevating laser rangefinder projects measuring light along the vertical direction to a reflector disposed at the lower end of the elevating platform 10, and the elevating laser rangefinder is reflected by the reflector. The lift position of the lift 10 is detected by receiving the measurement light and detecting the distance from the traveling carriage 8 to the lift 10.

  Based on FIGS. 3-6, the structure of the article transfer apparatus 11 is demonstrated. Here, as described above, the lifting platform 10 is provided with the two article transfer devices 11. However, since the two article transfer devices 11 have the same configuration, only the one article transfer device 11 is provided. explain. Then, the article transfer device 11 transfers the article B between the storage unit 4 and the transfer target portion of the loading unit by conveying the article B along the transfer direction. The transfer direction is the shelf front-rear width direction, and the horizontal orthogonal direction that is orthogonal to the transfer direction horizontally is the shelf width direction.

  FIG. 3 shows a plan view of the article transfer device 11, and FIG. 4 shows a cross-sectional view of the article transfer device 11 in the transfer direction (X direction in the figure). These show sectional drawing of the article transfer apparatus 11 in the horizontal orthogonal direction (Y direction in a figure) orthogonally orthogonal to a transfer direction.

  The article transfer device 11 includes a main body placement portion 19 that places and supports the article B, and a retreat position that is movable toward and away from the horizontal placement direction (Y direction in the drawing) and retreated toward the main body placement portion 19. A pair of sandwiching bodies 20 that can be moved back and forth to a projecting position projecting toward the mounting target side, a sandwiching state in which the pair of sandwiching bodies 20 is operated to approach and sandwich the article B from both sides, and the pair of sandwiching bodies 20 A holding state switching unit 21 that can be switched to a released state in which the holding of the article B is released by operating the separation is provided, and an exit / retreat driving unit 22 that drives the pair of holding bodies 20 to retreat and project. ing. Then, the article transfer device 11 holds the article B from both sides with a pair of sandwiching bodies 20 and moves out of the main body placing portion 19 and the places to be transferred in the storage portion 4 and the load placing portion. It is comprised by the side clamp type which transfers the article | item B between.

  The main body mounting portion 19 includes a plurality of rollers 23 that are supported so as to be freely rotatable around an axis along a horizontal orthogonal direction (Y direction in the drawing) and are arranged in the transfer direction (X direction in the drawing). The plurality of rollers 23 are composed of two types of rollers having different lengths in the horizontal orthogonal direction, a roller having a short length is disposed at the center in the transfer direction, and a roller having a long length is It is arrange | positioned at both sides in the transfer direction of the short roller.

A configuration for causing the pair of sandwiching bodies 20 to perform an approach operation and a separation operation will be described.
As shown in FIGS. 3 and 4, the pair of sandwiching bodies 20 are supported by a pair of movable bodies 24 that are distributed and arranged on both sides in the horizontal orthogonal direction (the Y direction in the figure). The pair of sandwiching bodies 20 are provided so as to be movable integrally with the pair of movable bodies 24 in the horizontal orthogonal direction (Y direction in the figure). As shown in FIGS. 3 and 4, each of the pair of movable bodies 24 is along the horizontal orthogonal direction (Y direction in the drawing) at the center portion of the transfer direction (X direction in the drawing) of the main body placement portion 19. A pair of guide rails 25 arranged are slidably provided.

  The clamping state switching means 21 includes an approach / separation electric motor 26 that moves the pair of movable bodies 24 toward and away from each other in the horizontal orthogonal direction (Y direction in the drawing) in order to move the pair of sandwiching bodies 20 toward and away from each other. I have. On one side of the pair of movable bodies 24, a drive wheel body 27 that is rotatable around the vertical axis provided on the output shaft of the approaching / separating electric motor 26 is disposed, and on the other side of the pair of movable bodies 24. A passive ring body 28 that is rotatable around a vertical axis is disposed so as to be freely rotatable. A wire-like endless rotating body 29 is wound around the drive wheel body 27 and the passive wheel body 28, and a middle portion of the endless rotating body 29 is distributed and connected to each of the pair of movable bodies 24. Yes.

  Thus, when the electric motor 26 for approaching / separating is driven to rotate, the endless rotating body 29 is driven to rotate around the vertical axis, and the pair of movable bodies 24 are guided and supported by the guide rails 25 in the horizontal orthogonal direction. Moved. Therefore, by rotating the electric motor 26 for approaching / separating to one side, the pair of movable bodies 24 is moved closer to move the pair of sandwiching bodies 20 closer to each other, and the pair of sandwiching bodies 20 moves the article B on both sides. It is possible to switch to a clamping state in which it is clamped. Further, the approaching / separating electric motor 26 is rotationally driven to the other side, so that the pair of movable bodies 24 are moved away from each other to cause the pair of sandwiching bodies 20 to be separated from each other, and the sandwiching of the article B by the pair of sandwiching bodies 20 is released. The release state can be switched freely. Incidentally, in FIG. 4, the state which separated the pair of clamping bodies 20 so that the distance between a pair of clamping bodies 20 may become the maximum is shown by the continuous line, and the distance between a pair of clamping bodies 20 is the minimum. A state in which the pair of sandwiching bodies 20 are brought close to each other is indicated by dotted lines.

A configuration for moving the pair of sandwiching bodies 20 to the retracted position and the protruding position will be described.
The pair of sandwiching bodies 20 are supported so as to be movable in and out of the pair of movable bodies 24 in the transfer direction (X direction in the figure). The exit / retreat driving means 22 includes an exit / retreat electric motor 30 that projects and retracts each of the pair of holding bodies 20 relative to each of the pair of movable bodies 24. As shown in FIGS. 4 and 5, an exit / retreat drive shaft 32 is interlocked and connected to the output shaft of the exit / retreat electric motor 30 via a winding interlock mechanism 31. The retractable drive shaft 32 is configured by a spline shaft, and a pair of movable bodies along the horizontal orthogonal direction (Y direction in the drawing) at the center portion of the main body mounting portion 19 in the transfer direction (X direction in the drawing). 24 is arranged in a state of passing through. As shown in FIG. 6, each of the pair of movable bodies 24 includes a first tooth ring 33, which is spline-fitted to the retractable drive shaft 32 and is rotatable as the retractable drive shaft 32 rotates. A second tooth ring 34 meshed with one tooth ring 33 and rotatable by rotation of the first tooth ring 33, and a pair of third gears meshed with the second tooth ring 34 and rotatable from the viewpoint of the second tooth ring 34. A tooth ring 35 is provided.

  The exit / retreat guide portion 36 extending in the transfer direction is supported by the support 24 such as a roller with respect to the movable body 24 so as to be able to move in and out in the transfer direction. A rack 37 that meshes with a pair of third tooth rings 35 provided in the movable body 24 is formed at the lower end of the exit / exit guide portion 36. The holding body 20 is supported by a support portion such as a roller with respect to the exit / retreat guide portion 36 so as to be movable in and out in the transfer direction. Although not shown, one end portion is fixed to the movable body 24 and the other end portion is fixed to the holding body 20, and the intermediate portion is wound around the rotation guide body provided at the end portion of the exit / retreat guide portion 36. Two cord-like bodies such as hooked wires are provided, and the holding body 20 is moved in and out in the transfer direction with respect to the movable body 24. Is moved in and out of the transfer direction.

  As a result, when the electric motor 30 is driven to rotate, the drive shaft 32 is driven to rotate via the winding interlocking mechanism 31, and the first tooth ring 33 and the second tooth ring 34 are accompanied by the rotation driving. A pair of 3rd tooth ring 35 is rotated via. Then, the third tooth ring 35 rotates in a state of being engaged with the rack 37 to move the withdrawal / retraction guide part 36 in and out of the movable body 24 in the transfer direction. Is moved in and out in the transfer direction with respect to the exit / exit guide 36. Therefore, by rotating the exit / exit electric motor 30 to one side, the pair of holding bodies 20 are operated to project from the retracted position to the projecting position, and the exit / exit electric motor 30 is rotationally driven to the other side, The pair of clamping bodies 20 are retracted from the protruding position to the retracted position.

  As shown in FIG. 7, the article transfer device 11 according to the present invention switches the gripping state in which the article B is sandwiched from both sides by moving the pair of sandwiching bodies 20 close to each other. It is abutting and pinching. In the article transfer device 11 according to the present invention, the article B to be transferred is a first rectangular article B1 shown in FIG. 7 (a) and a cylindrical shape shown in FIGS. 7 (b) and 7 (c). A plurality of types of articles B having different shapes from the two-shaped articles B2. FIG. 7 is a plan view showing a state in which the pair of sandwiching bodies 20 is switched to the sandwiching state. FIG. 7B shows the second shape article B2 having a large size in the radial direction, and FIG. 7C shows the second shape article B2 having a small size in the radial direction.

  Therefore, in the article transfer device 11 according to the present invention, in order to transfer both the first shape article B1 and the second shape article B2 appropriately, each of the pair of holding bodies 20 has a different shape in the holding state. Each of the plurality of types of articles B is provided with a plurality of pinching action portions 38 that abut on the side peripheral portion of the article B and perform a pinching action.

Each of the pair of holding member 20 is constituted by a plate-shaped body having a facing surface that faces the article B which is the side to approach each other in the horizontal direction perpendicular (Y direction in the figure), pinching action 38 , And disposed on the opposing surface of the sandwiching body 20. Then, as the clamping action part 38, the first clamping action part 39 that can be engaged with the engaged part 41 formed on the side circumferential part of the first shaped article B1 and the side circumferential part of the second shaped article B2 are contacted. A second clamping action part 40 is provided.

  The first shape article B1 having a rectangular parallelepiped shape has an engaged portion 41 such as a rib projecting outward on the side peripheral portion thereof, and the first clamping action portion 39 has an engaged portion 41. A recess-like engagement groove 42 is formed to be freely engageable. The second sandwiching action part 40 is formed by bending a plate-like body, and the approaching / separating direction (horizontal orthogonal direction (Y direction in the figure)) of the pair of sandwiching bodies 20 toward the center in the transfer direction (X direction in the figure). )) Is formed in a recessed groove shape having a pair of inclined surface portions 43 that are recessed on the separated side. And the 1st clamping action part 39 is attached to the plate-shaped body which forms the 2nd clamping action part 40, and is in the state which puts the 2nd clamping action part 40 in order in the transfer direction (X direction in the figure). A pair is provided. Further, the first clamping action part 39 is provided with a continuous inclined part 44 that is continuous with the inclined surface part 43 of the second clamping action part 40. Here, both the inclined surface portion 43 and the continuous inclined portion 44 are formed so as to incline linearly, but the inclination angles with respect to the withdrawing / retracting direction (X direction in the drawing) of the pair of sandwiching bodies 20 are different. . That is, the continuous inclined portion 44 has a larger inclination angle than the inclined surface portion 43, and the continuous inclined portion 44 is inclined closer to the article B than the inclined surface portion 43. Thereby, the inclined surface part 43 and the continuous inclined part 44 can be arrange | positioned so that it may continue along the outer peripheral part of 2nd shape article B2. As a result, as shown in FIG. 7B, for the second shaped article B2, not only the second sandwiching action part 40 but also the continuous inclined part 44 of the first sandwiching action part 39 causes the side circumference of the article B to be It can abut and act on the part. Incidentally, the inclined surface part 43 and the continuous inclined part 44 can also be arrange | positioned so that it may continue along the outer peripheral part of 2nd shape article | item B2 by adjusting the arrangement position and shape of the inclined surface part 43 and the continuous inclined part 44.

Hereinafter, the operation of the stacker crane 3 configured as described above will be described.
Although illustration is omitted, the stacker crane 3 is provided with a crane control device (corresponding to a transport control means and a transfer control means) for controlling the operation of the stacker crane 3. The crane control device is configured to store an article B received in the loading section in the storage section 4 of the article storage shelf 1 based on a command from the ground-side controller installed on the ground side, or the article storage shelf 1. The operation of the stacker crane 3 is controlled so as to carry out the unloading operation for conveying the article B stored in the storage unit 4 to the loading unit. In this way, the crane control device controls the operation of the stacker crane 3 with each of the plurality of storage units 4 and the loading unit as transfer target locations.

  The crane control device is set for the storage unit 4 or the loading unit as a transfer target location by controlling the traveling operation of the traveling carriage 8 and the lifting operation of the lifting platform 10 in the entering operation and the leaving operation. By moving the article transfer device 11 to the transfer position and controlling the transfer operation of the article transfer device 11 in a state where the article transfer device 11 is positioned at the transfer position, The article B is transferred between the storage unit 4 or the loading unit.

  The operation of the stacker crane 3 in the warehousing operation and the warehousing operation will be specifically described. The slane control device manages the traveling position of the traveling carriage 8 based on the detection information of the traveling laser rangefinder, and the traveling By controlling the operation of the traveling electric motor 18 based on the traveling position of the carriage 8 and performing the traveling operation of the traveling carriage 8, the article transfer device 11 is moved to the transfer position in the shelf width direction. The crane control device manages the lifting position of the lifting platform 10 based on the detection information of the lifting laser range finder, and operates the lifting motor 16 based on the lifting position of the lifting platform 10. The article transfer device 11 is moved to the transfer position in the up-down direction by performing the lifting operation of the lifting platform 10 under control.

In this way, when the crane control device performs the traveling operation of the traveling carriage 8 and the lifting operation of the lifting platform 10 to position the article transfer device 11 at the transfer position, the clamping state switching means 21 and the output device The transfer operation of the article transfer device 11 is performed by controlling the operation of the retracting drive means 22, and the article B is transferred between the main body placement portion 19 of the article transfer device 11 and the storage portion 4 or the load placement portion. Included.

That is, when the article B is transferred from the storage unit 4 or the loading unit to the main unit mounting unit 19, the crane control device maintains the pair of sandwiching bodies 20 in the released state and operates to project from the retracted position to the protruding position. After the order to switch the pair of holding member 20 from the release state to the clamping state, to control the operation of the clamping state switching device 21 and the projecting and retracting the drive means 22. Thereafter, the crane control device operates the sandwiching state switching means 21 and the retracting drive means 22 so as to retract the pair of sandwiching bodies 20 switched to the sandwiching state from the projecting position to the retracted position while maintaining the sandwiching state. Control.

  Here, in the article transfer device 11 according to the present invention, the articles B to be transferred are the first shape article B1 and the second shape article B2 having different shapes, but the first shape article B1 and the second shape article B2 are different. Which of the shaped article B2 is the article B to be transferred and, if it is the second shaped article B2, transfer target article information indicating the size in the radial direction is commanded from the ground controller to the crane control device. Therefore, the crane control device determines which of the first shape article B1 and the second shape article B2 is the transfer target article B based on the transfer target article information from the ground-side controller and the second shape article B2. If there is, we know the size in the radial direction.

  Then, the crane control device causes the pair of sandwiching bodies 20 to approach each other for a predetermined approach distance when switching the pair of sandwiching bodies 20 that have been projected to the projecting position from the released state to the sandwiching state. Here, the approach distance is determined for each article B having a different shape between the first shape article B1 and the second shape article B2, and in the case of the second shape article B2, It is determined according to the size of. Therefore, the crane control device can switch the pair of sandwiching bodies 20 from the release discharge to the sandwiched state by causing the pair of sandwiching bodies 20 to approach each other for a predetermined approach distance. Moreover, the crane control apparatus monitors the torque value of the electric motor 26 for approaching / separating when the pair of sandwiching bodies 20 are actuated to approach the distance of approach, and the torque value is equal to or greater than the set torque value. Then, it is determined that the pair of sandwiching bodies 20 is properly switched to the sandwiching state, and the pair of sandwiching bodies 20 is maintained in the sandwiching state, and the retraction operation from the projecting position to the retracting position is started.

Further, when the article B is transferred from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and projects the projecting position from the retracted position to the projecting position. After that (see FIGS. 8 (a) and 9 (a)), in order to switch the pair of sandwiching bodies from the sandwiched state to the released state (see FIGS. 8 (b) and 9 (b)), the sandwiching state switching means 21 and the exit / retreat driving means 22 are controlled. Thereafter, the crane control device, in order to retire actuated retracted position from the projecting position to maintain the pair of holding member is switched to the release state to the released state, controls the operation of the clamping state switching device 21 and the projecting and retracting drive unit 22 To do.

Here, when the crane control device switches the pair of sandwiching bodies 20 that have been operated to project to the projecting position from the sandwiched state to the released state, the crane control apparatus moves the pair of sandwiched bodies 20 to the article by a set distance determined according to the shape of the article B. The operation of the clamping state switching means 21 is controlled so as to be separated from B and switched from the clamping state to the releasing state. That is, in order to properly retire retracted position a pair of holding member 20 from the projecting position without contact between the pinching action portion 38 and the article B, it must be separated from the pair of holding member 20 from the article B Distance Since the first shaped article B1 and the second shaped article B2 are different, when switching from the sandwiched state to the released state, the set distance is set as a distance for separating the pair of sandwiched bodies 20 from the article B according to the shape of the article B. Is set.

  As for the first shaped article B1, as shown in FIG. 8B, the engaging groove 42 of the first clamping action part 39 and the engaged part 41 of the first shaped article B1 retract the pair of sandwiched bodies 20. The distance D1 until the pair of sandwiching bodies 20 are separated from the first shaped article B1 up to a position where they do not hit is set as the set distance. On the other hand, as for 2nd shape article B2, as shown in FIG.9 (b), when the 1st clamping action part 39 and the side periphery of 2nd shape article B1 retreat a pair of clamping body 20 A distance D2 (a distance longer than the distance D1) until the pair of sandwiching bodies 20 are separated from the second shape article B2 to a position where they do not hit is set as a set distance. Here, as for the second shaped article B2, as shown in FIGS. 7B and 7C, there are a large size and a small size in the radial direction, but a small size in the radial direction is also small. Also, the same distance D2 that is longer than the distance D1 is set as the set distance. In addition, until the pair of sandwiching bodies 20 is separated from the second shaped article B2 to a position where the first sandwiching action portion 39 and the side peripheral portion of the second shaped article B1 do not contact when the pair of sandwiching bodies 20 are retracted. When the distance D2 differs depending on the size in the radial direction, the set distance can be changed and set according to the size in the radial direction. Incidentally, the dotted line in FIG.9 (b) has shown the position of the clamping body 20 in the clamping state of Fig.9 (a).

Thereby, when transferring the first shaped article B1 from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and protrudes from the retracted position. (See FIG. 8A), the pair of sandwiching bodies 20 are separated from the first shaped article B1 by a set distance D1 set with respect to the first shaped article B1, and the pair of sandwiching bodies are formed. In order to switch from the sandwiched state to the released state (see FIG. 8B), the operations of the sandwiched state switching means 21 and the exit / retreat drive means 22 are controlled.
Further, when transferring the second shaped article B2 from the main body placing portion 19 to the storage portion 4 or the load placing portion, the crane control device maintains the pair of sandwiching bodies 20 in the sandwiched state and moves from the retracted position to the projecting position. After the protruding operation (see FIG. 9A), the pair of sandwiching bodies 20 are separated from the second shaped article B2 by the set distance D2 set with respect to the second shaped article B2, and the pair of sandwiching bodies are sandwiched. to switch from the state to the release state (see FIG. 9 (b)), controls the operation of the clamping state switching device 21 and the projecting and retracting the drive means 22.

[Another embodiment]
(1) In the above embodiment, the configurations and shapes of the first clamping action part 39 and the second clamping action part 40 can be changed as appropriate.
For example, as shown in FIG. 10, the second clamping action portion 40 is formed by bending a plate-like body, as in the above embodiment, and a pair of the center portion in the transfer direction (X direction in the figure). The sandwiching body 20 is formed in a recessed groove shape having a pair of inclined surface portions 43 that are recessed on the separating side in the approaching / separating direction (horizontal orthogonal direction (Y direction in the drawing)). And the 1st clamping action part 39 can be comprised with the recessed shape (U-shaped) member which can be engaged with the to-be-engaged part 41 formed in the side periphery part of 1st shape goods B1. .

(2) In the above embodiment, the shape of the article B is exemplified by the rectangular parallelepiped first shaped article B1 and the cylindrical second shaped article B2. However, the shape is not limited to these shapes, and a triangular prism shaped article. Can be applied, and various other shaped articles can be applied. Then, the shape of the article when appropriately modified, for example, as a clamping acting portion may be provided with a clamping action of each shape acting clamping contact with the side periphery of the article of the shape.

(3) In the above-described embodiment, an example in which the article transfer device equipped with the article transfer device according to the present invention is applied to the stacker crane 3 is shown. However, the article transfer device is equipped with a plurality of article transfer devices. The present invention can be applied to an article transport vehicle provided with a traveling vehicle body that travels along a travel route extending over several places, and can be applied to various article transport apparatuses. In addition, the article transfer device according to the present invention may be installed in a fixed state at an installation location adjacent to the transfer target location such as a mounting table and the article transfer device may be transferred to and from the transfer target location without providing an article transfer device. It can also be used as described.

1 the article storage rack 3 article transport device 4 accommodating portion 8 traveling carriage 9 lifting mast 10 elevation frame 11 article transfer device 19 main body mounting portion 20 Kyojitai 21 nipping state switching means 22 extending and retracting the drive means 38 clamping action section 39 first 1 clamping action part 40 2nd clamping action part 41 engaged part 42 engaging groove 43 inclined surface part 44 continuous inclined part B article B1 rectangular parallelepiped article B2 cylindrical article

Claims (4)

A main body placing portion that can freely place and support articles, a retreat position that is movable toward and away from the horizontal and retracted toward the main body placing portion, and a protrusion that protrudes from the main body placing portion toward the transfer target location. A pair of holding bodies that can be moved back and forth to a position, a holding state in which the pair of holding bodies are operated to approach each other to hold the article from both sides, and a release operation that releases the pair of holding bodies from each other to separate the article. An article transfer device provided with a holding state switching means switchable to a state, and an exit / retreat driving means for driving the pair of sandwiching bodies into and out of the retracted position and the protruding position,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state ,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article And
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
A pair of the first clamping action portions are provided in a state in which the second clamping action portions are arranged in the retracting direction of the clamping body, and a continuous inclined portion connected to the inclined surface portion of the second clamping action portion is provided. article transfer apparatus is provided. When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means is provided for controlling the operation of working and the exit-retraction drive means of the clamping state switching device,
The transfer control unit is configured to switch the pair of holding members that are operated to protrude to the protruding position from the holding state to the released state when transferring an article from the main body mounting unit to a transfer target location. The operation of the clamping state switching means is controlled so that the pair of clamping bodies are separated from the article by a set distance determined according to the shape of the article and switched from the clamping state to the release state. The article transfer apparatus according to the description. A main body placing portion that can freely place and support articles, a retreat position that is movable toward and away from the horizontal and retracted toward the main body placing portion, and a protrusion that protrudes from the main body placing portion toward the transfer target location. A pair of holding bodies that can be moved back and forth to a position, a holding state in which the pair of holding bodies are operated to approach each other to hold the article from both sides, and a release operation that releases the pair of holding bodies from each other to separate the article. An article transfer device provided with a holding state switching means switchable to a state, and an exit / retreat driving means for driving the pair of sandwiching bodies into and out of the retracted position and the protruding position,
Each of the pair of sandwiching bodies is provided with a plurality of sandwiching action parts that abut on the side peripheral portion of the article and sandwich and act on each of a plurality of types of articles having different shapes in the sandwiched state,
As the sandwiching action part, a first sandwiching action part that can be engaged with an engaged part formed on a side peripheral part of a rectangular parallelepiped article, and a second sandwiching action part that comes into contact with the side peripheral part of the cylindrical article door is provided,
The second sandwiching action part is formed in a recessed groove shape having a pair of inclined surface parts that are recessed toward the separating side in the approaching / separating direction of the pair of sandwiching bodies toward the center part in the retracting direction of the sandwiching body,
When transferring an article from a transfer target location to the main body placing portion, the pair of holding bodies are operated by projecting from the retracted position to the protruding position while maintaining the pair of holding bodies in the released state. Is switched from the released state to the sandwiched state, and then the operation of the sandwiched state switching means and the withdrawing / retreating drive are performed so that the pair of sandwiched bodies is maintained in the sandwiched state and retracted from the protruding position to the retracted position. When controlling the operation of the means and transferring the article from the main body mounting portion to the transfer target location, the pair of holding bodies are maintained in the holding state and the protrusion operation is performed from the retracted position to the protruding position. After that, the pair of sandwiching bodies are switched from the sandwiched state to the released state, and then the pair of sandwiched bodies are maintained in the released state and are retracted from the protruding position to the retracted position. Transfer control means is provided for controlling the operation of working and the exit-retraction drive means of the clamping state switching device,
The transfer control unit is configured to switch the pair of holding members that are operated to protrude to the protruding position from the holding state to the released state when transferring an article from the main body mounting unit to a transfer target location. An article transfer device for controlling the operation of the clamping state switching means so that the pair of clamping bodies are separated from the article by a set distance determined according to the shape of the article and switched from the clamping state to the release state .   Claiming to the lifting platform of the article conveying apparatus comprising a traveling carriage that can travel along the width direction of the shelf of the article storage shelf, and a lifting platform that is driven up and down along a lifting mast standing on the traveling carriage. The article transfer device according to any one of 1 to 3 is provided,
  Control of the operation of the article transporting apparatus with the plurality of storage units, storage cargo receiving units, and storage cargo receiving units provided in a state in which the product storage shelves are arranged in the horizontal and vertical directions of the shelf as transfer target locations. An article storage facility provided with a conveyance control means.

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