JP6394509B2 - Transport equipment - Google Patents

Description

  The present invention relates to a transport facility including a transport device that transports stacked products on which products are stacked from a first support portion to a second support portion, and a control device that controls the operation of the transport device.

A conventional example of such a transport facility is described in Japanese Patent Laid-Open No. 10-338352 (Patent Document 1). In the transport facility of Patent Document 1, the alignment / dispensing roller 62 is used as a first support portion, the pallet 112 is used as a second support portion, and a stacked device is used as a first support portion in a transport device (loading / unloading device 90). To the second support.
Cases W with collars are stacked as a stacked article, and the case W with collars is provided with a collar portion above the bottom surface of the case supported by the first support portion. And a conveyance apparatus is supported by the 1st support part even when the whole bottom face of an article is supported by the 1st support part by supporting and supporting the collar part of an article with a support. You can easily pick up the goods you have.

  The conveyance device of Patent Document 1 includes gripping members 91 and 92, and supports the flange portion of the lowest article in the stacked article with the gripping members 91 and 92. The stacked article is conveyed while the stacked article is held. Therefore, in the conveyance device of Patent Document 1, when the gripping members 91 and 92 are moved in a state where the stacking articles are supported by the gripping members 91 and 92, the stacked products supported by the gripping members 91 and 92 are supported. The gripping members 91 and 92 restrict the posture of the body from being broken.

JP 10-338352 A

  However, in the transport device disclosed in Patent Document 1, the portion that supports the stacked article in the gripping members 91 and 92 and the part that restricts the collapse of the posture of the stacked article move together, so When the gripping members 91 and 92 are interfered with the stacking container when the gripping members 91 and 92 are moved directly below the collar portion of the lower article, the gripping members 91 and 92 properly correct the posture of the stacked article. It may not be located at a position where it can be restricted. Therefore, when the support body that supports the stacked article is moved directly below the second support body of the lowest article in the stacked article, the posture of the stacked article may be collapsed.

  Therefore, there is a need for a transport facility that can appropriately prevent the posture of the stacked article from collapsing when the stacked article is transported by the transport device.

The characteristic configuration of the transport facility according to the present invention includes: a transport device that transports stacked articles on which articles are stacked from the first support portion to the second support portion; and a control device that controls the operation of the transport device. In the transport equipment we have,
The transport device includes a lateral movement device and a first lifting device, and the lateral movement device supports a lowermost article in the stacked article from below, and a side of the stacked article. And a first drive unit that moves the support body, and a second drive unit that moves the regulation body, and the first lifting device includes: A third drive unit that moves the first support unit in a vertical direction relative to the support body, and the article is supported by the first support unit from below; A second supported portion positioned above the first supported portion, and the control device executes a first control, a second control, a third control, a fourth control, and a fifth control, 1st control controls the said 2nd drive part, and positions the said control body in the control position of the side of the said stacked article The second control controls the third drive unit, and the first support part supports the first supported part of the lowest article in the stacked article. , The first support portion is moved upward relative to the support body, and the second supported portion of the lowermost article is made higher than the support body, and the third control is , After the execution of the first control and the second control is completed, the first drive unit is controlled to place the support body at a position directly below the second supported unit, In the control, after the execution of the third control is completed, the third drive unit is controlled to move the first support unit relatively downward with respect to the support body, so that the lowermost article is The second supported portion of the article is supported by the support from below, and the lowermost article In the control, the first support portion is separated from the first supported portion downward, and the fifth control is performed after the execution of the fourth control is completed. The drive unit is controlled so that the support body and the regulation body are integrally moved, and the stacked articles supported by the support body are placed on the second support part from directly above the first support part. Ri control der move directly, the direction intersecting the vertical direction as viewed as a cross direction to the direction in which the regulating member by the driving of the second driving unit moves, the regulating member is moved in the cross direction Thus, it is configured to move to an approach position that is closer to the lateral side of the stacked article, and a separated position that is farther from the stacked article than the approach position, and the restricting position is the position of the restricting body. It is a position moved to the approach position and is in the restriction position The spacing in the intersecting direction between the regulating body and the stacked article is at a point narrower than half the width of the support in the intersecting direction .

  According to this characteristic configuration, after the execution of the first control and the second control is completed, the article that has been supported by the first support unit is executed by the support by executing the third control and the fourth control. Can be supported. And by executing 5th control, a stacked article can be conveyed from right above a 1st support part to right above a 2nd support part.

And the movement of the support body by 3rd control for positioning a support body directly under a 2nd to-be-supported part is performed after execution of 1st control is completed. That is, by executing the first control, the restricting body is located at the restricting position on the side of the stacked article, and the support body is thus positioned in the restricting position on the side of the stacked article. Moving. Therefore, when the support body is moved to a position directly below the second support portion, even if the support body interferes with the stacked article and the posture of the stacked article tends to collapse, the restricting body positioned at the restricting position is not stepped. It can prevent that the attitude | position of a control body collapse | crumbles by contacting a stacked article.
In addition, although the support body and the regulating body move separately in the first control and the third control as described above, in the fifth control, the support body and the regulating body are moved integrally. Therefore, when moving the support while being supported by the support, even if the posture of the stacked article is about to collapse due to acceleration / deceleration, vibration, etc., the regulation body Can be prevented appropriately.
In this way, it is possible to appropriately prevent the posture of the stacked article from collapsing when the stacked article is transported by the transport device.

Here, the transport device includes a second lifting device, and the second lifting device includes a fourth driving unit that moves the second support unit along the vertical direction relative to the support body. The control device executes the sixth control, the seventh control, the eighth control, and the ninth control after the execution of the fifth control is completed, and the sixth control controls the fourth drive unit. The second support portion is moved upward relative to the support, and the first supported portion of the lowermost article is supported from below by the second support portion, In addition, the seventh control is a control in which the support is separated from the second supported portion of the lowermost article, and the seventh control is performed after the execution of the sixth control is completed. The drive unit is controlled so that the support body is positioned at a retracted position where the support member is retracted laterally from directly below the second supported portion. In the eighth control, after the execution of the seventh control is completed, the fourth drive unit is controlled to move the second support unit downward relative to the support body. The second supported portion of the lowermost article is controlled to be lower than the support, and the ninth control controls the second driving portion after the execution of the seventh control is completed. Thus, it is preferable that the control is to retract the restricting body from the restricting position.
According to this configuration, after the execution of the seventh control is completed, the ninth control is executed, thereby supporting
The movement of the support body by the seventh control for retracting the body from directly below the second supported portion to the side is
9 before the execution of control starts. In other words, before executing the ninth control,
In this way, the regulation body is in the regulation position on the side of the stacked article.
The support moves in a state where it is positioned on the table. Therefore, remove the support from the position directly below the second support.
Even when the support interferes with the stacked article when retracted, the regulation position is set at the regulation position.
It can prevent that a posture of a stacked article collapses because a control body contacts a stacked article.

Further, the apparatus further includes a second transport device configured by a conveyor for transporting the stacked articles, and the first support portion or the second support portion is fixed at a position in a vertical view, and the second transport device. It is preferable that only the lifting body of the support body and the lifting body moves in the vertical direction.

  In addition, it is preferable that the first support part is a pallet, and the second support part is a lifting body that is fixed in a vertical view and moves up and down with respect to the transport surface in the second transport device. .

  According to this configuration, when picking up the stacked article supported on the pallet by the support of the transport device, the posture of the stacked article is collapsed, or the support is moved so that the stacked article is directly above the pallet. It is possible to prevent the posture of the stacked article from collapsing when it is moved immediately above the lifting body.

  Further, the first support part is a lifting body whose position in the vertical direction is fixed and moves up and down with respect to the transport surface in the second transport device, and the second support part is preferably a pallet. .

  According to this configuration, when the article supported by the lifting body is scooped up by the support body of the transport device, the posture of the stacked article collapses, or the support body is moved so that the stacked article is directly above the lifting body. It is possible to prevent the posture of the stacked article from collapsing when it is moved from the top to the top of the pallet.

  Further, the pallet supports the stacked articles in a state where the two stacked articles are arranged in a lateral width direction intersecting with the transport direction of the second transport device when viewed in the vertical direction, and the lateral movement in the transport device As a device, a first lateral movement device that is disposed on one side in the lateral width direction with respect to the pallet and uses the one side portion in the lateral width direction of the pallet as the first support portion or the second support portion. And a second lateral movement device that is disposed on the other side in the width direction with respect to the pallet, and uses the other side portion of the pallet in the width direction as the first support portion or the second support portion. Are preferably provided.

According to this configuration, the first lateral movement device and the second lateral movement device can load or unload stacked articles from both sides in the lateral width direction on the pallet as the first support portion.
That is, for example, when the lateral movement device is disposed only on one side in the lateral width direction with respect to the first support portion, when loading or unloading the stacked article on the other side portion of the pallet in the lateral width direction. Since the moving distance of the support body becomes long, there is an increased possibility that the stacked articles collapse according to the length of the moving distance of the support body. However, the lateral movement device is in the width direction with respect to the pallet as the first support portion. By arranging them on both sides, the moving distance of the support can be shortened when loading or unloading the stacked articles on both the one side and the other side of the pallet. Can reduce the risk of collapse.

  In addition, it is preferable that the restriction position is a position spaced laterally with respect to the stacked article.

  According to this configuration, in the state where the restricting body is positioned at the restricting position, the restricting body is separated from the stacked article. Therefore, the first support portion is used as the supporting body while the restricting body is positioned at the restricting position. On the other hand, even when moved relative to the vertical direction, the regulating body and the stacked article are difficult to interfere with each other, and the collapse of the posture of the stacked article due to the interference between the regulating body and the stacked article can be prevented. .

In addition, the article includes a container main body formed in a tapered shape in which the shape of the side periphery decreases toward the lower side, and a protrusion that is provided at the upper end of the container main body and protrudes laterally from the container main body. A container, wherein the second supported portion is constituted by the protruding portion, the first supported portion is constituted by a bottom surface portion of the container main body, and the stacked article is the container in the container. It is preferable that a plurality of the containers are stacked in a state in which the lower part of the container main body in another container to be stacked on the container is stored in the storage space of the main body.

  According to this configuration, when the containers are stacked, the posture may be easily lost depending on the shape of the container, but when the stacked containers are transported from the first support part to the second support part by the transport device. Then, by moving the support in a state where the restricting body is positioned at the restricting position, it is possible to appropriately prevent the stacked containers from being collapsed when the stacked containers are transported by the transport device.

Plan view of transfer equipment Control block diagram Action diagram of third transfer device in first control Operational diagram of third transport device in second control Operational diagram of third transfer device in third control Operational diagram of third transfer device in fourth control Operational diagram of third transfer device in fifth control Operational diagram of third transfer device in sixth control Operational diagram of third transfer device in seventh control Operational diagram of third transfer device in eighth control Operational diagram of third transfer device in ninth control Side view showing a state where the regulating body is located at the regulating position Side view showing a state in which the regulation body is located at the regulation preparation position

Hereinafter, an embodiment of a transfer facility according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the transport facility includes a first transport device 1 that transports a pallet P, a second transport device 2 that transports a stacked container S in which containers C are stacked, and a stacked container for the pallet P. A third conveying device 3 for loading or unloading S, an alignment device 4 for aligning the stacking containers S loaded on the pallet P, and a stacking for stacking or stacking the pallets P A staging device 5 and a control device H (see FIG. 2) for controlling the operation of these devices are provided. The container C corresponds to an article, and the stacked container S corresponds to a stacked article.

〔container〕
As shown in FIGS. 12 and 13, the container C includes a container body 7 that is formed in a tapered shape in which the shape of the side periphery decreases toward the lower side, and the container C is provided at the upper end of the container body 7 and is laterally disposed from the container body 7. And a protruding portion 8 that protrudes from the center.
In the stacked container S, a plurality of containers C are stacked in a state where the lower part of the container body 7 in another container C stacked in the container C is accommodated in the accommodation space of the container body 7 in the container C.
The container C is formed in a rectangular shape when viewed in the vertical direction. In addition, the direction along which the short side of the container C extends is referred to as a short side direction, and the direction along which the long side of the container C extends is referred to as a long side direction.
The stacked containers S are loaded on the pallet P in a state where the three stacked containers S are arranged in the main transport direction X and the two stacked containers S are arranged in the sub-transport direction Y.
The bottom surface portion 7a of the container C corresponds to a first supported portion supported from below by the pallet P, and the second supported portion in which the protruding portion 8 of the container C is located above the first supported portion. It corresponds to the part.

  Next, although the 1st conveying apparatus 1, the 2nd conveying apparatus 2, and the 3rd conveying apparatus 3 are demonstrated, in explaining these apparatuses, the direction in which the 2nd conveying apparatus 2 conveys the stacking container S is main conveying. A direction X is referred to as a direction perpendicular to the main transport direction X when viewed in the vertical direction, and is referred to as a sub-transport direction Y. Moreover, although the 3rd conveying apparatus 3 performs the loading which mounts the stacked container S with respect to the pallet P, and the unloading which unloads the stacked container S from the pallet P, in this embodiment, the 3rd conveying apparatus The case of loading at 3 will be mainly described.

[First transfer device]
The 1st conveying apparatus 1 is provided with the upstream conveying part 1a, the midstream conveying part 1b, and the downstream conveying part 1c.
The upstream transport unit 1a is configured by a conveyor that transports the pallet P in the sub-transport direction Y. In the middle of the transport path of the pallet P transported by the upstream transport unit 1a, a step-off place 14 is set. This leveling place 14 is a place where a plurality of stacked pallets P are leveled one by one by the leveling / leveling device 5.
That is, the upstream transport unit 1a transports the pallets P stacked from the upstream side in the sub-transport direction Y to the leveling location 14, and the pallets P leveled at the leveling location 14 are leveled one by one. 14 to the downstream side in the sub-transport direction Y.
Incidentally, the stacking / stacking device 5 lifts the second pallet P from the bottom of the stacked pallet P from the leveling portion 14 of the upstream transport unit 1a, and remains on the upstream transport unit 1a. After only the first pallet P is transported from the leveling place 14, the second and higher pallets P are lowered to the leveling position 14 of the upstream transport section 1a so that the stacked pallets P are leveled. It is configured. Further, the stacking / stacking device 5 is configured to stack by performing the stacking in the reverse procedure.

The midstream transport unit 1b is configured by a conveyor that transports the pallet P in the main transport direction X. A loading location 15 is set in the middle of the transport path of the pallet P transported by the midstream transport section 1b. This loading place 15 is a place where the third container 3 loads the stacked container S on the pallet P on which the stacked container S is not placed (hereinafter referred to as an empty pallet P).
That is, the midstream transport unit 1b transports the empty pallet P from the upstream side in the main transport direction X to the loading location 15, and after loading the stacking container S at the loading location 15, the stacking container S is loaded. The pallet P (hereinafter referred to as an actual pallet P) is transported from the loading point 15 to the downstream side in the main transport direction X.

A first transfer device 16 composed of a chain-type transformer is provided at the upstream end of the midstream transport unit 1b so as to be movable up and down. The pallet P is transported from the downstream end of the upstream transport section 1a to the upstream end of the midstream transport section 1b by transport of the upstream transport section 1a and transport and elevation of the first transfer device 16. .
The middle-stream transport unit 1b is provided with a lift transport part 17 that can be lifted and lowered. The downstream part of the main transport direction X by the up-and-down transport part 17 in the middle-stream transport part 1 b is disposed at the same height as the second transport device 2. A portion of the middle-stream transport unit 1b on the upstream side in the main transport direction X from the up-and-down transport portion 17 is disposed below the second transport device 2. The midstream transport unit 1 b is configured to relay a portion upstream from the lift transport portion 17 and a portion downstream from the lift transport portion 17 by the lift transport portion 17.
Incidentally, the upstream conveyance unit 1 a is disposed below the second conveyance device 2 so that the pallet P can pass below the second conveyance device 2.
A first alignment point 18 is set on the downstream side in the main conveyance direction X from the loading point 15 in the conveyance path of the pallet P conveyed by the midstream conveyance unit 1b. The first alignment position 18 is a position where the alignment device 4 aligns the position in the main transport direction X of the stacked container S loaded on the pallet P with an appropriate position.

The downstream transport unit 1c is configured by a conveyor that transports the pallet P in a direction opposite to the main transport direction X. A second alignment point 19 is set in the middle of the transport path of the pallet P transported by the downstream transport unit 1c. The second alignment location 19 is a location where the alignment device 4 aligns the position in the sub-transport direction Y of the stacked container S stacked on the pallet P with an appropriate position.
A second transfer device 20 composed of a chain-type transformer is provided at the upstream end of the downstream transport unit 1c so as to be movable up and down. The pallet P is transported from the downstream end of the midstream transport unit 1b to the upstream end of the downstream transport unit 1c by transport of the midstream transport unit 1b and transport and elevation of the second transfer device 20. .

[Second transport device]
The 2nd conveying apparatus 2 is comprised by the conveyor which conveys the stacking container S to the main conveyance direction X. As shown in FIG. In the second transport device 2, the stacking container S is transported in a posture in which the short side direction is along the main transport direction X and the long side direction is along the sub transport direction Y.
And the container gathering location 21 is set in the downstream end part of the conveyance path | route of the stacked container S conveyed by the 2nd conveying apparatus 2. FIG.
That is, the second transport device 2 transports the stacked container S from the upstream side in the main transport direction X to the container collecting portion 21, and uses the stacked container S located on the most downstream side as a stopper member (not shown). In this state, the subsequent stacked containers S are transported in a stopped state, and the containers C are lined up without gaps at the container gathering locations 21 (the protruding portions 8 of adjacent containers C are in contact with each other, FIG. And FIG. 13).
The three stacked containers S collected in the container collection location 21 in this way are loaded on the pallet P located at the loading location 15 by the third transport device 3.
As the second transport device 2, the second transport device 2 on one side provided on one side in the sub transport direction Y with respect to the midstream transport portion 1 b of the first transport device 1, and the midstream transport portion of the first transport device 1 A pair of second transport devices 2 are provided, which are the second transport device 2 on the other side provided on the other side in the sub-transport direction Y with respect to 1b.

[Third transfer device]
The third transfer device 3 includes a lateral movement device 24, a container lifting device 25, and a pallet lifting device 26.
As shown in FIGS. 1 to 3 and the like, the lateral movement device 24 includes a support 28 that supports the lowermost container C in the stacking container S from below, and a side of the stacking container S that is located on the side of the stacking container S. The regulation body 30 provided with the contact part 29 which opposes the stacking container S, the 1st electric motor 31 as a 1st drive part which moves the support body 28, and the 2nd as a 2nd drive part which moves the regulation body 30 An electric motor 32 and an electric cylinder 33 are provided.
As the lateral movement device 24, a pair of lateral movement devices 24 of a first lateral movement device 24a and a second lateral movement device 24b are provided. The first lateral movement device 24 a is disposed on one side in the sub-transport direction Y with respect to the first transport device 1, and loads the stacking container S on one side of the pallet P in the sub-transport direction Y. It is configured as follows. The second lateral movement device 24 b is disposed on the other side in the sub-transport direction Y with respect to the first transport device 1, and loads the stacked container S on the other side of the pallet P in the sub-transport direction Y. It is configured as follows. The first lateral movement device 24a and the second lateral movement device 24b are configured similarly.

The container lifting / lowering device 25 includes a first lifting / lowering unit 34 and a third electric motor 35 as a third driving unit that moves the first lifting / lowering unit 34 along the vertical direction. The first elevating unit 34 corresponds to an elevating body that moves up and down with respect to the conveyance surface of the second conveyance device 2 even when the position in the vertical direction view is fixed.
As the container lifting / lowering device 25, a pair of container lifting / lowering devices 25 including a first container lifting / lowering device 25a and a second container lifting / lowering device 25b are provided. The first container lifting device 25 a is provided for one second transport device 2 of the pair of second transport devices 2. The second container lifting device 25 b is provided for the other second transport device 2 of the pair of second transport devices 2. The 1st container raising / lowering apparatus 25a and the 2nd container raising / lowering apparatus 25b are comprised similarly.
The pallet elevating device 26 includes a second elevating unit 37 and a fourth electric motor 38 as a fourth driving unit that moves the second elevating unit 37 along the vertical direction.

The third transport device 3 is configured to transport the stacked container S from the first support portion 11 to the second support portion 12.
When the explanation is added, when loading the stacked container S on the pallet P by the third transport device 3, the third transport device 3 starts from the first lift 34 of the container lift device 25 to the second of the pallet lift device 26. The stacked container S is transported to the pallet P supported by the elevating unit 37. Therefore, when loading the stacking container S on the pallet P in this way, the first elevating part 34 becomes the first support part 11 and the pallet P becomes the second support part 12. Further, the container lifting device 25 is a first lifting device, and the pallet lifting device 26 is a second lifting device.
Further, when loading and unloading the stacked container S from the pallet P by the third transport device 3, the third transport device 3 moves from the pallet P supported by the second lift unit 37 of the pallet lift device 26 to the container lift device. The stacked containers S are transported to the 25 first elevating parts 34. Therefore, when loading and unloading the stacked container S from the pallet P in this way, the pallet P is the first support part 11 and the first elevating part 34 is the second support part 12. Further, the pallet lifting device 26 becomes the first lifting device, and the container lifting device 25 becomes the second lifting device.

Next, description will be added to each of the lateral movement device 24, the container lifting device 25, and the pallet lifting device 26.
The container elevating device 25 is provided below the container gathering location 21, and the first elevating unit 34 is driven by the third electric motor 35 and has a descending height positioned below the conveying surface of the second conveying device 2. It moves up and down to a rising height that protrudes upward from the transport surface of the second transport device 2.
And the container raising / lowering apparatus 25 raises the 1st raising / lowering part 34 from the descent | fall height to the raise height in the state in which the three stacked containers S are located in the container gathering location 21, and it is 1st in the middle of the raise | lifting The bottom part 7a of the lowest container C in the stacking container S is supported from below by the elevating unit 34, and the three stacking containers S can be lifted from the transport surface of the second transport device 2. ing.
Moreover, the container raising / lowering device 25 is lowered by lowering the first raising / lowering part 34 from the rising height to the lowering height while the first raising / lowering part 34 supports the three stacked containers S. On the way, the bottom surface portion 7a of the lowermost container C in the stacked container S is supported from below by the second transport device 2, and the three stacked containers S can be lowered onto the transport surface of the second transport device 2. It is configured as follows.

The pallet elevating device 26 is provided below the loading location 15, and the second elevating unit 37 is driven by the fourth electric motor 38 and has a lowering height and a lower position located below the conveying surface of the first conveying device 1. The ascending / descending height projecting upward from the conveying surface of the one conveying device 1.
The pallet elevating device 26 raises the second elevating part 37 from the lowered height to the raised height in the state where the pallet P is located at the loading place 15, and the second elevating part 37 in the middle of the raising. The pallet P is supported from below, and the pallet P can be lifted from the transport surface of the first transport device 1.
In addition, the pallet elevating device 26 lowers the second elevating unit 37 from the raised height to the lowered height while the pallet P is supported by the second elevating unit 37, so that the pallet P Is supported from below by the first transport device 1 so that the pallet P can be lowered onto the transport surface of the first transport device 1.

  Next, the lateral movement device 24 will be described with reference to FIGS. In addition, the direction orthogonal to the main transport direction X (the direction in which the container gathering location 21 and the loading location 15 are arranged) is referred to as a lateral width direction a, and the loading location 15 is in the lateral width direction a with respect to the container gathering location 21. The existing direction is referred to as a first direction a1, and the opposite direction is referred to as a second direction a2.

The lateral movement device 24 includes a support arm 44 that is guided by the moving rail 43 and moves in the lateral width direction a, and a restriction arm 45 that is guided by the movable rail 43 and moves in the lateral width direction a. .
The support 28 is connected to the support arm 44 so as to protrude from the support arm 44 in the first direction a1. Further, as shown in FIGS. 1 and 11, four support bodies 28 are provided side by side with a space in the main transport direction X. These four support bodies 28 are provided at intervals wider than the outer dimension of the container body 7 in the short direction of the container body 7 and narrower than the outer dimension of the protruding portion 8 of the container C.
Then, the lateral movement device 24 moves the support arm 44 in the lateral width direction a by driving the first electric motor 31, so that the support body 28 is moved in the second direction a <b> 2 from the stacked container S positioned at the container collection location. The retraction support position that is positioned, the first support position that overlaps the protruding portion 8 of the stacked container S (particularly the lowest container C) in which the support 28 is located at the container gathering position, and the support 28 The support body 28 is moved to the second support position that overlaps the protruding portion 8 of the stacking container S (particularly the lowermost container C) loaded on the pallet P located at the loading position 15 when viewed in the vertical direction. It is configured.

As the restriction arm 45, the restriction arm 45 located upstream of the three stacked containers S arranged in the main conveyance direction X on the pallet P in the container collection location 21 and the loading location 15, and the container collection A pair of restriction arms 45 are provided on the pallet P at the location 21 and the loading location 15 and the restriction arms 45 located downstream of the three stacked containers S arranged in the main conveyance direction X in the main conveyance direction X. ing.
A support body 28 is provided on each of the pair of restriction arms 45 so as to be able to move out toward and away from the container collecting portion 21 and the loading portion 15.
And the regulation body 30 is located in the 2nd direction a2 from the stacked container S in which the regulation body 30 is located in the container gathering location 21 by moving the arm 45 for regulation to the horizontal width direction a with the 2nd electric motor 32. A retraction restriction position, a first restriction position where the restriction body 30 overlaps with the stacking container S (particularly the lowermost container C) where the restriction body 30 is located at the container collecting place 21, and the support body 28 is loaded. 15 is configured to move to a second regulation position that overlaps with the stacking container S (particularly the lowermost container C) loaded on the pallet P located at 15 in the main transport direction X.
Further, the regulation body 30 moves the regulation body 30 along the main transport direction X by driving the electric cylinder 33, so that the regulation body 30 approaches the stacked container S in the direction along the main transport direction X. It is comprised so that it may move to the approach position and the separation position separated from the stacking container S from this approach position.

  The restricting body 30 is disposed above the support body 28 and is provided at a height that is located at the side of the container C at the second or higher level from at least the bottom of the stacked container S. In the present embodiment, the stacking container S is supported by the support 28 and the first support part 11 and the second support part 12 are both supported from the bottom of the stacking container S by two stages. The restricting body 30 is formed and disposed so as to be located on the side of the protruding portion 8 of the eye and the third-stage container C.

  The position where the restriction body 30 is moved to the first restriction position or the second restriction position in the lateral width direction a and the restriction body 30 is moved to the approach position in the main transport direction X is the side of the stacked container S. It becomes a regulation position of the regulation body 30 which is located in the direction and faces the stacked container S. As shown in FIG. 12, the distance in the main transport direction X between the pair of regulating bodies 30 located at the approach positions is wider than the length in the main transport direction X of the three stacked containers S arranged in the main transport direction X. In the state where the restricting body 30 is located at the restricting position, it is separated from the stacked container S in the main transport direction X. Incidentally, the distance between the restriction body 30 at the restriction position and the stacked container S in the main transport direction X is narrower than half the width of the support 28 in the main transport direction X, and the restriction body at the separation position. The distance between the stack 30 and the stacked container S in the main transport direction X is wider than the width of the support 28 in the main transport direction X.

〔Control device〕
Next, regarding the control of the third transport device 3 by the control device H, when loading the stacking container S on the pallet P based on FIGS. 3 to 13 (the first elevating part 34 is used as the first support part 11 and the pallet The case where P is the second support portion 12) will be described.
The control device H executes the first control, the second control, the third control, the fourth control, the fifth control, the sixth control, the seventh control, the eighth control, and the ninth control in this order, and sets the steps on the pallet P. The operation of the third transfer device 3 is controlled to load the stacking container S. Incidentally, the control device H executes the control in the reverse procedure to the case of loading the stacking container S on the pallet P, whereby the stacking container S is unloaded from the pallet P by the third transport device 3.

The first control is to control the second electric motor 32 and the electric cylinder 33 in a state where three stacked containers S exist at the container collecting portion, and to control the stacked containers S supported by the second transfer device 2. This control is to be positioned at the lateral restriction position.
By executing this first control, as shown in FIG. 3, the pair of restricting bodies 30 is moved from the retraction restricting position (the position indicated by the phantom line in FIG. 3) to the first restricting position (the position indicated by the solid line in FIG. 3). Move to. As the pair of regulating bodies 30 move in this way, one of the pair of regulating bodies 30 is located upstream of the three stacked containers S in the main transport direction X, and the pair of regulating bodies 30 The other is located downstream of the three stacked containers S in the main transport direction X.

In the second control, after the execution of the first control is completed, the third electric motor 35 is controlled, and the first elevating unit 34 supports the bottom surface portion 7a of the lowermost container C in the stacked container S. In this state, the first elevating part 34 is moved upward so that the protrusion 8 of the lowermost container C is higher than the support 28.
By executing this second control, as shown in FIG. 4, the first elevating part 34 rises from the lowered height (height shown in FIG. 3) to the raised height (height shown in FIG. 4). The stacking container S is supported by the first lifting / lowering unit 34 while the first lifting / lowering unit 34 is rising, and the first lifting / lowering unit 34 is lifted up to the rising height. 4 and FIG. 12, the protrusion 8 of the lowermost container C becomes higher than the support 28.

The third control is a control for controlling the first electric motor 31 after the execution of the second control is completed and positioning the support 28 at a position immediately below the protruding portion 8 of the lowermost container C.
By executing this third control, as shown in FIG. 5, the support 28 is moved in the first direction a1, and the first support position (FIG. 5) is moved from the retracted support position (position indicated by the phantom line in FIG. 5). To the position indicated by the solid line). The support 28 located at the first support position is located directly below the protrusion 8 of the lowermost container C.

In the fourth control, after the execution of the third control is completed, the third electric motor 35 is controlled to move the first elevating part 34 downward, and the protrusion 8 of the lowermost container C is moved to the support 28. The first elevating unit 34 is controlled to be in a state in which the first elevating unit 34 is separated downward from the bottom surface portion 7a of the lowermost container C.
By executing the fourth control, as shown in FIG. 6, the first elevating part 34 is lowered from the raised height (height shown in FIG. 5) to the lowered height (height shown in FIG. 6). During the lowering of the first elevating part 34, the stacking container S is supported by the support 28, and the first elevating part 34 is lowered to the lowered height as it is.

In the fifth control, after the execution of the fourth control is completed, the first electric motor 31 and the second electric motor 32 are controlled, and the support body 28 and the regulating body 30 are moved integrally to form the support body. In this control, the stacking container S supported at 28 is moved from directly above the first elevating part 34 to immediately above the pallet P located at the loading location 15.
By executing the fifth control, as shown in FIG. 7, the support body 28 moves in the first direction a1 and moves from the first support position (position shown in FIG. 6) to the second support position (shown in FIG. 7). The pair of restricting bodies 30 move in the first direction a1 and move from the first restricting position to the second restricting position. At this time, the support body 28 and the pair of restriction bodies 30 move in the first direction a1 at the same speed, so that the support body 28 and the restriction body 30 move integrally. In addition, by moving the support body 28 that supports the stacking container S from the first support position to the second support position, the stacking container S is placed on the pallet P located at the loading point 15 from directly above the first elevating part 34. Move directly above.

In the sixth control, after the execution of the fifth control is completed, the fourth electric motor 38 is controlled to move the pallet P upward, and the bottom surface portion 7a of the lowermost container C is moved from the lower side with the pallet P. In this state, the support 28 is in a state of being supported, and the support 28 is separated downward from the protrusion 8 of the lowermost container C.
By executing the sixth control, as shown in FIG. 8, the second elevating part 37 rises from the lowered height (height shown in FIG. 7) to the raised height (height shown in FIG. 8). The pallet P is supported by the second elevating part 37 while the second elevating part 37 is being lifted, and the second elevating part 37 is lifted as it is, so that the pallet P is lifted from the first transport device 1. Further, the stacking container S is supported by the pallet P while the second elevating part 37 is raised toward the raised height, and the second elevating part 37 is raised to the raised height as it is, so that the stacked container is S is lifted from the support 28, and the protrusion 8 of the lowermost container C becomes higher than the support 28 as shown in FIGS. 8 and 12.

In the seventh control, after the execution of the sixth control is completed, the first electric motor 31 is controlled so that the support 28 is retracted from the bottom of the protruding portion 8 of the lowest container C in the stacked container S to the side. This control is performed at the retracted support position.
By executing the seventh control, as shown in FIG. 9, the support 28 moves in the second direction a <b> 2 and moves from the second support position (position shown in FIG. 8) to the retracted support position (position shown in FIG. 9). )

In the eighth control, after the execution of the seventh control is completed, the fourth electric motor 38 is controlled to move the pallet P downward so that the protruding portion 8 of the lowermost container C is lower than the support 28. Control.
By executing the eighth control, as shown in FIG. 10, the second elevating part 37 is lowered from the raised height (height shown in FIG. 9) to the lowered height (height shown in FIG. 10). The pallet P is supported by the first transport device 1 while the second elevating unit 37 is being lowered.

The ninth control is a control for controlling the second electric motor 32 and the electric cylinder 33 after the execution of the eighth control is completed to retract the regulating body 30 from the regulating position.
By executing this ninth control, as shown in FIG. 11, the pair of restricting bodies 30 move from the second restricting position (position shown in FIG. 10) to the retreat restricting position (position shown in FIG. 11). Thus, by moving the pair of regulating bodies 30, both of the pair of regulating bodies 30 retreat from the range overlapping the stacked containers S when viewed in the main transport direction X with respect to the three stacked containers S.

[Another embodiment]
(1) In the above embodiment, the first control, the second control, and the third control are executed in the order of the first control, the second control, and the third control. However, the second control, the first control, and the third control are performed. You may perform in order.
Moreover, in the said embodiment, although 7th control, 8th control, and 9th control were performed in order of 7th control, 8th control, and 9th control, 8th control, 7th control, and 9th control were performed. You may perform in order.

(2) In the above embodiment, the first lifting device is moved up and down relative to the support body 28 by moving the first support portion 11 up and down by the third drive unit. However, the first lifting device may be moved up and down relative to the support 28 by moving the support 28 up and down by the first drive unit.
Moreover, although the 2nd raising / lowering apparatus moved the 2nd support part 12 up and down relatively with respect to the support body 28 by raising / lowering the 2nd support part 12 in the 4th drive part, The device may be moved up and down relative to the support 28 by moving the support 28 up and down by the fourth drive unit.

(3) In the said embodiment, although both loading and unloading with respect to the pallet P of a stacked article were performed, you may perform only any one of these loading and unloading. In short, the third transport device 3 may perform both the transport from the first support portion 11 to the second support portion 12 and the transport from the second support portion 12 to the first support portion 11, Only one of these conveyances may be performed.

(4) In the above embodiment, one of the first support part 11 and the second support part 12 is a lifting body and the other is a pallet P. However, both the first support part 11 and the second support part 12 are lifting bodies. Alternatively, both the first support portion 11 and the second support portion 12 may be a pallet P.

(5) In the above embodiment, the article is the container C. However, for example, other articles such as a pallet smaller than the pallet P conveyed by the first conveying device 1 may be used.

3 Third transport device (transport device)
7 Container body 7a Bottom part (first supported part)
8 Protruding part (second supported part)
DESCRIPTION OF SYMBOLS 11 1st support part 12 2nd support part 24 Lateral movement apparatus 24a 1st lateral movement apparatus 24b 2nd lateral movement apparatus 25 Container raising / lowering apparatus (1st raising / lowering apparatus, 2nd raising / lowering apparatus)
26 Pallet lifting device (second lifting device, first lifting device)
28 Support body 30 Restriction body 31 1st electric motor (1st drive part)
32 2nd electric motor (2nd drive part)
33 Electric cylinder (second drive unit)
34 1st lifting part (lifting body)
35 3rd electric motor (3rd drive part)
38 4th electric motor (4th drive part)
C Container (article)
H Control device P Pallet S Stacking container (stacked article)

Claims (8)

A transport facility comprising: a transport device that transports stacked articles stacked from the first support portion to the second support portion; and a control device that controls the operation of the transport device,
The transport device includes a lateral movement device and a first lifting device,
The lateral movement device includes: a support body that supports a lowermost article in the stacked article from below; a regulating body that is located on a side of the stacked article and faces the stacked article; and the support body. A first drive unit that moves, and a second drive unit that moves the regulating body,
The first elevating device includes a third drive unit that moves the first support unit along the vertical direction relative to the support body,
The article includes a first supported part supported from below by the first supporting part, and a second supported part positioned above the first supported part,
The control device executes first control, second control, third control, fourth control, and fifth control,
The first control is a control for controlling the second drive unit to position the restricting body at a restricting position on a side of the stacked article,
In the second control, the first support unit is controlled in a state where the first support unit supports the first supported unit of the lowest article in the stacked article by controlling the third driving unit. Moving the portion relatively upward with respect to the support, and making the second supported portion of the lowermost article higher than the support,
The third control is a control for controlling the first drive unit after the execution of the first control and the second control is completed, and positioning the support body at a position immediately below the second supported unit. Yes,
In the fourth control, after the execution of the third control is completed, the third drive unit is controlled to move the first support unit downward relative to the support member, so that the A state in which the second supported portion of the lower article is supported from below by the support, and a state in which the first support portion is spaced downward from the first supported portion of the lower article. Control to
In the fifth control, after the execution of the fourth control is completed, the first drive unit and the second drive unit are controlled to move the support body and the regulation body integrally, control der moving the stacking articles supported by the support immediately above the second support portion from immediately above the first supporting portion is,
As a crossing direction, a direction intersecting in a vertical direction view with respect to a direction in which the regulating body moves by driving the second driving unit,
The restricting body is configured to move in an intersecting direction so as to move to an approach position approaching a lateral side of the stacked article and a separated position spaced apart from the stacked article than the approach position. And
The restriction position is a position where the restriction body is moved to the approach position,
The transport facility in which the spacing in the intersecting direction between the restricting body and the stacked article at the restricting position is narrower than half the width of the support in the intersecting direction . The transport device includes a second lifting device,
The second elevating device includes a fourth drive unit that moves the second support unit along the vertical direction relative to the support,
The control device executes the sixth control, the seventh control, the eighth control, and the ninth control after the execution of the fifth control is completed,
In the sixth control, the fourth driving unit is controlled to move the second support unit relatively upward with respect to the support so that the first supported unit of the lowermost article is moved. In a state where the second support portion is supported from below, and the support body is spaced downward from the second supported portion of the lowermost article,
In the seventh control, after the execution of the sixth control is completed, the first drive unit is controlled so that the support body is positioned at a retracted position where the support member is retracted laterally from directly below the second supported portion. Control,
In the eighth control, after the execution of the seventh control is completed, the fourth drive unit is controlled to move the second support unit relatively downward with respect to the support member. Control to lower the second supported part of the lower article than the support,
The transfer facility according to claim 1, wherein the ninth control is a control for controlling the second drive unit to retract the regulating body from the regulating position after the execution of the seventh control is completed. A second conveyor configured by a conveyor for conveying the stacked articles;
The first support part or the second support part is a lifting body whose position in a vertical view is fixed and moves up and down with respect to the transport surface in the second transport device,
The transfer equipment according to claim 1 or 2, wherein only the lift body of the support body and the lift body moves along the vertical direction. The first support part is a pallet;
4. The transport facility according to claim 2, wherein the second support part is a lifting body that is fixed in a position in a vertical view and moves up and down with respect to a transport surface in the second transport device. 5. The first support part is a lifting body whose position in the vertical direction view is fixed and moves up and down with respect to the transport surface in the second transport device,
The transfer facility according to any one of claims 2 to 4 , wherein the second support portion is a pallet. The pallet supports the stacked articles in a state in which the two stacked articles are arranged in a lateral direction intersecting with the transport direction of the second transport device when viewed in the vertical direction,
The lateral movement device in the transport device is disposed on one side in the lateral width direction with respect to the pallet, and the one side portion in the lateral width direction on the pallet is the first support portion or the second support portion. The first lateral movement device and the other side of the pallet on the other side in the lateral width direction with respect to the pallet, the other side portion of the pallet in the lateral width direction as the first support part or the second support part The transport facility according to claim 4 , further comprising: a second lateral movement device that performs: The conveyance facility according to any one of claims 1 to 6 , wherein the restriction position is a position spaced laterally with respect to the stacked article. The article is a container including a container main body formed in a tapered shape whose peripheral shape on the side becomes smaller toward the lower side, and a protrusion provided on an upper end of the container main body and projecting laterally from the container main body. Yes,
The second supported portion is constituted by the protruding portion,
The first supported portion is configured by a bottom portion of the container body,
2. The plurality of containers are stacked in a state where the stacked article accommodates a lower portion of the container main body in another container stacked on the container in an accommodation space of the container main body in the container. The transfer equipment according to any one of 7 to 7 .

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