JP6856010B2 - Goods transport equipment - Google Patents

Description

The present invention relates to an article transport facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.

A conventional example of such an article transporting facility is described in JP-A-2015-039767 (Patent Document 1). The article transport facility of Patent Document 1 transfers articles to a container by a transfer device (picking robot P). In such an article transport facility, the transfer device arranges a plurality of articles in an arrangement direction along the support surface on the support surface of the container, and arranges a plurality of articles in a stacking direction orthogonal to the arrangement direction. Goods may be transferred to a container.

Japanese Unexamined Patent Publication No. 2015-039767

When a plurality of articles are transferred to a container so that a plurality of articles are arranged in the arrangement direction and the stacking direction as described above, the articles are displaced in the arrangement direction and the stacked articles are tilted, so that the stacked articles collapse. In some cases.

Therefore, there is a demand for an article transporting facility in which a plurality of articles transferred to a container are not easily collapsed.

In view of the above, the characteristic configuration of the article transport facility includes a transfer device for transferring the article to the container and a control device for controlling the transfer device.
The article is provided with an arrangement setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction . before SL sequence setting unit, when accommodating the article in the second row from the top and accommodating the article in a state of arranging a plurality of stages in the stacking direction of a plurality lined state in the arrangement direction, the second stage from the top Select the article to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size in the above, and store the article to be stored in the uppermost stage in the second stage from the top. Only an arrangement is set so as to cover at least a part of each of the plurality of articles, and the control device transfers the articles to the container according to the arrangement set by the arrangement setting unit. The point is to control the transfer device.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.

Top view of goods transportation equipment Perspective view of the article Control block diagram The figure which shows the state which contained the article in the 1st container. Perspective view showing another state in which the article is contained in the first container. The figure which shows the order of transporting a 2nd container to a 2nd position Flow chart of loading control The figure which shows the state which the first-class article is transferred The figure which shows the state which presses the 1st class article Flowchart of transfer accommodation control The figure which shows the state which contained the article in the 1st container in another embodiment.

1. 1. Embodiment An embodiment of an article transport facility will be described with reference to the drawings.
As shown in FIG. 1, the article loading equipment includes a first transport device 1 for transporting the first container C1, a second transport device 2 for transporting the second container C2, and articles housed in the second container C2. A transfer device 3 for transferring W to the first container C1 and accommodating the article W in the first container C1 and an automated warehouse 4 for storing the second container C2 are provided.

(Automatic warehouse)
As shown in FIG. 1, the automated warehouse 4 is provided with a storage shelf 6, a transport carriage 7, a relay conveyor 8, and a lift device 9.
A pair of storage shelves 6 are installed at intervals, and each storage shelf 6 is provided with a plurality of shelf boards 11 so as to be arranged in the vertical direction. The storage shelf 6 stores the second container C2 in a state where the second container C2 is supported on the shelf plate 11. The transport trolley 7 travels between the pair of storage shelves 6 along the storage shelves 6 to transport the second container C2.

As the relay conveyor 8, the relay conveyor 8 for warehousing used when the second container C2 is stored in the storage shelf 6 and the relay conveyor 8 for warehousing used when the second container C2 is discharged from the storage shelf 6 It is equipped. A plurality of sets of these pair of relay conveyors 8 are provided in a state of being arranged in the vertical direction according to the number of stages of the shelf plates 11 in the storage shelf 6. As the lift device 9, a lift device 9 for warehousing and a lift device 9 for warehousing are provided. These pair of lift devices 9 are provided with a conveyor, and the lift device 9 for warehousing receives the second transfer device 2 or the second container C2 and passes the second container C2 to the second transfer device 2. The lifting device 9 for delivery is configured to receive the second container C2 from the relay conveyor 8 for delivery and to pass the second container C2 to the second transfer device 2. ing.

The automated warehouse 4 transports the second container C2 stored in the storage shelf 6 to the delivery position P3 by the transport carriage 7, the relay conveyor 8, and the lift device 9, and transfers the second container C2 from the automated warehouse 4. Issue the goods. Further, the second container C2 located at the storage position P4 is transported to the storage shelf 6 by the lift device 9, the relay conveyor 8, and the transport carriage 7, and the second container C2 is stored in the automated warehouse 4.

(1st transfer device and 2nd transfer device)
The first transfer device 1 is composed of a conveyor such as a roller conveyor, and conveys the first container C1 in one direction. The first position P1 is set in the middle of the transport path of the first transport device 1. The first transport device 1 transports the first container C1 from the transport source (not shown) to the first position P1, and transports the first container C1 from the first position P1 to the transport destination (not shown). The article W is not contained in the first container C1 transported to the first position P1 by the first transport device 1, but is transferred to the first container C1 transported from the first position P1 by the first transport device 1. The article W transferred by the mounting device 3 is housed.

The second transfer device 2 is composed of a conveyor such as a roller conveyor, and conveys the second container C2 in one direction. The warehousing position P3 is set at the upstream end of the transport path of the second transport device 2, and the warehousing position P4 is set at the downstream end of the transport path of the second transport device 2. Further, the second position P2 is set in the middle of the transport path of the second transport device 2. The second transfer device 2 conveys the second container C2 from the warehousing position P3 to the second position P2, and conveys the second container C2 from the second position P2 to the warehousing position P4. One or more articles W are housed in the second container C2 transported to the second position P2 by the second transport device 2, and the articles W housed in one second container C2 are the same type of articles W. Is. Article W is stored in the second container C2 according to the type. The second position P2 corresponds to the transport position.

That is, in the transport equipment, the empty first container C1 is transported to the first position P1 by the first transport device 1, and the second container C2 containing the article W is delivered from the automated warehouse 4 and the second container C2 is delivered. (2) The container C2 is transported to the second position P2 by the second transport device 2.
Then, the transfer device 3 takes out the article W from the second container C2 located at the second position P2, and accommodates the taken-out article W in the first container C1 located at the first position P1. W is transferred from the second container C2 to the first container C1. The second container C2 from which all the articles W to be taken out have been taken out is transported from the second position P2 by the second transport device 2 and stored in the automated warehouse 4. The first container C1 containing all the articles W to be stored is transported from the first position P1 by the first transport device 1. Hereinafter, among the articles W housed in the second container C2 transported to the second position P2, the article W to be transferred to the first container C1 is referred to as the article W to be transferred.

(container)
As shown in FIG. 4, the first container C1 includes a rectangular support portion 13 that supports the article W from below, and a side wall portion 14 that rises from each of the four sides forming the outer edge of the support portion 13. , It is formed in a box shape with an open upper surface. Then, the upper surface of the support portion 13 forms a support surface 13A that supports the article W from below. The direction along the support surface 13A in the first container C1 is the alignment direction Y, the direction orthogonal to the arrangement direction Y is the stacking direction X, and the first container C1 is arranged on the support surface 13A in the alignment direction Y and the stacking direction. It is formed in a size capable of accommodating the article W in a state of being arranged in X. As shown in FIG. 5, the direction orthogonal to the paper surface in FIG. 4 is also the alignment direction Y along the support surface 13A, and the direction along any one of the four sides of the support portion 13 is defined as the first alignment direction Y1. The direction orthogonal to the first alignment direction Y1 in the stacking direction X is referred to as the second alignment direction Y2. Since the second container C2 is formed in a box shape having an open upper surface like the first container C1, the description thereof will be omitted.
In the present embodiment, a corrugated cardboard box is used as the first container C1, and a foldable container is used as the second container C2. The first container C1 corresponds to the container to which the article W is transferred by the transfer device 3.

(Article)
As shown in FIG. 2, the article W contains the container G in the package B. There are a plurality of types of articles W, and at least one of the package B and the container G is different in the articles W of different types. In the present embodiment, the packaging body B is, for example, a highly flexible bag made of synthetic resin or a low flexibility box made of paper, and the contained object G is a costume or decoration such as clothes, socks, slippers, and sunglasses. It is a product. That is, as shown in FIG. 2, the article W includes an article W in which clothes are contained as an inclusion G in a bag-shaped package B, an article in which slippers are contained as an inclusion G in a cardboard package B, and the like. There is. The size of the upper surface of the article W may differ depending on the type, and the article W includes a plurality of types of articles W having different sizes of the upper surface of the article W.
Further, the article W includes an article W in which the container G housed in the package B is relatively hard to be damaged (for example, an article W in which clothes are housed as the package G) and a container G housed in the package B. There is an article W that is relatively fragile (for example, an article W that contains sunglasses as the container G).

Further, the article W in which a highly flexible bag is used as the packaging body B and clothes having high flexibility is used as the container G is relatively easy to lose its shape and has high flexibility. On the other hand, the article W using a cardboard box having low flexibility as the packaging body B and the article W containing the low flexibility paperboard together with the container G in the packaging body B are relatively molds. It is hard to collapse and has low flexibility. As described above, the article W may have different flexibility depending on the type.

Further, the article W includes an article W in which the vent hole E is formed in the package B as shown in FIG. 2, and an article W in which the vent hole E is not formed in the package B. Further, even in the article W in which the ventilation holes E are formed in the package B, the size and the number of the ventilation holes E may be different. Further, the article W may have different flexibility depending on the type as described above. Therefore, when the article W is held and lifted by the transfer device 3, the article W easily loses its shape and air easily enters the package B from the ventilation hole E, and the article W does not lose its shape. Alternatively, there is an article W that loses its shape but does not have a ventilation hole E or is so small that it is difficult for air to enter the package B.

(Transfer device)
As shown in FIGS. 4, 8 and 9, the transfer device 3 includes an articulated arm 16 and a suction pad 17 supported by the tip of the arm 16, and the article is provided by the suction pad 17. It is configured so that the upper surface of W can be supported in a sucked state. Then, as shown in FIGS. 8 and 9, the transfer device 3 sucks and holds the upper surface of the article W housed in the second container C2 located at the second position P2 by the suction pad 17, and then holds it. After taking out the article W from the second container C2 and accommodating it in the first container C1 located at the first position P1, the adsorption pad 17 releases the adsorption to the article W, and the article W is first removed from the second container C2. Transfer to container C1. In this way, the transfer device 3 transfers the article W to the first container C1 while holding the upper surface of the package B which is the upper surface of the article W. Further, the upper surface of the article W is a direction in which the article W is housed in the first container C1 or the second container C2 and faces upward, and the upper surface is one direction of the stacking direction X.

In the present embodiment, the transfer device 3 is provided with a plurality of suction pads 17 in a state in which the suction pads 17 shown in FIG. 4 face the support surface 13A and are arranged in the arrangement direction Y. Then, the transfer device 3 selects a part or all of the plurality of suction pads 17 according to the type of the article W, particularly the upper surface of the article W, and adsorbs and supports the article W by the selected suction pads 17. To do.

As shown in FIG. 9, the transfer device 3 lowers the suction pad 17 in a state where it is located directly above the article W housed in the first container C1, so that the article W housed in the first container C1 is lowered. Is configured to be pressable from above by the suction pad 17. That is, the transfer device 3 is also used as a pressing device 18 that presses the article W transferred to the first container C1 from above. Further, as shown in FIG. 3, the transfer device 3 is provided with a pressing sensor 19 that detects a pressing force when the article W is pressed from above by the suction pad 17.

(Control device)
As shown in FIG. 3, the transport equipment includes a control device H that controls a first transport device 1, a second transport device 2, a transfer device 3, and an automated warehouse 4.
The article W is assigned a different article code for each type. In the control device H, the article code and the article information are stored in association with each other. The article information indicates the length, width, height, weight, pattern information of the article W, the flexibility of the article W, the ease of air entering the package B, the ease of damage of the article W, the position of the center of gravity, and the like. Information.

The article W is a first-class article in which air easily enters the package B according to a predetermined standard when the article W is transferred by the transfer device 3, and an article W when the article W is transferred by the transfer device 3. It is classified into a second-class article in which air does not easily enter the package B according to a predetermined standard. That is, the article W includes a first-class article and a second-class article, and the first-class article has air in the package B when it is transferred by the transfer device 3 as compared with the second-class article. It is an article W that is easy to enter.
Then, as the information indicating "easiness of air entering the package B" in the article information stored in the control device H, whether the article W belongs to the first-class article or the article W belongs to the second-class article. Information is shown. Therefore, the control device H can determine whether the article W to be transferred is a first-class article or a second-class article based on the information indicating the ease with which air can enter the package B. That is, the control device H has a function as a discriminating device 23 for discriminating whether the article W transferred by the transfer device 3 is a first-class article or a second-class article, and is a first-class article or a second article. The transfer device 3 is controlled based on the discrimination information for discriminating whether the article is a seed article.

The contents G are a first-class container that is more easily damaged than a predetermined standard when pressed in the vertical direction while being housed in the package B, and a top and bottom container G that is housed in the package B. It is classified as a second-class container that is less likely to be damaged than a predetermined standard when pressurized in the direction. That is, the contained container G includes a first-class container and a second-class container, and the first-class container is a container G that is more easily damaged than the second-class container.
Then, as information indicating "easiness of damage of the article W" in the article information stored in the control device H, the article W in which the container G belonging to the first-class container is housed in the package B, or Information on whether the article W contains the container G belonging to the second-class container is shown in the package B. Therefore, the control device H determines whether the container G contained in the article W to be transferred is a first-class container or a second-class container based on the information indicating the susceptibility of the article W. Further, in one or more transferred articles W transferred into the first container C1, there is an article W in which the package G contains the container G belonging to the first-class container. It is possible to determine whether or not it is.

Further, the control device H stores the storage position information of the second container C2 stored in the automated warehouse 4 and the product code of the article W stored in the second container C2 in association with each other.
Further, the control device H receives order information from a plurality of shipping destinations. The order information includes code information indicating a product code set separately for each type of article W, and quantity information indicating the number of articles W of the type corresponding to each product code indicated by the code information. It has been.

Further, the control device H receives the imaging information of the first imaging device 21 and the imaging information of the second imaging device 22. The first imaging device 21 is installed so as to be able to image the first container C1 located at the first position P1 and the article W housed in the first container C1. The first imaging device 21 is installed so that the article W housed in the first container C1 can be imaged from the openings formed on the upper surfaces of the first container C1 and the first container C1 located at the first position P1. ing. The second imaging device 22 is installed so that the article W housed in the second container C2 can be imaged from the openings formed on the upper surfaces of the second container C2 and the second container C2 located at the second position P2. ing.
The control device H recognizes the existence of the article W in the second container C2 located at the second position P2 and determines the type of the article W that recognizes the existence based on the imaging information of the second imaging device 22. In addition, the control device H detects a region higher than the support surface 13A in the second container C2 based on the image pickup information of the second imaging device 22, and the article W exists in the region higher than the support surface 13A. It is determined that it is. Further, the control device H performs image processing such as pattern matching on a region higher than the support surface 13A based on the pattern information, and determines the type of the existing article W.
The control device H determines the posture and position of the article W housed in the first container C1 located at the first position P1 based on the image pickup information of the first image pickup device 21, and follows the arrangement indicated by the arrangement information. It is determined whether or not the article W is housed in the first container C1.

As shown in FIG. 7, the control device H executes the article distribution control, the arrangement setting control, and the transfer transfer control in this order. The article distribution control is a control for setting the number of first containers C1 for loading the article W to be transferred, which is indicated by the order information. The arrangement setting control sets the arrangement of the article W with respect to the first container C1 for each of the one or more transfer target Ws to be accommodated in one first container C1, and arranges the articles W in the first container C1 according to the arrangement. It is a control that sets the transfer order, which is the stacking order. The transport transfer control is such that the article W to be transferred is transferred to the first container C1 in the order indicated by the transfer order in the posture and position indicated by the sequence based on the set arrangement and the transfer order. It controls the first transfer device 1, the second transfer device 2, and the transfer device 3.

(Goods distribution control)
In the article distribution control, the number of first containers C1 for accommodating the article W to be transferred shown in the order information is set.
Specifically, the total volume of the articles W contained in one first container C1 is the set volume of the first container C1 to be accommodated according to the volume and the number of articles W to be transferred indicated by the order information. Contain as follows. By the way, in the present embodiment, the set volume is set to 60% of the accommodating volume of the first container C1, and the total volume of the article W to be transferred shown in the order information is the first container C1. When it is 60% or less of the accommodating volume, the article W to be transferred is assumed to be accommodating in one first container C1, and 1 is set as the number of the first container C1. If the total volume of the goods W to be transferred indicated in the order information exceeds 60% of the capacity of the first container C1, the total volume of the goods W stored in each first container C1 is stored. The number of the first container C1 is set to 2 or more so as to be 60% or less of the possible volume.

(Array setting control)
In the arrangement setting control, an arrangement indicating the posture and position with respect to the first container C1 is set so that one or a plurality of articles W housed in one first container C1 can be accommodated within the set height H1. Then, in the arrangement setting control, the article order, which is the order in which the articles W are stacked, is set in the first container C1 so that the articles W can be stacked according to the set arrangement. As described above, the control device H has a function as an arrangement setting unit for setting an arrangement which is an attitude and a position with respect to the first container C1 for each of the articles W to be transferred to the first container C1.

In particular, regarding the setting of the arrangement, as shown in FIGS. 4 and 5, the articles W are accommodated in a state where the articles W are arranged in a plurality of stages in the stacking direction X, and the articles W are arranged in a plurality of stages in the arrangement direction Y in the second stage from the top. In the case of accommodating, the article W to be accommodated in the uppermost stage is selected on the condition that the plane dimension is larger than the article W having the largest plane dimension in the second stage from the top, and the article W to be accommodated in the uppermost stage is stored. The arrangement is set so as to cover at least a part of each of the plurality of articles W to be accommodated in the second stage from the top.

Specifically, in the arrangement setting control, the article W having the largest plane dimension is selected from the articles W to be transferred, which are accommodated in one first container C1. When there are a plurality of types of articles W having the largest plane dimensions, the article W that is the most difficult to deform (low flexibility) is selected from the plurality of types of articles W, and further, a plurality of articles W that are the most difficult to deform. If there are seeds, the heaviest article W is selected.
Then, except for the selected one, each article W is arranged and positioned so that it is located in the lower layer as the plane dimension increases and in the upper layer as the plane dimension decreases. , The arrangement and position are set so that one selected article W is placed on the top row. When the arrangement is set in this way, as shown in FIG. 4, when a plurality of articles W in the second row from the top are lined up in the arrangement direction Y, the articles W accommodated in the uppermost row cover the plurality of articles W. Contain so that

By the way, in the arrangement shown in FIG. 4, one article W is accommodated in the uppermost row, and the second and third rows from the top and the bottom row, respectively, are arranged in only one direction of the arrangement direction Y (for example, the first arrangement). (Direction Y1 only) Two articles W are accommodated in a state where the two articles W are lined up. Further, in the arrangement shown in FIG. 5, one article W is accommodated in the uppermost row, and two articles W are arranged in both the first alignment direction Y1 and the second alignment direction Y2 in the second row from the top and the bottom row, respectively. The four articles W are accommodated in the state.
Then, depending on the type of the article W accommodated in one first container C1, the article W having the largest planar dimension has the planar dimension of the plurality of articles W accommodated in the second stage from the top, as shown in FIG. If it is the same as the total plane size, or as shown in FIG. 5, it is larger than the plane size of one article W in the article W accommodated in the second stage from the top, but it is accommodated in the second stage from the top. It may be smaller than the sum of the plane dimensions of a plurality of articles W to be formed.

(Transport transfer control)
In the transfer transfer control, one or more articles are transferred from one or more second containers C2 to one first container C1 by executing the first transfer control, the second transfer control, and the transfer accommodation control. W is housed. At this time, all of the goods W to be transferred indicated in the order information are transferred to one first container C1 and are stored in the sequence indicated by the sequence information.
In the second transfer control, the second container C2 is transported from the storage shelf 6 to the second position P2, and all of the articles W to be transferred stored in the second container C2 at the second position P2 are transferred to the transfer device 3. The second transport device 2 and the automated warehouse 4 are controlled so that the second container C2 is transported from the second position P2 to the storage shelf 6 after being taken out by.
Further, in the first transfer control, the empty first container C1 is transported from the outside to the first position P1, and all the articles W to be transferred to be accommodated in the first container C1 at the first position P1 are the transfer devices. After being accommodated by 3, the first transport device 1 is controlled so as to transport the first container C1 from the first position P1 to the outside.
Further, in the transfer accommodation control, the article W to be transferred, which is stored in the second container C2 at the second position P2, is taken out and stored in the first container C1 at the first position P1 in the arrangement indicated by the sequence information. As described above, the transfer device 3 is controlled.

In the first container C1 shown in FIG. 4, the first type of article W1 is housed in the lowermost tier and the third tier from the top, and the second type of article W2 is contained in the second tier from the top. It is housed, and the third kind of article W3 is housed in the uppermost stage. In the case of accommodating the article W in the first container C1 in this way, the transfer order is the first type article W1, the second type article W2, and the third type in order from the type located in the lower stage in the first container C1. It is set in the order of the types of articles W3.
Then, as shown in FIG. 6, in the second transport control, the second container C2 in which the first type of article W1 is stored and the second type of article W2 in which the second type of article W2 is stored are stored based on the transfer order. The second transport device 2 is such that the second container C2 and the second container C2 in which the third type of goods W3 are housed are discharged from the automated warehouse 4 and transported to the second position P2 by the second transport device 2. And control the automated warehouse 4.

(Transfer accommodation control)
Next, the transfer accommodation control will be described.
When the article W to be transferred by the transfer device 3 is a first-class article, the control device H has a transfer control for transferring the article W to the first container C1 by the transfer device 3 and a transfer control. (1) When both the first pressing control of pressing the article W transferred to the container C1 from above by the transfer device 3 and the first pressing control, and the article W transferred by the transfer device 3 is a second-class article, Only the transfer control of the transfer control and the first pressing control is executed.
Then, the control device H executes only the transfer control of the transfer control and the first pressing control, or both the transfer control and the first pressing control, and then one or more in the first container C1. When the height H3 of the article W is higher than the preset height H1, the second pressing control for pressing one or more articles W in the container from above by the transfer device 3 is executed.
Further, when the control device H executes the first pressing control or the second pressing control, if the article W containing the first-class container does not exist in the container, the article W in the container is transferred. When the article W is pressed by the loading device 3 from above with the second set pressure and contains the first-class container in the first container C1, the article W in the first container C1 is transferred by the transfer device 3. Press with the first set pressure lower than the second set pressure.

In particular, the control device H transfers the article W to the uppermost stage of the first container C1 by the transfer device 3, and when the article W is a first-class article, the transfer control and the first pressing control are performed. Do both. When the article W is transferred to the uppermost stage of the first container C1 by the transfer device 3, if the article W is a second-class article, only the transfer control of the transfer control and the first pressing control is performed. To execute.
Then, the control device H executes only the transfer control of the transfer control and the first pressing control, or both the transfer control and the first pressing control, and puts the uppermost article W in the first container C1. After accommodating, if the height H3 of the uppermost article W is higher than the preset set height H1, the second pressing control is executed.
The first pressing control corresponds to the individual pressing control, and the second pressing control corresponds to the upward pressing control.

In the transfer control, the upper surface of the article W to be transferred contained in the second container C2 is adsorbed by the suction pad 17 to hold the article W to be transferred, and then the article W to be transferred is first. The adsorption movement control for transferring so as to have the arrangement indicated by the arrangement information in the container C1 and the adsorption release control for releasing the adsorption of the article W to be transferred by the adsorption pad 17 are executed. When transferring to the first container C1 by suction movement control, the article W is placed on the mounting surface 17A of the first container C1 or another article W previously transferred to the first container C1. It will be.
The first pressing control is a control executed between the suction movement control and the suction release control in the transfer control, and the suction pad 17 is lowered while the upper surface of the article W to be transferred is sucked by the suction pad 17. This is a control in which the article W to be transferred, which has been transferred to the first container C1, is pressed from above by the suction pad 17.
The second pressing control is a control executed after the execution of the transfer control is completed, and the suction pad 17 is lowered to the first container C1 in a state where the upper surface of the article W is not sucked by the suction pad 17. This is a control in which the transferred article W is pressed from above by the suction pad 17.

The transfer control will be described based on the flowchart shown in FIG.
In the transfer control, the article W to be transferred is not a first-class article (it is a second-class article) in which air easily enters the package B, and the planned storage height H2 is higher than the set height H1. If it is sufficiently low, after executing the suction movement control, the suction release control is executed without executing the first pressing control (S1 to S4). Further, in the transfer control, when the article W to be transferred is a first-class article, the suction movement control is executed, the first pressing control is executed, and then the suction release control is executed (S1, S2). , S5 to S7). Further, in the transfer control, even when the article W to be transferred is not a first-class article (it is a second-class article), the set height H1 and the planned storage height H2 are close to each other (specifically, the transfer control is performed). (When the difference is several percent or less), the suction movement control is executed, the first pressing control is executed, and then the suction release control is executed (S1 to S3, S5 to S7). Then, when the first pressing control is executed, if the article W containing the fragile first-class container does not exist in the first container C1, the article W is pressed at the second set pressure (S5, S7). ), When the article W containing the first-class container is present in the first container C1, the article W is pressed with the first set pressure lower than the second set pressure (S5, S6).

In this way, after the control device H places the article W held by the suction pad 17 on the mounting surface 17A of the first container C1 or another article W previously transferred to the first container C1. , The article W held by lowering the suction pad 17 is pressed from above by the suction pad 17, and then the holding of the article W by the suction pad 17 is released, so that the transfer control and the first pressing control are performed. To execute.

Then, after the transfer control for the article W to be transferred is completed, the height H3 of the article W housed in the first container C1 is equal to or less than the set height H1 based on the imaging information of the first imaging device 21. In the case of, the transfer accommodation control of the article W to be transferred is terminated (S8). After the transfer control for the article W to be transferred is completed, if the height H3 of the article W housed in the first container C1 exceeds the set height H1, it is stored in the first container C1. The second pressing control is repeatedly executed until the height H3 of the article W is equal to or less than the set height H1 or the number of times the second pressing control is executed reaches the set count number (S8 to S12). Then, when the second pressing control is executed, if the article W containing the fragile first-class container does not exist in the first container C1, the article W is pressed at the second set pressure (S10, S12). ), When the article W containing the first-class container is present in the first container C1, the article W is pressed with the first set pressure lower than the second set pressure (S10, S11).

Then, as shown in FIG. 9, in the second pressing control, the highest portion of one or a plurality of articles W in the first container C1 is pressed by the transfer device 3. The phrase "pressing the highest portion by the transfer device 3" means that the suction pads 17 are arranged in the arrangement direction Y in the posture when the article W is pressed, and are located on one side of the arrangement direction Y. The highest portion of the article W in the first container C1 is between the one end of the suction pad 17 and the other end of the suction pad 17 located on the other side of the alignment direction Y. It suffices if it is located. Therefore, for example, the suction pad 17 may press the article W from above in a state where the highest portion of the article W in the first container C1 is located between the suction pads 17 arranged in the alignment direction Y. It is not necessary to directly press the highest portion of the article W in the container C1 by the suction pad 17.

2. Other Embodiments Next, other embodiments of the article transporting equipment will be described.

(1) In the above embodiment, when there are a plurality of articles W satisfying the conditions as the articles W to be accommodated in the uppermost stage, the article W having the largest plane dimension, the article W being the most difficult to deform, and the article W having the heaviest weight. , Was selected preferentially as the article W to be stored in the uppermost row, but when there are a plurality of articles W satisfying the conditions as the uppermost article W, the priority order to be selected is appropriately changed. May be good. That is, the article W to be housed in the uppermost stage may be selected preferentially in the order of description of the article W having the largest plane dimension, the article W having the heaviest weight, and the article W having the most deformation. The article W to be stored in the uppermost stage may be selected preferentially in the order of description of the difficult article W, the article W having the largest plane dimension, and the article W having the heaviest weight. The article W to be stored in the uppermost stage may be selected preferentially in the order of description of the large article W and the article W having the largest plane dimension, and the heaviest article W, the most difficult-to-deform article W, and the plane dimension are The article W to be accommodated in the uppermost stage may be selected preferentially in the order of description of the largest article W.

Further, when there are a plurality of articles W satisfying the conditions as the articles W to be accommodated in the uppermost stage, priority is given to the description order of the article W having the largest plane dimension, the article W having the least deformation, and the article W having the heaviest weight. However, when there are a plurality of articles W satisfying the conditions as the articles W to be accommodated in the uppermost stage, any of the articles W having the largest plane dimension, the article W being the most difficult to deform, and the article W having the heaviest weight. Either one or two may be preferentially selected, and it is not necessary to preferentially select the article W having the largest planar dimension, the article W having the least deformation, and the article W having the heaviest weight. Therefore, the article W having the largest planar dimension may be accommodated in a place other than the uppermost tier. For example, as shown in FIG. 11, the article W having the largest planar dimension is accommodated in the lowermost tier, and the article having the second largest planar dimension is accommodated. W may be accommodated in the uppermost stage. Similarly, regarding the weight and the difficulty of deformation, the second article W may be accommodated in the uppermost stage.
In short, the article W to be accommodated in the uppermost stage may be satisfied to have a larger plane dimension than the article W having the largest plane dimension in the second stage from the top.

(2) In the above embodiment, when the article W to be transferred by the transfer device 3 is a first-class article, both the transfer control and the first pressing control are executed, and the article W is transferred by the transfer device 3. When the article W is a second-class article, only the transfer control of the transfer control and the first pressing control is executed, but the article W transferred by the transfer device 3 is the first-class article or the second type article. Regardless of the type article, both the transfer control and the first pressing control may be executed, or only the transfer control of the transfer control and the first pressing control may be executed. Good.

(3) In the above embodiment, a corrugated cardboard box is used as the first container C1, but a foldable container may be used as the first container C1. When a corrugated cardboard box is used as the first container C1, a corrugated cardboard box in which the side surface of the corrugated cardboard box can be folded inward and the height of the side surface can be changed (capacity can be changed) may be used.

(4) In the above embodiment, the article W contained in one second container C2 is the same type of article W, and one type of article W is contained in one second container C2, but one. Two or more kinds of articles W may be stored in the second container C2. Further, the second container C2 may be provided with a partition for partitioning the space in the second container C2 into a plurality of regions, and when two or more kinds of articles W are stored in one second container C2 as described above. , Different types of articles W may be accommodated in different areas.

(5) In the above embodiment, the contained object G is used as a costume or an ornament, but the contained object G may be other than the costume or the ornament such as food or daily necessities.

(6) The configurations disclosed in each of the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

3. 3. Outline of the above-described embodiment The outline of the article transporting equipment described above will be described below.

The article transport facility includes a transfer device for transferring articles to a container and a control device for controlling the transfer device.
The article is provided with an arrangement setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction . controls pre Symbol transfer device, wherein the sequence setting section for accommodating the article in the second row from the top and accommodating the article in a state of arranging a plurality of stages in the stacking direction of a plurality arranged state to the arrangement direction In the case, the article to be stored in the uppermost stage is selected on the condition that the plane size is larger than the article having the largest plane size in the second stage from the top, and the article to be stored in the uppermost stage is selected. Only an arrangement is set so as to cover at least a part of each of the plurality of articles to be accommodated in the second stage from the top, and the control device sets the articles according to the arrangement set by the array setting unit. The transfer device is controlled so as to transfer to the container.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.

The article transport facility includes a transfer device for transferring articles to a container and a control device for controlling the transfer device.
The article is provided with an arrangement setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction. The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit, and the arrangement setting unit arranges a plurality of stages in the stacking direction. When the articles are stored in the state of being arranged and a plurality of the articles are arranged in the arrangement direction in the second row from the top, the plane dimensions in the second row from the top are larger than those of the articles having the largest plane dimensions. The article to be stored in the uppermost stage is selected on the condition that the size is large, and the article to be stored in the uppermost stage covers at least a part of each of the plurality of the articles to be stored in the second stage from the top. Set the array to accommodate and
Further provided with a pressing device for pressing the article transferred to the container from above, the article contained the contents in the package, and the transfer device held the upper surface of the package. When the article is transferred in the state, the control device controls the transfer device and the pressing device, and the height of the article housed in the uppermost stage of the container is higher than a preset set height. In addition, the upward pressing control of pressing the article housed in the uppermost stage of the container from above by the pressing device is executed so that the height of the article is equal to or less than the set height.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.
Further, by holding the upper surface of the package by the transfer device, air may flow in from the ventilation holes formed in the package to increase the volume of the article. However, by executing the upward pressing control, the article contained in the uppermost stage of the container is pressed from above by the pressing device, so that the air flowing into the packaging of the article can be discharged from the packaging. Therefore, the volume of the article contained in the container can be kept small. In particular, by pressing the article having a relatively large planar dimension housed in the uppermost stage, the entire article transferred to the container can be efficiently pressed to keep the volume small.
Further, when the height of the article transferred to the uppermost stage by the transfer device is higher than the set height, the upward pressing control is executed to press the uppermost article from above by the pressing device, and the uppermost stage is pressed by the transfer device. If the height of the article transferred to is less than or equal to the set height, the upward pressing control is not executed. Therefore, the article can be efficiently transferred to the container.

The article transport facility includes a transfer device for transferring articles to a container and a control device for controlling the transfer device.
The article is provided with an array setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction. The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit, and the arrangement setting unit arranges a plurality of stages in the stacking direction. When the articles are stored in the state of being arranged and a plurality of the articles are arranged in the arrangement direction in the second row from the top, the plane dimensions in the second row from the top are larger than those of the articles having the largest plane dimensions. The article to be stored in the uppermost stage is selected on the condition that the size is large, and the article to be stored in the uppermost stage covers at least a part of each of the plurality of the articles to be stored in the second stage from the top. The arrangement is set so as to be accommodated, and when there are a plurality of the articles satisfying the conditions as the articles to be accommodated in the uppermost stage, the most deformable article among the plurality of the articles is accommodated in the uppermost stage. Set the array to.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.
Further, the article having a larger plane size than the article in the second stage from the top and the article that is most difficult to be deformed among the articles housed in the container is housed in the uppermost stage of the plurality of articles housed in the container. As a result, it is possible to prevent the article stored in the uppermost stage from being deformed and the article stored in the container from collapsing. Therefore, the uppermost article can be used as a more effective presser against a plurality of articles in the second and subsequent rows from the top, and the plurality of articles arranged in the line-up direction are shifted in different directions and stacked in the stacking direction. It is possible to more appropriately regulate the fall of goods.

The article transport facility includes a transfer device for transferring articles to a container and a control device for controlling the transfer device.
The article is provided with an array setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction. The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit, and the arrangement setting unit arranges a plurality of stages in the stacking direction. When the articles are stored in the state of being arranged and a plurality of the articles are arranged in the arrangement direction in the second row from the top, the plane dimensions in the second row from the top are larger than those of the articles having the largest plane dimensions. The article to be stored in the uppermost stage is selected on the condition that the size is large, and the article to be stored in the uppermost stage covers at least a part of each of the plurality of the articles to be stored in the second stage from the top. The arrangement is set so as to be accommodated, and when there are a plurality of the articles satisfying the conditions as the articles to be accommodated in the uppermost stage, the heaviest article among the plurality of the articles is accommodated in the uppermost stage. Set the array to.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.
Further, the article having a larger plane size than the article in the second stage from the top and the heaviest article among the articles housed in the container is housed in the uppermost stage of the plurality of articles housed in the container. As a result, the uppermost article can be used as a more effective presser for a plurality of articles in the second and subsequent rows from the top. Therefore, it is possible to more appropriately regulate that a plurality of articles arranged in the alignment direction are displaced from each other in different directions and the articles stacked in the stacking direction fall down.

The article transport facility includes a transfer device for transferring articles to a container and a control device for controlling the transfer device.
The article is provided with an arrangement setting unit for setting an arrangement of the attitude and position of each of the articles to be transferred to the container with respect to the container, and the article has a plane dimension which is the size of the article in the vertical direction. There are a plurality of different types of articles, and the container can accommodate the articles in a state of being arranged on a support surface supporting the articles in an arrangement direction along the support surface and a stacking direction along the vertical direction. The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit, and the arrangement setting unit arranges a plurality of stages in the stacking direction. When the articles are stored in the state of being arranged and a plurality of the articles are arranged in the arrangement direction in the second row from the top, the plane dimensions in the second row from the top are larger than those of the articles having the largest plane dimensions. The article to be stored in the uppermost stage is selected on the condition that the size is large, and the article to be stored in the uppermost stage covers at least a part of each of the plurality of the articles to be stored in the second stage from the top. Set the array to accommodate and
Further provided with a pressing device for pressing the article transferred to the container from above, the article contained the contents in the package, and the transfer device held the upper surface of the package. The article is transferred in the state, and the control device controls the transfer device and the pressing device, and executes upward pressing control in which the article housed in the uppermost stage of the container is pressed from above by the pressing device. And
Further provided with a discriminating device for discriminating whether the article to be transferred by the transfer device is a first-class article or a second-class article, the first-class article is a transfer device as compared with the second-class article. It is an article in which air easily enters the inside of the package when it is transferred by, and the control device controls the transfer device and the pressing device based on the discrimination information of the discrimination device, and the transfer device controls the transfer device and the pressing device. When the article to be transferred is the first-class article, the transfer control for transferring the article to the container by the transfer device and the article transferred by the transfer control upward by the pressing device. When the article to be transferred by the transfer device is the second-class article, both the individual pressing control and the individual pressing control are executed, and the transfer of the transfer control and the individual pressing control is performed. Perform control only.

According to this configuration, the top-level article having a relatively large plane dimension is housed in the second-stage from the top so as to cover at least a part of each of the plurality of articles to be stored in the second-stage from the top. It is placed on multiple articles. Therefore, the uppermost article serves as a presser against a plurality of articles in the second and subsequent rows from the top, and it is possible to prevent the plurality of articles arranged in the arrangement direction from being displaced in different directions and the articles stacked in the stacking direction from falling. Therefore, it is possible to prevent the plurality of articles transferred to the container from collapsing.
Further, by holding the upper surface of the package by the transfer device, air may flow in from the ventilation holes formed in the package to increase the volume of the article. However, by executing the upward pressing control, the article contained in the uppermost stage of the container is pressed from above by the pressing device, so that the air flowing into the packaging of the article can be discharged from the packaging. Therefore, the volume of the article contained in the container can be kept small. In particular, by pressing the article having a relatively large planar dimension housed in the uppermost stage, the entire article transferred to the container can be efficiently pressed to keep the volume small.
In addition, when a first-class article that is relatively easy for air to enter is transferred to a container by a transfer device, the transfer control is executed to transfer the article to the container by the transfer device, and individual pressing control is executed. Then, by pressing the article in the container from above with the pressing device, the air flowing into the package of the article can be discharged from the package. Therefore, the volume of the article contained in the container can be kept small.
In addition, when a second-class article that is relatively difficult for air to enter is transferred by the transfer device, the article is transferred to the container by the transfer device by executing the transfer control, but the individual pressing control is not executed. Therefore, the article can be efficiently transferred to the container.
Therefore, it is possible to improve the storage efficiency of the container while efficiently transferring the articles containing the contents in the package.

Here, with the container as the first container, a transport device for transporting a second container different from the first container to a transport position, and the article are arranged in the first container according to the arrangement set by the arrangement setting unit. The second container is provided with an order setting unit for setting a transfer order for each type, and the transfer device is located at the transfer position of the second container. It is preferable that the article is transferred from the first container to the first container, and the control device controls the transfer device so as to transport the second container to the transfer position according to the transfer order .

According to this configuration, the second container is transported to the transport position according to the transfer order set by the order setting unit. Therefore, by transferring from the second container to the first container, which is sequentially transported to the transport position, the first container is transferred. It becomes easy to transfer articles to one container according to the arrangement set by the arrangement setting unit.

Further, it is preferable that the arrangement setting unit sets the arrangement so that the article having the largest plane size among the articles to be accommodated in the container is accommodated in the uppermost stage .

According to this configuration, the article having the largest plane size among the articles housed in the container is housed in the uppermost stage of the plurality of articles housed in the container. As a result, the uppermost article can be used as a more effective presser for a plurality of articles in the second and subsequent rows from the top. Therefore, it is possible to more appropriately regulate that a plurality of articles arranged in the alignment direction are displaced from each other in different directions and the articles stacked in the stacking direction fall down.

The technique according to the present disclosure can be used in an article transport facility equipped with a transfer device for transferring an article into a container.

2: Second transport device (convey device)
3: Transfer device 13A: Support surface C1: First container (container)
C2: Second container H: Control device (arrangement setting unit)
P2: Second position (transport position)
W: Article X: Lamination direction Y: Arrangement direction

Claims (7)

An article transfer facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.
It is provided with an arrangement setting unit for setting an arrangement which is a posture and a position with respect to the container for each of the articles to be transferred to the container.
The article includes a plurality of types of articles having different plane dimensions, which are the sizes of the articles in the vertical direction.
The container can accommodate the article on a support surface that supports the article in a state of being arranged in an arrangement direction along the support surface and a stacking direction along the vertical direction .
Before SL sequence setting unit, when accommodating the article in the second row from the top and accommodating the article in a state of arranging a plurality of stages in the stacking direction of a plurality lined state in the arrangement direction, the second stage from the top Select the article to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size in the above, and store the article to be stored in the uppermost stage in the second stage from the top. Only the arrangement is set so as to cover at least a part of each of the plurality of articles .
The control device is an article transfer device that controls the transfer device so that the article is transferred to the container according to the arrangement set by the arrangement setting unit. An article transfer facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.
It is provided with an arrangement setting unit for setting an arrangement which is a posture and a position with respect to the container for each of the articles to be transferred to the container.
The article includes a plurality of types of articles having different plane dimensions, which are the sizes of the articles in the vertical direction.
The container can accommodate the article on a support surface that supports the article in a state of being arranged in an arrangement direction along the support surface and a stacking direction along the vertical direction.
The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit.
When the arrangement setting unit accommodates the articles in a state of being arranged in a plurality of stages in the stacking direction and accommodating the articles in a state of being arranged in a plurality of stages in the arrangement direction in the second stage from the top, the arrangement setting unit is in the second stage from the top. A plurality of articles to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size, and the articles to be stored in the uppermost stage are stored in the second stage from the top. The arrangement is set so as to cover at least a part of each of the above-mentioned articles .
A pressing device for pressing the article transferred to the container from above is further provided.
The article is a package containing the contents.
The transfer device transfers the article while holding the upper surface of the package.
The control device controls the transfer device and the pressing device, and when the height of the article housed in the uppermost stage of the container is higher than a preset set height, the control device is housed in the uppermost stage of the container. An article transporting facility that executes upward pressing control for pressing the article from above by the pressing device so that the height of the article is equal to or less than the set height. An article transfer facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.
It is provided with an arrangement setting unit for setting an arrangement which is a posture and a position with respect to the container for each of the articles to be transferred to the container.
The article includes a plurality of types of articles having different plane dimensions, which are the sizes of the articles in the vertical direction.
The container can accommodate the article on a support surface that supports the article in a state of being arranged in an arrangement direction along the support surface and a stacking direction along the vertical direction.
The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit.
When the arrangement setting unit accommodates the articles in a state of being arranged in a plurality of stages in the stacking direction and accommodating the articles in a state of being arranged in a plurality of stages in the arrangement direction in the second stage from the top, the arrangement setting unit is in the second stage from the top. A plurality of articles to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size, and the articles to be stored in the uppermost stage are stored in the second stage from the top. The arrangement is set so as to cover at least a part of each of the articles, and if there are a plurality of the articles satisfying the conditions as the articles to be accommodated in the uppermost stage, among the plurality of the articles. An article transport facility that arranges the articles so as to accommodate the articles that are most difficult to deform at the top. An article transfer facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.
It is provided with an arrangement setting unit for setting an arrangement which is a posture and a position with respect to the container for each of the articles to be transferred to the container.
The article includes a plurality of types of articles having different plane dimensions, which are the sizes of the articles in the vertical direction.
The container can accommodate the article on a support surface that supports the article in a state of being arranged in an arrangement direction along the support surface and a stacking direction along the vertical direction.
The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit.
When the arrangement setting unit accommodates the articles in a state of being arranged in a plurality of stages in the stacking direction and accommodating the articles in a state of being arranged in a plurality of stages in the arrangement direction in the second stage from the top, the arrangement setting unit is in the second stage from the top. A plurality of articles to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size, and the articles to be stored in the uppermost stage are stored in the second stage from the top. The arrangement is set so as to cover at least a part of each of the articles, and if there are a plurality of the articles satisfying the conditions as the articles to be accommodated in the uppermost stage, among the plurality of the articles. An article transport facility in which an arrangement is set so as to accommodate the heaviest article in the uppermost stage. An article transfer facility including a transfer device for transferring an article to a container and a control device for controlling the transfer device.
It is provided with an arrangement setting unit for setting an arrangement which is a posture and a position with respect to the container for each of the articles to be transferred to the container.
The article includes a plurality of types of articles having different plane dimensions, which are the sizes of the articles in the vertical direction.
The container can accommodate the article on a support surface that supports the article in a state of being arranged in an arrangement direction along the support surface and a stacking direction along the vertical direction.
The control device controls the transfer device so as to transfer the article to the container based on the arrangement set by the arrangement setting unit.
When the arrangement setting unit accommodates the articles in a state of being arranged in a plurality of stages in the stacking direction and accommodating the articles in a state of being arranged in a plurality of stages in the arrangement direction in the second stage from the top, the arrangement setting unit is in the second stage from the top. A plurality of articles to be stored in the uppermost stage on the condition that the plane size is larger than the article having the largest plane size, and the articles to be stored in the uppermost stage are stored in the second stage from the top. The arrangement is set so as to cover at least a part of each of the above-mentioned articles .
A pressing device for pressing the article transferred to the container from above is further provided.
The article is a package containing the contents.
The transfer device transfers the article while holding the upper surface of the package.
The control device controls the transfer device and the pressing device, and executes upward pressing control in which the article housed in the uppermost stage of the container is pressed from above by the pressing device.
Further provided with a discriminating device for discriminating whether the article to be transferred by the transfer device is a first-class article or a second-class article.
The first-class article is an article in which air is more likely to enter the package when transferred by the transfer device than the second-class article.
The control device is
The transfer device and the pressing device are controlled based on the discrimination information of the discrimination device.
When the article to be transferred by the transfer device is the first-class article, the transfer control for transferring the article to the container by the transfer device and the article transferred by the transfer control are performed. Both the individual pressing control of pressing from above by the pressing device and the individual pressing control are executed.
When the article to be transferred by the transfer device is the second-class article, an article transfer facility that executes only the transfer control of the transfer control and the individual pressing control. A transport device that transports a second container different from the first container to a transport position using the container as the first container.
A sequence setting unit for setting a transfer order for arranging the articles in the first container according to an arrangement set by the array setting unit is provided.
The article is stored in the second container according to the type.
The transfer device transfers the article from the second container located at the transport position to the first container.
The article transporting equipment according to any one of claims 1 to 5, wherein the control device controls the transporting device so as to transport the second container to the transporting position according to the transfer order. The arrangement setting unit according to any one of claims 1 to 6, wherein the arrangement setting unit sets an arrangement so that the article having the largest plane size among the articles to be accommodated in the container is accommodated in the uppermost stage. Goods transport equipment.

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