JP7155587B2 - ARTICLE POSTURE CORRECTION STRUCTURE, CONVEYING APPARATUS, AND CONVEYING METHOD - Google Patents

Description

TECHNICAL FIELD The present invention relates to a posture correcting structure for an article housed in a container, a conveying device, and a conveying method.

2. Description of the Related Art For example, a conveying device disclosed in Patent Document 1 has been proposed for conveying various articles. In the conveying apparatus of Patent Document 1, rice balls are objects to be conveyed, and after aligning a predetermined number of rice balls, the aligned rice balls are sucked and held by a suction unit and boxed.

Here, in the transportation of such goods (rice balls), the goods are stored in containers of product number weight or the like in a state of being aligned in the front-rear and left-right directions at the distribution center, and then the goods within the product number weight are delivered to each store. The desired number of items may be packed into other containers, such as shipping weights, for shipment to the warehouse.

When storing rice balls in product weights, the rice balls are often placed in an upright state. In this case, a plurality of rice balls are arranged side by side within the product weight with the thickness direction facing the left and right direction, and furthermore, each rice ball is left and right with a slight gap between the rice balls adjacent to each other in the left and right direction or the inner wall. aligned with

Japanese Patent Application Laid-Open No. 2011-251702

It is difficult to mechanize and automate the storage of rice balls in product weights due to space limitations in distribution centers, etc., and it is often reliant on manual labor by workers. If a gap is provided between rice balls adjacent to each other in the left-right direction in consideration of manual workability, the rice balls accommodated in the product number are likely to be misaligned or tilted. In such a state, if the rice ball within the product weight is to be held by a transfer robot or the like, the rice ball will be out of the range that the robot can hold. As a result, there is a problem that the rice balls cannot be held and the number of rice balls to be conveyed is insufficient, or that unintended rice balls remain in the product weight.

The present invention has been made in view of such problems, and an article posture correcting structure, a conveying apparatus, and a conveying method that can avoid the inability to hold an article housed in a container at a desired position. One of the purposes is to provide

An article posture correcting structure according to one aspect of the present invention is a posture correcting structure capable of correcting an article to the standing posture in order to carry out a thick article stored in a container in the standing posture to the outside of the container. a partition member disposed in the vicinity of the bottom of the container and on both sides in the thickness direction of each of the plurality of stored articles and capable of positioning the plurality of articles at a predetermined storage position; a movement mechanism capable of moving upward from the bottom , wherein the partition member includes partitions positioned on both sides in the thickness direction of the article to be positioned, the partitions having regions that approach the article as they go downward; The region is characterized in that it is slidable on the outer surface of the article when the partition member is moved upward . Further, an article posture correcting structure according to one aspect of the present invention is a posture correcting structure capable of correcting an article to the standing posture in order to carry out an article stored in a container in a standing posture with a thickness to the outside of the container. a partition member disposed in the vicinity of the bottom of the container on both sides in the thickness direction of each of the plurality of stored articles and capable of positioning the plurality of articles at a predetermined storage position; a moving mechanism capable of moving upward from the bottom of the container, wherein the partition member includes partition bodies positioned on both sides in the thickness direction of the article to be positioned, and the partition body has a region that approaches the article as it goes downward. and the region is slidable on the outer surface of the article when the partition member is moved upward.

In one aspect of the present invention, the conveying device is characterized by further comprising a holding device capable of holding and conveying an article corrected by the posture correcting structure.

Further, a conveying method according to one aspect of the present invention includes an arrangement step of arranging an article in a container, a correcting step of correcting the posture of the article arranged in the container by the posture correcting structure, and an article whose posture has been corrected. and a conveying step of holding and conveying from within the container.

According to such a configuration, by arranging the articles inside the partition member in the container, it is possible to align the articles in the container even by manual work so as not to shift the position of the articles. Moreover, even if the article is tilted from the upright posture, the partition member slides up against the article by moving the partition member upward, so that the inclination can be eliminated and the article can be corrected to the upright posture. As a result, when the articles are conveyed from the container by the holding device or the like, the articles can be stably arranged within a range where the articles can be held by the holding device. It is possible to eliminate the remaining items due to

According to the present invention, by positioning the article in the container with the partition member and then moving the partition member upward, the inclined article can be corrected to an upright posture, and the article accommodated in the container can be held at a desired position. You can avoid the impossibility.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic front view which carried out the partial cross section view of the conveying apparatus to which the posture correction structure which concerns on 1st Embodiment was applied. It is a partial schematic plan view of the said conveying apparatus. It is a figure for demonstrating the malfunction of the conveying apparatus which concerns on a conventional structure. It is a figure for demonstrating the malfunction of the conveying apparatus which concerns on a conventional structure. It is explanatory drawing of the posture correction by the said posture correction structure. It is explanatory drawing of the flow of conveyance by the said conveying apparatus. It is explanatory drawing of the flow of conveyance by the said conveying apparatus. It is explanatory drawing of the flow of conveyance by the said conveying apparatus. FIG. 11 is a partial schematic cross-sectional view of a conveying device to which a posture correcting structure according to a second embodiment is applied; FIG. 10 is a cross-sectional view similar to FIG. 9 showing a state in which the holding member has been moved upward; FIG. 11A is a front view, similar to FIG. 1, of a conveying device to which the posture correcting structure according to the third embodiment is applied, and FIG. 11B is a partially enlarged view of FIG. 11A. FIG. 12A is an explanatory diagram of posture correction in the third embodiment, and FIG. 12B is a partial enlarged view of FIG. 12A. It is explanatory drawing of the conveyance by the conveying apparatus of 3rd Embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to the following embodiments, and can be modified appropriately without changing the gist of the present invention. In the following diagrams, part of the configuration is omitted for convenience of explanation. In the following description, unless otherwise specified, "up", "down", "left", "right", "front", and "back" are based on directions indicated by arrows in each drawing. However, the orientation of each configuration in each of the following embodiments is merely an example, and can be changed to any orientation.

[First embodiment]
FIG. 1 is a schematic front view showing a partial cross-section of a conveying device to which a posture correcting structure according to an embodiment is applied, and FIG. 2 is a partially schematic plan view of the conveying device. As shown in FIGS. 1 and 2, the conveying device 1 is configured to convey rice balls (goods) W contained in a product weight (container) T to a shipping weight (not shown) serving as another container. be. The product weight T is formed in a box-like shape with an open top, including a bottom portion Ta having a square outer peripheral shape in a plan view, and side walls Tb rising from the outer peripheral side serving as four sides of the bottom portion Ta. The bottom portion Ta is formed with a large number of openings Tc (not shown in FIG. 2), and may be formed in a plate-like body with the openings Tc evenly distributed, or may be formed in a lattice shape so that a plurality of openings Tc are formed. can be exemplified.

Here, the rice ball W to be conveyed in the present embodiment is a rice ball of a predetermined shape which is packed in a square bag member when viewed from the left and right direction, and the upper end of one side of the bag member is formed to be sharp. be. In the product weight T, the rice balls W are accommodated in a state of being aligned in a matrix along two orthogonal directions of front and back and left and right. . In other words, the product weight T accommodates n (n is a natural number) (five in this embodiment) rice balls W in a plurality of rows (five in this embodiment) in the thickness direction. It is The thickness direction of each rice ball W thus accommodated in a plurality of rows is oriented in the horizontal direction. Each rice ball W is in an upright posture with the pointed portion of the bag member facing upward.

The conveying device 1 includes a holding device 10 (not shown in FIG. 2) for carrying out the rice balls W accommodated in the product weight T. As shown in FIG. The holding device 10 is provided with five holding mechanisms 11 corresponding to the number of rice balls W arranged side by side with a product weight T, and a support frame 12 that connects and supports these holding mechanisms 11 from above. . In the holding device 10, a support frame 12 is attached to a robot arm such as a multi-joint arm (not shown), a two-axis or three-axis movement mechanism, or the like. can be carried out to the outside of

The five holding mechanisms 11 have substantially the same configuration and are arranged side by side in the left-right direction at regular intervals. The five-body holding mechanism 11 includes a gripping portion 14 and a driving portion 15 that supports the gripping portion 14 so as to be vertically movable.

The gripping portion 14 includes a pair of gripping bodies 18 swingable around a support shaft 17, and the tip of each gripping body 18 is opened and closed so that the upper end side of the rice ball W can be gripped.

The driving portion 15 is composed of an air cylinder or the like whose overall length in the vertical direction is variable. Therefore, by driving the drive section 15, the grip section 14 can be moved up and down relative to the support frame 12. As shown in FIG.

The conveying device 1 includes a partition member 20 and a moving mechanism 30 as a structure for correcting the posture of the rice ball W. As shown in FIG.

The partition member 20 is arranged near the bottom Ta of the product weight T. As shown in FIG. The partition member 20 is formed in a lattice shape in a plan view, and the rice ball W storage space 21 is formed by the openings formed side by side in the front, rear, left, and right directions by the lattice. The housing space 21 is formed in an opening shape that is slightly larger than the outer shape of the rice ball W in plan view. After placing the partition member 20 in the product number weight T, a plurality of rice balls W are manually packed so that each one is accommodated in the accommodation space 21, so that each rice ball W is five each in the front, rear, right, and left directions shown in FIG. It is possible to roughly position them in the storage positions that are evenly spaced at .

In the partition member 20 , a portion that extends linearly in the front-rear direction is formed as a first partition (partition) 23 , and a portion that extends linearly in the left-right direction is formed as a second partition 24 . The first partitions 23 are positioned on both sides in the thickness direction of the rice ball W that is housed in the product weight T and positioned by the partition member 20 . In other words, the first partition 23 is arranged between the inner surfaces of the side walls Tb of the rice balls W or product weights T1 adjacent to each other in the left-right direction. The second partitions 24 are positioned on both front and rear sides of the rice balls W accommodated in the product weight T. As shown in FIG.

The partition member 20 is formed so that the height position of the upper end is lower than the upper end of the rice ball W in a state of being arranged on the side of the bottom Ta of the product weight T (see FIG. 1). The vertical height of the partition member 20 varies depending on the shape of the rice ball W and the ease with which it can be deformed. . Further, the partition member 20 is formed so that the height position of the upper end thereof is lower than the upper end of the rice ball W even when the partition member 20 is moved upward to correct the rice ball W to the standing posture as described later (Fig. 5). reference).

The moving mechanism 30 is composed of a linear motion mechanism such as an air cylinder capable of vertically moving the output shaft 31, and is installed on a base (not shown) or the like on which the product weight T is placed. The output shaft 31 of the moving mechanism 30 is arranged through an opening Tc in the bottom portion Ta of the product weight T, and the upper end portion of the output shaft 31 can contact the lower surface of the partition member 20 . Therefore, by driving the moving mechanism 30 to raise the output shaft 31, the partition member 20 can be moved upward from the bottom portion Ta of the product weight T (see FIG. 5). In FIG. 1, the partition member 20 is placed on the upper end surface of the output shaft 31 and is slightly separated from the bottom Ta of the product weight T, but the partition member 20 is placed on the bottom Ta. ), and the upper end surface of the output shaft 31 may be separated from the lower surface of the partition member 20 .

As shown in FIG. 2, the moving mechanism 30 is arranged at four locations closer to the center than the front, rear, left, and right corners of the product weight T in a plan view, and the output shaft 31 is arranged between the first partition 23 and the second partition. 24 is provided so as to abut on the crossing position. Note that the number and layout of the moving mechanisms 30 are not particularly limited and may be changed as appropriate.

Here, the carrying out of the rice balls from the product number weight in the conventional structure will be described below with reference to FIGS. 3 and 4. FIG. 3 and 4 are diagrams for explaining a defect of the transport device according to the conventional structure. The conventional structure of FIGS. 3 and 4 has a structure in which the partition member 20 and the moving mechanism 30 of the above embodiment are omitted. In the conventional structure, as shown in FIG. 3, when the rice balls W are manually accommodated in the product weight T, the positional accuracy of the rice balls W is low because there is no partition member 20, or the rice balls W are tilted from the standing posture. It becomes easier.

In this state, as shown in FIG. 4, when an attempt is made to hold the rice balls W with the holding device 10, there are cases where two rice balls W are arranged within a range that can be held by the single holding mechanism 11 (see FIG. 4). Refer to middle code A1). Also, there may be cases where the rice ball W is no longer within the range that can be held by the holding mechanism 11 (see symbol A2 in FIG. 4). Thus, in the conventional structure, there is a problem that the rice ball W is poorly held.

On the other hand, by providing the partition member 20 and the moving mechanism 30 of the above-described embodiment, the posture of the rice ball W can be corrected as described below, and the problems of the conventional structure can be resolved.

A conveying method by the conveying apparatus of the above embodiment will be described with reference to FIGS. 1 and 5 to 8. FIG. 5 to 8 are explanatory diagrams of the flow of transportation by the conveying device, and FIG. 5 is an explanatory diagram of posture correction of rice balls by the posture correction structure. First, an arrangement step is performed. In the arranging step, as shown in FIG. 1, the partition member 20 is arranged on the side of the bottom Ta of the product weight T, and the rice ball W is manually accommodated in each accommodation space 21 of the partition member 20 . In this storage, the rice balls W are partitioned by the partition member 20 and aligned, so that the rice balls W can be prevented from being greatly displaced or fallen down. However, if the accommodation space 21 is not formed to be large enough for the rice ball W, the workability of manual packing may be affected, and the inclination of the rice ball W may remain as shown.

Then, a correction process is implemented. In the correction step, the moving mechanism 30 is driven to move the partition member 20 upward from the bottom Ta of the product weight T, as shown in FIG. As a result, even if the rice ball W is tilted from the upright posture, the first partitioning body 23 of the partition member 20 slides up against the rice ball W, displacing the rice ball W as indicated by the arrow in FIG. can be corrected to a standing posture. Then, the sharp portion on the upper end side of the rice ball W can be arranged right below the middle position in the left-right direction of the pair of open grippers 18 of each holding mechanism 11 waiting above.

After correcting the rice ball W to the upright posture as shown in FIG. 5, the conveying process is carried out. In the conveying process, as shown in FIG. 6 , the gripping bodies 18 are lowered by driving the driving portions 15 of the holding mechanisms 11 , and the upper end side of the rice ball W is inserted between the gripping bodies 18 . Then, as shown in FIG. 7, by closing the gripper 18, the upper end side of the rice ball W is gripped (held) by the distal end side of the gripper 18. As shown in FIG. Thereafter, as shown in FIG. 8, the rice ball W is transported to an upper position outside the product weight T by driving the drive unit 15 to raise the gripper 18 . Then, by moving the holding device 10 by a moving mechanism (not shown) or the like, the rice ball W is transported to a predetermined transport position.

According to the first embodiment, since the partition member 20 is arranged at the bottom Ta of the product weight T, the rice ball W can be manually accommodated in each accommodation space 21, and the accommodation position is largely displaced. can be prevented. Moreover, even if the rice ball W is tilted during such accommodation, the rising movement of the partition member 20 can correct the rice ball W to the upright posture. As a result, the position of the rice ball W can be corrected to the grippable range by the corresponding gripper 18 before gripping by the gripper 18, and a plurality of rice balls W are arranged in the grippable range, or the rice ball W does not exist. can be avoided. As a result, it is possible to suppress the occurrence of improper gripping of the rice balls W, eliminate the remaining rice balls W due to the shortage of the number of rice balls W to be transported or the omission of transport, and improve the reliability of the transport line.

Next, embodiments of the present invention other than those described above will be described. In the following description, the same reference numerals may be used for components that are the same as or equivalent to those in the embodiments described before, and the description may be omitted or simplified.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 9 and 10. FIG. FIG. 9 is a partial schematic cross-sectional view of a conveying device to which the posture correcting structure according to the second embodiment is applied. As shown in FIG. 9, in the second embodiment, a connecting portion 40 is provided in the partition member 20 in contrast to the first embodiment.

The connecting portion 40 is formed with a vertical portion 41 and a transverse portion 42 . The vertical portion 41 extends vertically along the inner surface of the side wall Tb of the product weight T, and the lower end side is connected to the upper surface of the partition member 20 on the outer peripheral side. The transverse portion 42 is connected to the upper end of the vertical portion 41 and protrudes outward from the side wall Tb of the product weight T to form the upper end side of the connecting portion 40 .

In the second embodiment, the moving mechanism 30 is arranged so that the upper end of the output shaft 31 can come into contact with the lower surface of the transverse portion 42 of the connecting portion 40 . Therefore, the moving mechanism 30 raises the connecting portion 40 by raising the output shaft 31, and thus the partitioning member 20 can be moved upward from the bottom portion Ta of the product weight T via the connecting portion 40. becomes (see FIG. 10).

According to the second embodiment as described above, even when the opening Tc (see FIG. 1) is not formed in the bottom portion Ta of the product weight T, the partition member 20 can be moved upward by the moving mechanism 30. The same functions and effects as in the first embodiment can be obtained. 9 and 10, the connecting portions 40 are formed on both the left and right sides of the partition member 20, but instead of or in addition to this, the connecting portions 40 are formed on both front and rear sides of the partition member 20 (both sides in the direction perpendicular to the plane of the drawing). may be formed. Further, the connecting portion 40 may be provided on the entire outer peripheral region that is the four sides of the partition member 20, but it is sufficient if it is formed at least partially on the portion where the force by the moving mechanism 30 is applied.

[Third embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS. 11 to 13. FIG. FIG. 11A is a front view, similar to FIG. 1, of a conveying device to which the posture correcting structure according to the third embodiment is applied, and FIG. 11B is a partially enlarged view of FIG. 11A. As shown in FIGS. 11A and 11B, in the third embodiment, unlike the first embodiment, the first partition (partition) 23 of the partition member 20 is provided with a projecting portion 50. .

The protruding portions 50 are formed in each of the first partitions 23 located on both sides of the rice ball W in the thickness direction (left and right direction). As shown in FIG. 11B, the protruding portion 50 is formed to protrude from the lower portion of the first partition 23 toward the rice ball W side. The upper surface of the projecting portion 50 is an inclined surface 51, and the inclined surface 51 is inclined in a direction toward the rice ball W as it goes downward. The distance between the tips of the left and right projecting portions 50 is formed to be larger than the width of the main body of the rice ball W wrapped in the bag member.

In the rice ball W, an unintended external force or the like is applied to the bag member, and the upper end side may be crushed and deformed so as to be concave (see FIG. 11B). In this state, the upper end position of the rice ball W is lowered, and when the gripping bodies 18 are lowered in the holding device 10, the upper end side of the rice ball W cannot be inserted between the gripping bodies 18, and there is a possibility that gripping failure may occur. .

In the third embodiment, as shown in FIG. 12A, when the partition member 20 is moved upward from the bottom Ta of the product weight T, the rice ball W is corrected to the standing posture in the same manner as in the first embodiment. do. Simultaneously with this posture correction, the projecting portion 50 moves upward while sliding on the rice ball W bag member. At this time, as shown in FIG. 12B, the left and right side surfaces (see FIG. 11B) bulging due to the top portion of the bag member being crushed by the rice ball W are squeezed up by the left and right projecting portions 50 and pushed in a direction toward each other. can be pressed. As a result, the air in the bag member moves upward, and the upper end side is restored to a sharp shape.

By restoring the shape of the rice ball W in this way, as shown in FIG. , the upper end side of the rice ball W can be gripped.

According to the third embodiment, as in the first embodiment, the partition member 20 is lifted to correct the rice ball W to the upright posture, and the protrusion 50 pushes up the sides of the rice ball W. Deformation of the bag member can also be corrected. As a result, the occurrence of improper gripping of the rice ball W can be better suppressed, and the reliability of transportation of the rice ball W can be further improved.

In addition, since the inclined surface 51 is formed on the projecting portion 50, the angle formed by the side surface of the rice ball W and the upper surface (inclined surface 51) of the projecting portion 50 can be reduced, and the projecting portion 50 can be slid on the side surface of the rice ball W. Resistance can be suppressed. Moreover, since the inclined surface 51 is formed, when the rice balls W are manually stuffed into the housing space 21 of the partition member 20, the rice balls W can be guided to the middle of the left and right first partitions 23.例文帳に追加

Although each embodiment of the present invention has been described above, another embodiment of the present invention may be a combination of the above embodiments wholly or partially.

Moreover, the embodiments of the present invention are not limited to the above-described embodiments, and various changes, substitutions, and modifications may be made without departing from the spirit of the technical idea of the present invention. Furthermore, if the technical idea of the present invention can be realized in another way by advances in technology or another derived technology, the method may be used for implementation. Therefore, the claims cover all embodiments that can be included within the scope of the technical concept of the present invention.

Also, in each of the above-described embodiments, the article to be gripped is the rice ball W, but the article is not limited at all as long as it can be accommodated in the container (product weight T) via the partition member 20 . For example, in addition to rice balls packed in bags other than the above-mentioned shapes, other foods such as sandwiches, breads, and lunch boxes, finished products or parts having a three-dimensional shape, and products packed in boxes or trays good too.

Also, the case where the product number weight T is used as the container has been described, but the container is not limited to this, and various containers can be used according to the articles to be accommodated. Furthermore, the number of articles (rice balls) whose postures are corrected by the partition member 20 should be at least one, such as in a line in the left-right direction or in the front-rear direction.

Further, the holding device 10 may be a suction pad that holds the rice ball W by suction, instead of holding the rice ball W as described above. The suction pad communicates with a negative pressure generator to generate a negative pressure, and by vacuum-sucking the outer surface of the rice ball W, the article can be held.

Moreover, various design changes are possible for the projecting portion 50 in the third embodiment. For example, it may be provided on either one of the first partitions 23 positioned on both sides of the rice ball W in the thickness direction. Furthermore, the projecting portion 50 may be an inclined surface that approaches the rice ball W as the entire surface of the first partition 23 facing the rice ball W goes downward. Further, the protruding portion 50 may be a roller rotatably mounted on the surface of the first partition 23 or configured to be displaceable in the thickness direction of the rice ball W, for example.

Further, as shown in FIG. 1, the height position of the upper end of the partition member 20 is lower than the upper end of the rice ball W. It may be formed lower than the upper end. For example, by forming the height of one of the first partitions 23 higher than the upper end of the rice ball W, the direction in which the rice ball W falls can be the opposite side of the first partition 23 which is formed high, and the direction of the fall is increased. can be limited.

Reference Signs List 1 conveying device 10 holding device 20 partition member 23 first partition (partition)
30 Moving mechanism 40 Connecting part 50 Protruding part 51 Inclined surface T Product number weight (container)
Ta Bottom Tb Side wall Tc Opening W Rice ball (article)

Claims (8)

A posture correcting structure capable of correcting the article to the standing posture in order to carry out the article stored in the container in the standing posture with thickness to the outside of the container,
a partition member disposed in the vicinity of the bottom of the container on both sides in the thickness direction of each of the plurality of stored articles and capable of positioning the plurality of articles at a predetermined storage position;
a moving mechanism capable of moving the partition member upward from the bottom of the container ;
The partition members include partition bodies positioned on both sides in the thickness direction of the article to be positioned;
a projecting part projecting from the lower part of the partition to the article side,
The posture correcting structure for an article , wherein the protruding portion is movable by sliding on the outer surface of the article when the partition member is moved upward . 2. The structure for correcting posture of an article according to claim 1 , wherein said projecting portion has an inclined surface that approaches the article as it goes downward. A posture correcting structure capable of correcting the article to the standing posture in order to carry out the article stored in the container in the standing posture with thickness to the outside of the container,
a partition member disposed in the vicinity of the bottom of the container on both sides in the thickness direction of each of the plurality of stored articles and capable of positioning the plurality of articles at a predetermined storage position;
a moving mechanism capable of moving the partition member upward from the bottom of the container ;
The partition member includes partition bodies positioned on both sides in the thickness direction of the article to be positioned,
The posture correction of an article , wherein the partition member has a region that approaches the article as it goes downward, and the region can slide on the outer surface of the article when moving the partition member upward. structure. 4. The partition member is arranged near the bottom of the container, and the upper end of the partition member is formed at a position lower than the upper end of the article . Posture correcting structure of the article according to 1. 5. The article posture correcting structure according to claim 1, wherein the moving mechanism moves the partition member through an opening formed in the bottom of the container. a connection portion having a lower end connected to the partition member and positioned along the inner surface of the side wall of the container, and having an upper end protruding outward from the side wall;
5. The article posture correcting structure according to claim 1 , wherein the moving mechanism moves the partition member upward through the connecting portion. a posture correcting structure according to any one of claims 1 to 6 ;
A conveying device comprising a holding device capable of holding and conveying an article corrected by the posture correcting structure. A conveying method using the posture correcting structure according to any one of claims 1 to 6 ,
an arranging step of arranging an article in the container;
a correcting step of correcting the posture of the article placed in the container by the posture correcting structure;
and a conveying step of holding and conveying the article whose posture has been corrected in the correcting step from within the container.

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