JP6987607B2 - Storage device and goods transfer method - Google Patents

Description

The present invention relates to a storage device for storing a plurality of articles in a storage member and a method for transferring articles.

Conventionally, for example, a storage member (container) described in Patent Document 1 below is known.

This conventional storage member includes a rectangular bottom plate, a pair of first side plates provided at both ends in the longitudinal direction of the bottom plate, and a pair of second side plates provided at both ends in the lateral direction of the bottom plate. It is equipped with. Further, an elongated plate-shaped partition plate for partitioning adjacent articles is projected from the bottom plate and each first side plate.

Then, in this storage member, a plurality of articles (for example, a cold insulating material) are partitioned by a partition plate and stored in a state where a gap exists between the articles adjacent to each other.

Japanese Patent No. 5371016

And there is a demand for an apparatus capable of appropriately performing such storage work.

The present invention has been made in view of such a point, and an object of the present invention is to provide a storage device and an article transfer method capable of appropriately storing a plurality of articles.

Storage device according to the present invention is a housing unit for accommodating a plurality of articles in the housing member, and conveying means for conveying the articles, and a first storage means having a movable storage member in which a plurality of articles is stored, a plurality There is a gap between the second storage means having a fixed storage body in which the articles are stored, the first moving means for moving the articles from the transport means to the movable storage body, and the articles in which a plurality of articles are adjacent to each other. From the transfer means having a holding hand for holding the state, and using the holding hand to transfer a plurality of articles and storing them in a state where there is a gap between the articles adjacent to each other in the storage member, and the movable storage body. It is provided with a second moving means for moving the article to the fixed storage body and moving the article from the fixed storage body to the holding hand.

Further, the storage device according to the present invention is a storage device for storing a plurality of articles in a storage member, and includes a transport means for transporting the articles and a first storage means having a movable storage body for storing the plurality of articles. , and a second storage means having a fixed storage body having a plurality of articles are stored, a first moving means for moving the article to the movable storage member from said transfer means, a plurality of articles the holding hand to hold , moving a transfer means for transferring a plurality of articles Previous Symbol housing member with the holding hand from the mobile and the fixed storage element of the article from the movable storage member to the fixed storage element of the article to the holding hand It is provided with a second means of transportation for carrying out the above.

Further, the storage device according to the present invention is a storage device for storing a plurality of articles in a storage member, and includes a transport means for transporting the articles and a movable storage body in which the plurality of articles are stored at intervals. a plurality of articles using a coercive tube means that, a first moving means before Symbol conveying means moves the article to the movable storage member, a plurality of articles having a holding hand to hold, the holding hand Yusuke a transfer means for transferring the pre-Symbol housing member, a plurality of articles stored in the movable storage member, in which and a second moving means for moving in unison with the holding hand by extruding from said movable storage member ..

Further, in the article transfer method according to the present invention, the article is transported by the first moving means to the first storage means having a step of transporting the article by the transport means and a movable storage body in which a plurality of articles are stored. The step of moving from the means to the movable storage body, the step of moving the plurality of articles stored in the movable storage body to the fixed storage body by the second moving means, and the step of moving the plurality of articles in the fixed storage body are continued. By the second moving means, the step of moving a plurality of articles to a holding hand capable of holding a gap between adjacent articles and the holding hand holding the plurality of articles are connected to the holding hand. It includes a step of transporting an article by moving it by a transporting means .

Further, in the article transfer method according to the present invention, the article is transported by the first moving means to the first storage means having a step of transporting the article by the transport means and a movable storage body in which a plurality of articles are stored. The step of moving from the means to the movable storage body, the step of moving the plurality of articles stored in the movable storage body to the fixed storage body by the second moving means, and the step of moving the plurality of articles in the fixed storage body are continued. A step of moving a plurality of articles to a holding hand capable of holding the plurality of articles by the second moving means, and a step of moving the holding hand holding the plurality of articles by the transfer means to which the holding hand is connected to transfer the articles. And include .

According to the present invention, a plurality of articles can be appropriately stored in the storage member.

It is a side view of the main part of the storage device which concerns on 1st Embodiment of this invention. It is a top view of the main part of the storage device as above. Same as above It is an overall schematic view of the storage device. (A) is a perspective view of an article to be stored, and (b) is a plan view of a storage member in which the article is stored. (A) is a side view of the first storage means of the same storage device, and (b) is a front view thereof. (A) is a side view of the second storage means of the same storage device, and (b) is a front view thereof. (A) is a plan view of the first moving means of the same storage device, and (b) is a side view thereof. It is a front view of the 2nd moving means of the said storage device. (A) to (c) are plan views of the second moving means as above. Same as above It is a front view of the holding hand (vertical posture) of the storage device. Same as above It is a side view of the holding hand in the holding state. It is a figure which shows the state which the article was pushed when the holding release state of the same above-mentioned holding hand. It is operation | movement FIG. 1 for demonstrating the operation of the said storage apparatus. It is operation | movement FIG. 2 (plan view) for demonstrating the operation of the said storage apparatus. It is a figure following FIG. FIG. 3 is an operation diagram 3 (side view) for explaining the operation of the storage device of the same as above. It is a figure following FIG. It is a side view of the main part of the storage device which concerns on 2nd Embodiment of this invention. It is a top view of the main part of the storage device as above. Same as above It is an operation explanatory diagram of the storage device. It is a figure which shows the modification of the holding hand of a transfer means.

The first embodiment of the present invention will be described with reference to FIGS. 1 to 17.

As shown in FIG. 3, 1 in the figure is a storage device, and this storage device 1 is a storage system in which a plurality of articles 2 to be stored are sequentially put into a container 3 which is a storage member and automatically stored. be.

As shown in FIG. 4A and the like, the article 2 is, for example, a flat rectangular parallelepiped cold insulating material, and the cold insulating agent 5 which is liquid at room temperature is stored in a flat rectangular parallelepiped container 6. The container 6 includes a container body 8 having an injection port 7 for injecting the ice pack 5 in the center of the upper end, and a lid (cap) 9 detachably attached to the injection port 7 of the container body 8. It is equipped with. The article 2 is not limited to the cold insulating material shown in FIG. 4A, and may be, for example, a material having a plurality of through holes through which cold air passes, a rod-shaped material, a rectangular parallelepiped material, or the like. But it may be.

As shown in FIG. 4B and the like, the container 3 is, for example, a foldable rectangular parallelepiped container (case), and stores, for example, 10 pieces of standing articles 2 in each row, up to a total of 20 pieces. It is possible. In the container 3, a plurality of articles (one article row) 2 arranged in a row on the left side on one side, and a plurality of articles (another article row) 2 arranged in a row on the right side on the other side. Between them, there is a central space portion (central empty space) 11 which is a relatively large space portion through which cold air passes when the article 2 is cooled in the next step.

Specifically, the container 3 has a bottom plate 12 having a rectangular shape in a plan view, a pair of left and right first side plates 13 provided at both ends of the bottom plate 12 in the longitudinal direction, and both ends of the bottom plate 12 in the lateral direction. A pair of front and rear second side plates 14 are provided in the bottom plate 12, each first side plate 13 and each second side plate 14 are formed with a plurality of through holes (not shown) through which cold air passes. ing.

Further, the bottom plate 12 and each first side plate 13 are partition plates 15 which are elongated plate-shaped partition portions which partition the articles 2 adjacent to each other in the row direction (front-back direction) and form a gap a between the articles 2. Are projected respectively. The partition plate 15 is not provided in the central portion of the bottom plate 12 in the longitudinal direction, which is the portion corresponding to the central space portion 11. That is, the partition plate 15 (15L) is projected from the left side portion of the bottom plate 12, and the partition plate 15 (15R) is projected from the right side portion of the bottom plate 12. Although not shown, a raised portion slightly raised along the longitudinal direction is formed in the central space portion 11.

Then, with respect to the container 3 with a partition having such a partition plate 15, a plurality of articles 2 are in an upright state with the lid 9 facing upward by the storage device 1 and are adjacent to each other in the row direction. It is continuously and automatically stored so that there is a gap a between the articles 2 and a plurality of rows have a central space 11 between the rows of articles 2 (between the rows of articles).

That is, the storage device 1 has a plurality of articles 2 in an upright posture with respect to the container 3 having an open top surface, and a plurality of articles 2 in a state in which a gap a exists between the vertical surfaces of the articles 2 adjacent to each other. It is a cold insulation boxing system that automatically stores in rows.

As shown in FIG. 3, the storage device 1 first transports a plurality of articles 2 in a state where the intervals and directions are not aligned (random), and the wide transport means 21 and the articles 2 transported by the wide transport means 21. The alignment means 22 that corrects the posture of the article 2 in the same direction and aligns the articles 2 in one row, and the transport means 23 that transports the articles 2 after the alignment by the alignment means 22 in the transport direction while still in the one row state. And have.

Further, the storage device 1 is a cooling device (not shown) of the next step of the empty container transport means 24 for transporting the empty container 3 and the actual container 3 in which a predetermined number (for example, 20) of articles 2 are stored in a desired state. ) Is provided with an actual container transporting means 25 for transporting.

On the other hand, as shown in FIGS. 1 and 2, the storage device 1 is provided close to the transport end portion of the transport means 23, and a plurality of articles 2 are in an inverted state along the horizontal direction and in the vertical direction with each other. A first storage means 32 having a movable storage body 31 temporarily stored in a state where a gap a exists between adjacent articles 2, and a plurality of articles 2 provided in close proximity to the first storage means 32. It is provided with a second storage means 34 having a fixed storage body 33 that is temporarily stored in a state of being laid down along the horizontal direction and in a state where a gap a exists between the articles 2 adjacent to each other in the vertical direction. That is, the two storage means 32 and 34 arranged in the front-rear direction are arranged close to each other. The article storage means 30 is composed of these two storage means 32 and 34.

Further, the storage device 1 has a gap a between the first moving means 36 that horizontally moves the articles 2 from the transport means 23 to the movable storage body 31 one by one in an inverted state, and the articles 2 that are adjacent to each other. Has a holding hand 37 that simultaneously holds in the presence of, and uses this holding hand 37 to transfer a plurality of articles 2 (for example, simultaneously holding a group of articles consisting of five articles and transferring them to a predetermined position in the container 3). ), And after the transfer means 38 to be stored in the container 3 and the movable storage body 31 to the fixed storage body 33 at the same time (for example, five at the same time), the articles 2 are horizontally moved while maintaining the interval a while being in the collapsed state. The article 2 is provided with a second moving means 39 for moving the article 2 horizontally from the fixed storage body 33 to the holding hand 37 at a predetermined timing while maintaining the interval a in a prone state at the same time (for example, five at the same time). ..

As described above, the storage device 1 includes the transport means 23, the first storage means 32, the second storage means 34, the first moving means 36, the second moving means 39, the transport means 38, and the like. The specific configuration of the above will be described. Although not shown, the storage device 1 includes control means for controlling a drive source or the like included in each of the means.

As shown in FIG. 1, the transport means 23 is, for example, a roller conveyor, and the article 2 is in an inverted state (the lid 9 is on the right side) while rotating in a predetermined direction by power from a drive source (not shown) such as a motor. It has a plurality of transport rollers 41 for transporting toward the front, which is the transport direction, while the state of being laid down toward. The roller conveyor has a low-speed accumulator zone Z1 that conveys the article 2 at a low speed by providing a difference in the rotation speed of the conveyor roller 41, and a high-speed disconnection zone Z2 that conveys the article 2 at a higher speed than the low-speed accumulator zone Z1. It is configured in.

At the intermediate position between the transport end of the low-speed accumulator zone Z1 and the transport start of the high-speed disconnection zone Z2, the intermediate stopper 42, which is a regulator that regulates the movement of the article 2 in the transport direction, can move up and down. It is provided in. The intermediate stopper 42 is located between a regulated position that restricts the movement of the article 2 in the transport direction and an allowable position that allows the article 2 to move in the transport direction based on the operation of the drive source (not shown). , Move up and down.

A stopper 43, which is a restricting body for restricting the movement of the article 2 in the transport direction, is provided at a position near the transport end portion of the high-speed disconnection zone Z2 so as to be movable in the vertical direction. Like the intermediate stopper 42, the stopper 43 has a regulated position that regulates the movement of the article 2 in the transport direction based on the operation of the drive source (not shown), and an allowance that allows the article 2 to move in the transport direction. Move up and down to and from the position.

As shown in FIGS. 5A and 5B, the first storage means (elevating shelf means) 32 has a support 46, and the column portion 47 of the support 46 has a vertically longitudinal rail. Body 48 is fixed. The rail body 48 is provided with a shelf-shaped movable storage body (elevating shelf unit) 31 having a plurality of (for example, six) article storage units 50 so as to be movable in the vertical direction, that is, to be able to move up and down.

The movable storage body 31 has a thickness dimension (an article in an inverted state) of one article 2 based on the operation of a drive source (not shown) in a predetermined moving area that is in close proximity to the fixed storage body 33 on the downstream side. It moves in the vertical direction by a predetermined distance corresponding to the vertical dimension of 2). That is, each time the movable storage body 31 moves forward by the first moving means 36 and is carried into the article storage unit 50, the movable storage body 31 corresponds to the size of one article 2. The article storage unit 50, which can store (accept) the next article 2, is moved (positioned) to the carry-in position by ascending or descending by a predetermined distance (one step of the article storage unit 50). As a result, the empty article storage unit 50 moves to the carry-in position step by step, and the article 2 is continuously stored. Although not shown, a drive body for raising and lowering the movable storage body 31 is housed in the rail body 48, and the drive body is composed of, for example, a motor (drive source), a ball screw, or the like.

Here, the movable storage body 31 has a slide frame 51 that slides in the vertical direction along the rail body 48, and the slide frame 51 is a plurality of (for example, 6) rectangular plate-shaped members. The shelves 52 are horizontally fixed to each other at equal intervals. Then, the article storage in which the article 2 is temporarily stored by the shelf board 52 on which the article 2 is placed and the storage space 53 above the shelf board 52 (a space slightly larger than one article 2) 53. Part 50 is composed. That is, the movable storage body 31 has six article storage units 50 arranged in the vertical direction, an article inlet 54 is formed on the rear surface of each article storage unit 50, and an article outlet 55 is formed on the front surface. Has been done. Further, the slide frame 51 is fixed to a slide moving body slidable with respect to the rail body 48.

As shown in FIGS. 6A and 6B, the second storage means (fixed shelf means) 34 has a support 56, and the support plate portion 57 of the support 56 has a plurality (for example, for example). A shelf-shaped fixed storage body (fixed shelf portion) 33 having an article storage section 60 (10) in total, five on the upper side and five on the lower side across the intermediate space, is fixedly installed.

Each article storage section 60 of the fixed storage body 33 has a shelf board 62 which is a rectangular plate-shaped member horizontally fixed to the support plate section 57 and this shelf, like the article storage section 50 of the movable storage body 31. It is composed of a storage space 63 (a space slightly larger than one article 2) 63 above the plate 62. That is, the fixed storage body 33 has five article storage units (upper article storage units) 60 arranged in the vertical direction on the upper side, and five article storage units (lower article storage units) 60 arranged in the vertical direction on the lower side. An article inlet 64 is formed on the rear surface of each article storage unit 60, and an article outlet 65 is formed on the front surface thereof.

In this illustrated example, the total number of article storage units 60 of the fixed storage body 33 is "10", which is twice the number of articles 2 held by the holding hand 37 at the same time, and is also double. This is more than "6", which is the number of article storage units 50 of the movable storage body 31. However, the number is not limited to this, and for example, when the number of articles 2 held by the holding hand 37 at the same time is "9", for example, the number of article storage units 60 of the fixed storage body 33 is set to "18". The number of the article storage units 50 of the movable storage body 31 may be set to "11". That is, assuming that the number of the article storage units 50 of the movable storage body 31 is a, the number of the article storage units 60 of the fixed storage body 33 is b, and the number of the article 2 held by the holding hand 37 at the same time is c, b> a> c, and a = c + n and b = c × n (n is an integer of 1 or more). In this embodiment, a = c + 1 and b = c × 2 (with an intermediate space in between). Further, as another counting method of the article storage section 60 in the present embodiment, b = (c × n) + 1 as a whole, which is a total of “11”, and the article storage section 60 of “1” in the center is not. It may be considered that the storage unit 66 is used or described later, and the remaining "10" is divided into upper and lower stages by "5".

The number of article storage units 50 of the movable storage body 31 is preferably larger than the number of articles 2 simultaneously held by the holding hands 37, but the number may be the same. Similarly, the number of article storage units 60 of the fixed storage unit 33 is preferably larger than the number of article storage units 50 of the movable storage unit 31, but the number may be the same.

Further, the fixed storage body 33 has an accommodating portion 66 which is a positioning means accommodating portion in an intermediate space in the central portion in the vertical direction, and the accommodating portion 66 has an article 2 when the article 2 is moved by the first moving means 36. A positioning means 67 for restricting forward movement and positioning the article 2 at a predetermined position in the article storage section 50 of the movable storage body 31 is accommodated.

The positioning means 67 has a positioning cylinder 68 and a positioning plate 70 which is a positioning body longitudinally longitudinal in the left-right direction fixed to the tip of a rod portion 69 of the positioning cylinder 68. The positioning plate 70 is located between the advancing position where the article 2 is positioned by advancing from the inside of the accommodating portion 66 toward the movable storage body 31 and the retracting position where the positioning plate 70 retracts into the accommodating portion 66 based on the operation of the positioning cylinder 68. Then, it moves in the front-back direction, which is the horizontal direction.

As shown in FIGS. 7 (a) and 7 (b), the first moving means (first pusher means) 36 has a support 71, and a rail body longitudinally longitudinal in the front-rear direction is provided on the upper portion of the support 71. 72 is fixed. The rail body 72 is provided with a slide moving body 73 that can move in the front-rear direction along the rail body 72. The slide moving body 73 is horizontal between the first position (standby position) and the second position (the position where the article movement is completed to the movable storage body 31) based on the operation of a drive source (not shown) such as a motor. Moving.

Further, an elevating cylinder 75 is attached to the slide moving body 73 via a cylinder mounting portion 74, and the tip (lower end) of the rod portion 76 of the elevating cylinder 75 is moved up by the operation of the cylinder 75. A pusher 77 that moves up and down between the position (non-acting position) and the lower position (acting position) is fixed. The push body 77 has a horizontal plate portion 78 and a vertical plate portion 79 protruding downward from the front end portion of the horizontal plate portion 78, and the lower end side of the vertical plate portion 79 is the lower end side of the vertical plate portion 79 when the article 2 is pushed. It is an article contact portion 80 that comes into contact with the article 2.

Then, the push body 77 is moved forward based on the movement of the slide moving body 73 from the first position to the second position in the state of being positioned at the lower working position, so that the pushing body 77 is moved above the high-speed separation zone Z2 of the transport means 23. The article (one article in the collapsed state) 2 is pushed forward by the article contact portion 80 to move, and is carried into the storage space 53 from the article inlet 54 of the article storage section 50 of the movable storage body 31. At this time, since the positioning plate 70, which is a stopper, is located at the advanced position and closes the article outlet 55, the article 2 does not pop out from the article outlet 55 and is at a predetermined position in the article storage unit 50. Stop.

As shown in FIGS. 8 and 9, the second moving means (second pusher means) 39 has a support 81, and the support 81 has two front and rear columns parallel to each other. A rail body 83 having a longitudinal direction is fixed.

A slide moving body 85 that can move in the front-rear direction along the rail body 83 is installed in each rail body 83, and the sliding moving body 85 has a moving body 88 having a rotating shaft mounting portion 86 and a cylinder mounting portion 87. Is connected. Then, each of the upper and lower moving bodies 88 has a first position (standby position), a second position (a position where the article movement to the fixed storage body 33 is completed), and a second position (a position where the article movement is completed to the fixed storage body 33), based on the operation of a drive source (not shown) such as a motor. And move horizontally to the third position (the position where the article has been moved to the holding hand 37) (see FIG. 9 (c)). The upper moving body 88 and the lower moving body 88 move individually by the power from the corresponding drive sources.

Further, a rotating shaft 90 having an axial direction in the vertical direction is rotatably attached to the rotating shaft mounting portion 86 of each moving body 88. A plurality of, for example, five rod-shaped members 91 for pushing articles are horizontally fixed to the rotating shaft 90 at equal intervals from each other. Each rod-shaped member 91 has an article contact portion 92 that comes into contact with the article 2 when the article 2 is pushed, and the article contact portion 92 can pass through the article storage portions 50 and 60. Then, a plurality of (for example, five) rod-shaped members 91 and a rotation shaft 90 to which these are fixed constitute a pusher (pusher) 89 that simultaneously pushes a plurality of (for example, five) articles 2 and moves them forward. ing. The rod-shaped member 91 (91a), which is one of the five rod-shaped members 91 of the push body 89, is formed in a substantially shape and has a rod connecting portion 93 which is a drive source connecting portion. There is.

Further, a rotating cylinder 95 is attached to the cylinder mounting portion 87 of each moving body 88, and the rod connecting portion 93 of the rod-shaped member 91a is attached to the tip (rear end) of the rod portion 96 of the rotating cylinder 95. The base end portions of the above are rotatably connected. Therefore, based on the operation of the rotating cylinder 95, the pushing body 89 connected to the rotating cylinder 95 horizontally rotates between the working position and the non-acting position about the rotating shaft 90. That is, the rotation shaft 90 rotates, and each rod-shaped member 91 fixed to the rotation shaft 90 also rotates in conjunction with this rotation operation, so that the push body 89 rotates as a whole.

Then, the push body 89 is moved forward based on the movement of the moving body 88 from the first position to the second position in the state of being positioned at the action position, so that the push body 89 becomes the storage space 53 of the article storage unit 50 of the movable storage body 31. A plurality of stored articles (five articles in a prone state) 2 are simultaneously pushed forward by the article contact portion 92 and moved, while being carried from the article inlet 64 into the storage space 63 of the article storage section 60 of the fixed storage body 33. ..

Further, the push body 89 is moved forward based on the movement of the moving body 88 from the second position to the third position while being positioned at the action position, so that the push body 89 becomes the storage space 63 of the article storage unit 60 of the fixed storage body 33. A plurality of stored articles (five articles in a prone state) 2 are simultaneously pushed forward by the article contact portion 92 and moved forward while being carried into the storage space 114 of the holding hand 37 described later.

The upper push portion 97 is composed of the upper moving body 88, the upper pushing body 89, the upper rotating cylinder 95, etc., and the lower moving body 88, the lower pushing body 89, and the lower rotating cylinder The lower push portion 98 is configured by 95 and the like, and the upper push portion 97 and the lower push portion 98 each individually perform a push operation (next carry-in operation) of the article 2.

As shown in FIGS. 10 to 12, the transfer means (robot means for transfer) includes a base 101, an articulated robot arm 102 rotatably provided on the base 101, and the robot arm. The tip of 102 has a holding hand 37, which is a robot hand rotatably provided around a rotation center axis (rotation fulcrum) 103.

The holding hand 37 can move (including rotation) in an arbitrary direction within a predetermined movement region based on the operation of the robot arm 102. The holding hand 37 is a hand device capable of simultaneously holding a plurality of (for example, five) articles 2 in a state where a gap a exists between the two articles 2 by partitioning the adjacent articles 2 from each other without bringing them into close contact with each other. Is.

Here, as shown in FIGS. 10 to 12, the holding hand 37 is a portion constituting the tip of the robot arm 102 and is rotatable about at least the rotation center axis 103 and an axis orthogonal to the rotation center axis 103. A storage body 106 attached to the wrist portion 105, which is the tip of the arm, and a plurality of (for example, five) articles 2 are stored in a state where a gap a exists between the articles 2 adjacent to each other, and the storage body 106. It has a holding body 107 that simultaneously holds and holds a plurality of (for example, five) articles 2 stored in the container while the gap a is present.

The housing body 106 has a base member 111 including a mounting plate portion 110 fixed to the lower surface of the wrist portion 105 of the robot arm 102, and the base member 111 has a plurality of pieces having through holes 112 formed therein, that is, for example. Six plate-shaped members 113 are fixed to each other at equal intervals.

Of these six plate-shaped members 113, the space between the plate-shaped members 113 adjacent to each other is a storage space (a space slightly larger than one article 2) 114, and one article 2 in each storage space 114. Is stored. Then, a plate-shaped member (a plate-shaped member that functions as a shelf board among the six sheets) 113 on which the article 2 from the fixed storage body 33 side is placed when the holding hand 37 is in the horizontal posture, and above the plate-shaped member 113. The storage space 114 and the article storage unit 116 are configured. That is, the storage body 106 has a plurality of (for example, five) article storage units 116 in which the article 2 is temporarily stored.

Of the six plate-shaped members 113, five plate-shaped members 113 except for the highest one located at the top when the holding hand 37 is in the horizontal posture are fixedly stored in the holding hand 37 in the horizontal posture. It is a plate-shaped article support portion (support plate) that receives the article 2 from the body 33 side and places and supports the downward-facing surface of the article 2 in the inverted state. Further, of the six plate-shaped members 113, the four inner plate-shaped members 113 excluding the outer two members partition the articles 2 adjacent to each other to form (maintain) a gap a between the two articles 2. It is a partition part (partition plate) to be used.

Further, a fixed support plate 117, which is an elongated plate-shaped one-side support member that supports the end portion 2a on the lower surface of the article 2 (the end surface opposite to the lid 9 side), is fixed to the tip end side of the base member 111. Has been done.

Further, a holding cylinder (driving means) 118 is attached to the base end side of the base member, and the tip of the rod portion 119 of the holding cylinder 118 is an end on the upper surface (end surface on the lid 9 side) of the article 2. A movable support plate (holding plate) 120, which is a movable elongated plate-shaped other side support member that supports the portion 2b and sandwiches the article 2 from both end faces side together with the fixed support plate 117, is fixed. The moving support plate 120 moves between the action position for holding the article 2 together with the fixed support plate 117 and the non-action position for releasing the holding, based on the operation of the holding cylinder 118. The holding body 107 is composed of a fixed support plate 117 fixed to the storage body 106 and a movable support plate 120 movable with respect to the storage body 106. The driving means for holding the article 2 in the holding body 107 is not limited to the holding cylinder 118, and may be another actuator such as a motor.

Further, the holding hand 37 includes a rotating body 121 which is an article pushing body for simultaneously pushing out a plurality of (for example, five) articles 2 stored in the storage body 106 from the fixed support plate 117. The rotating body 121 is attached to the storage body 106 when the holding hand 37 is in a vertical posture and at least a part of the holding hand 37, that is, more than half of the holding hand 37 including the lower half, has entered the container 3. When a plurality of stored articles (for example, 5 pieces) 2 are simultaneously extruded from the fixed support plate 117 toward the side plate side of the container 3 and the article 2 is extruded from the fixed support plate 117 by this extruding operation, the article 2 is extruded from the bottom plate 12 It falls up by its own weight for a short distance and is stored in the container 3.

The rotating body 121 is rotatably (movably) attached to the housing body 106 via the rotation center shaft 122. The rotating body 121 moves, that is, rotates between the acting position and the non-acting position about the rotation center axis 122 based on the expansion / contraction operation of the diaphragm 123 which is the driving means. As the drive means, for example, a cylinder, a motor, or the like may be adopted.

Further, the rotating body 121 is composed of, for example, two arms 124 and a connecting plate 125 for connecting the tip portions of these arms 124 to each other, and has the same number of article pushing portions as the number of article accommodating portions 116 of the accommodating body 106. It has 126, and each article pushing portion 126 is arranged in the article storage section 116. Then, by rotating the rotating body 121 to the action position based on the operation of the diaphragm 123, these five article pushing portions 126 push the predetermined portion 2c on the side surface of the five articles 2 in the storage body 106 to push the article 2. Drop at the same time. The article 2 that has fallen and stored on the bottom plate 12 of the container 3 does not protrude upward from the upper surface opening 3a of the container 3, and the upper surface of the article 2 is located below the upper surface opening 3a of the container 3. (See Fig. 12).

Further, a first opening 128 is formed on one surface of each article storage portion 116 of the storage body 106 (the surface opposite to the rotating body 121 side), and the other surface orthogonal to the one surface is formed. A second opening 129 is formed in (the surface on the fixed support plate 117 side). Then, in the vertical posture of the holding hand 37, the first opening 128 opens toward the side (direction toward the first side plate 13 of the container 3), and the second opening 129 opens downward (see FIG. 11). ). Of the second opening 129 of each article storage portion 116, the lower portion of the opening portion located on the side opposite to the first opening 128 side is closed by the fixed support plate 117.

Next, the operation and the like of the storage device 1 will be described with reference to the drawings.

First, to explain with reference to operation FIG. 1 (FIG. 13), as shown in FIG. 13 (a), the article 2 is conveyed in an inverted state by the conveying means 23, and after being separated in the high-speed separation zone Z2. , Hits the stopper 43 and stops.

Then, as shown in FIGS. 13 (b) and 13 (c), after the stopper 43 has moved from the regulated position to the allowable position, one article 2 on the high-speed disconnection zone Z2 is the first position of the slide moving body 73. It is pushed by the push body 77 that moves forward based on the movement from the second position to the second position, moves in the lying state, and is carried into the article storage unit 50 of the movable storage body 31 of the first storage means 32. During the pushing operation by the pushing body 77, the drive of the transport roller 41 in the high-speed disconnection zone Z2 may be stopped or decelerated.

At the time of this loading, since the positioning plate 70 is located at the advanced position and closes the article outlet 55 of the article storage unit 50, the article 2 hits the positioning plate 70 and stops at a predetermined position in the article storage unit 50.

Next, as shown in FIG. 13 (d), the subsequent next article 2 is supplied onto the high-speed separation zone Z2, and the movable storage body 31 of the first storage means 32 is for one stage of the article storage unit 50. It rises by a predetermined distance. Then, the next article 2 is similarly pushed forward by the pushing body 77 of the first moving means 36 and carried into the article storage unit 50 of the movable storage body 31.

By repeating such an operation, a plurality of articles 2 are sequentially carried into the movable storage body 31 of the first storage means 32 and stored in a state in which a gap a exists between the articles adjacent to each other. ..

Next, with reference to operation FIGS. 2 (14 and 15), as shown in FIGS. 14 (a) and 14 (b), the article 2 is pushed by the push body 77 of the first moving means 36. When the movable storage body 31 is carried into the movable storage body 31 and the movable storage body 31 has five articles 2 which are a predetermined number (preset set number), the push body 89 of the second moving means 39 is prepared. Moves from the non-acting position to the acting position (the position facing the article 2 in the movable storage body 31) based on the operation of the rotating cylinder 95.

Then, as shown in FIG. 14 (c), when the pushing body 89 moves forward based on the movement of the moving body 88 of the second moving means 39 from the first position to the second position, the article of the movable storage body 31 The five articles 2 on the storage unit 50 are pushed by the push body 89 and move all at once while maintaining the gap a in the collapsed state, and the article storage unit 60 of the fixed storage body 33 of the second storage unit 34 It is carried in and stored in.

After that, as shown in FIG. 14D, the holding hand 37 of the transfer means 38 is in a horizontal position and arrives at a predetermined position (article receiving position for receiving the article from the fixed storage body 33), and the five fixed storage bodies 33 are received. When the five article storage units 116 of the article storage unit 60 and the storage body 106 of the holding hand 37 are arranged side by side so as to face each other in close proximity to each other, as shown in FIG. 15 (e), the moving body of the second moving means 39. Based on the movement of 88 from the second position to the third position, the push body 89 moves further forward.

Then, the five articles 2 on the article storage unit 60 of the fixed storage body 33 are pushed by the push body 89 and move all at once while maintaining the gap a in the collapsed state, and move to the article receiving position in the horizontal posture. It is carried in and stored in the article storage section 116 of the storage body 106 of the positioned holding hand 37.

Next, as shown in FIG. 15 (f), the five articles 2 in the collapsed state stored in the storage body 106 of the holding hand 37 in the lateral posture are sandwiched between the fixed support plate 117 and the moving support plate 120. .. At this time, the holding body 107 composed of the fixed support plate 117 and the moving support plate 120 simultaneously sandwiches the five articles 2 while maintaining the gap a between the adjacent articles 2.

Next, as shown in FIG. 15 (g), the five articles 2 sandwiched by the holding body 107 of the holding hand 37 are transferred toward the loading destination container 3 based on the operation of the robot arm 102. The push body 89 of the second moving means 39, which has finished transferring the article to the holding hand 37, moves from the working position to the non-working position based on the operation of the rotating cylinder 95, and the moving body 88 is the first. Return to position and prepare for the next action.

Next, as shown in FIG. 15 (h), the holding hand 37 being moved from the second storage means 34 to the container 3 is rotated 90 degrees from the horizontal posture to the vertical posture, and the five articles 2 are in the inverted state. It becomes a standing state from.

Then, as shown in FIG. 12, the holding hand 37 in a vertical posture in which the five articles 2 that maintain the gap a in the standing state are sandwiched from above and below by the holding body 107 includes the central space portion 11 in the container 3. When it enters the space inside the container and stops at a predetermined position, the moving support plate 120 moves to release the holding of the article 2 by the holding body 107, and the rotating body 121 rotates to move the article 2 in the upright state. Push and move.

Then, the five articles 2 in the upright state fall on the bottom plate 12 of the container 3 when the end portion 2a of the lower surface thereof separates from the fixed support plate 117, and are stored in the container 3 in a desired state.

That is, the plurality of articles 2 are stored in the container 3 in a state in which the lid 9 faces upward and is partitioned by the partition plate 15 so that a gap a exists between the articles 2 adjacent to each other. To. The size of the gap a between the articles 2 adjacent to each other does not have to be exactly the same in the container 3, the holding hand 37, the fixed storage body 33, and the movable storage body 31. It may be almost the same. In particular, in the container 3, the standing article 2 is in a state of leaning against the partition plate 15, so that the size of each gap a is not constant.

Then, when 20 articles 2 are stored in a desired state while maintaining a gap a for passing cold air in one container 3, the actual container 3 is moved from the container stop position to the next step by the actual container transport means 25. It is carried out to the cooling device, and instead, the empty container 3 is supplied to the container stop position by the empty container transport means 24.

Although the operation of the push body 89 of the upper push portion 97 has been described in this operation diagram 2, the operation of the push body 89 of the lower push portion 98 is basically the same, and this point is the following operation diagram 3. I will explain in.

Next, it will be described with reference to operation FIGS. 3 (16 and 17).

First, as shown in FIGS. 16A to 16E, the article 2 is transferred to the article storage unit 50 by repeating the pushing operation of the article 2 (see operation FIG. 1) by the pushing body 77 of the first moving means 36 described above. Each time the movable storage body 31 is carried in, the movable storage body 31 rises by a predetermined distance for one stage, and the article 2 is added to all of the five article storage units (other than the article storage unit 50a at the bottom stage) 50 of the movable storage body 31. Is carried in, as shown in FIG. 16 (f), the pushing body 89 of the upper pushing portion 97 moves from the non-acting position to the acting position.

Then, as shown in FIGS. 16 (g) and 16 (h), when the push body 89 of the upper push portion 97 moves forward, the five articles 2 are pushed by the push body 89 of the upper push portion 97. By moving, it is carried into and stored in the upper article storage unit 60 of the fixed storage body 33.

Further, while the push body 89 of the upper push portion 97 is moving forward, the lowermost stage of the article storage unit 50a is in an empty state, so that the push body 77 of the first moving means 36 moves forward (). (Moves at a higher speed than the push body 89), and the next one article 2 is carried into the lowermost article storage unit 50a by being pushed and moved by the push body 77. At this time, since the positioning plate 70 closes the article outlet 55, the article 2 stops at a predetermined position in the lowermost article storage section 50a. In addition, after the delivery to the lowermost article storage unit 50a and the movement of the upper article 2 group to the fixed storage unit 33 is completed, in the movable storage body 31, the subsequent article 2 stores the article. Each time it is carried into the unit 50, it descends by a predetermined distance for one step.

Then, as shown in FIGS. 17 (i) and 17 (j), after the lateral holding hand 37 arrives at the upper article receiving position, when the push body 89 of the upper push portion 97 moves further forward, five pieces are used. Article 2 is carried into the holding hand 37 in the lateral posture by being pushed and moved by the pushing body 89 of the upper pushing portion 97.

Then, as shown in FIG. 17 (k), the holding hand 37 of the transfer means 38 holds the five articles 2 and then moves toward the container 3. Then, the holding hand 37 releases the holding of the article 2 in the vertical posture of entering the container 3, pushes the five articles 2 with the article pushing portion 126 of the rotating body 121, and stores the five articles 2 in the container 3 in a desired state. do.

Subsequently, as shown in FIG. 17 (l), when the transfer means 38 is operated, the article 2 is carried into all of the five article storage units (other than the uppermost article storage unit 50b) 50 of the movable storage body 31. If so, the push body 89 of the lower push portion 98 moves from the non-action position to the action position.

Then, as shown in FIG. 17 (m), when the push body 89 of the lower push portion 98 moves forward, the five articles 2 are pushed and move by the push body 89 of the lower push portion 98. As a result, it is carried into the lower article storage unit 60 of the fixed storage body 33 and stored.

Further, while the push body 89 of the lower push portion 98 is moving forward, the uppermost stage of the article storage portion 50a is in an empty state, so that the push body 77 of the first moving means 36 moves forward. (Moves at a higher speed than the push body 89), and the next one article 2 is carried into the uppermost article storage unit 50b by being pushed and moved by the push body 77. At this time, since the positioning plate 70 closes the article outlet 55, the article 2 stops at a predetermined position in the article storage section 50b at the uppermost stage. After this carry-in, the movable storage body 31 rises by a predetermined distance for one step each time the subsequent article 2 is carried into the article storage unit 50.

Then, as shown in FIGS. 17 (n) and 17 (o), after the lateral holding hand 37 arrives at the lower article receiving position, when the push body 89 of the lower push portion 97 moves further forward, The five articles 2 are pushed and moved by the push body 89 of the lower push portion 97, and are carried into the holding hand 37 in the lateral posture.

After that, the holding hand 37 of the transfer means 38 holds the five articles 2 by the holding body 107, and then moves toward the container 3. Then, the holding hand 37 releases the holding of the article 2 by the holding body 107 in the vertical posture of entering the container 3, and pushes the five articles 2 with the article pushing portion 126 of the rotating body 121 to the container 3. It is stored so that a gap a of a predetermined size exists between the articles 2 adjacent to each other.

By repeating such an operation, the five articles 2 which are a predetermined number are alternately temporarily stored in the upper article storage section 60 and the lower article storage section 60 of the fixed storage body 33, and the transfer means 38 is held. Five articles 2 are sequentially put into the container 3 by the hand 37 and stored.

Then, according to such a storage device 1, the partition plate 15 is provided with the transport means 23, the first storage means 32, the second storage means 34, the first moving means 36, the second moving means 39, and the transport means 38. A plurality of articles 2 can be appropriately stored in a desired state in which a space a is maintained between adjacent articles 2 in an upright state with respect to the container 3 having the above.

Further, for example, the work efficiency can be improved as compared with the case where the worker manually stores the article 2 in the container 3.

Further, since the second storage means 34 having a buffer function is provided close to the downstream of the first storage means 32, for example, the waiting time of the transfer means 38 can be eliminated, and the work efficiency can be improved. can.

Further, since the first storage means 32 has a shelf-shaped movable storage body 31 that can be raised or lowered by a predetermined distance each time the article 2 from the transport means 23 side is carried in, for example, downstream of the transport means 23. Compared to a configuration in which a transport belt with a partition rotates in a direction along the transport direction of the transport means 23 to receive and temporarily store the article 2, space can be easily saved. The degree of freedom in layout is improved.

Further, the holding hand 37 of the transfer means 38 receives and holds the plurality of articles 2 in the horizontal posture, and then changes the posture from the horizontal posture to the vertical posture to change the posture of the plurality of articles 2 from the lying state to the upright state. Since the holding of the article 2 is released and the plurality of articles 2 are stored in the container 3 in a state of entering the container 3 by using the central space portion 11, the plurality of articles 2 are stored while preventing damage to the articles 2. Can be appropriately stored in each storage position in the container 3.

Further, since the number of article storage units 50 of the movable storage body 31 is larger than the number of articles 2 held by the holding hand 37 of the transfer means 38 at the same time by the holding body 107, the work efficiency is further improved. be able to. While the article 2 is being carried out from the movable storage body 31 by the second moving means 39, the article can be carried into the empty article storage unit 50 by the first moving means 36.

Further, since the number of the article storage units 60 of the fixed storage body 33 is a multiple of the article storage unit 50 of the movable storage body 31, the movable storage body 31 remains in the ascending position and the descending position. The second moving means 39 can move the article 2 from the movable storage body 31 to the fixed storage body 33, and the efficiency of the transfer work is further improved.

Next, a second embodiment of the present invention will be described with reference to FIGS. 18 to 20.

Unlike the first embodiment described above, the storage device 1 according to the second embodiment does not include the second storage means 34, and the first storage means 32 (hereinafter, “storage means”) is used as the storage means. 32 ") only. The article storage means 30 is composed of only the storage means 32.

Further, in the storage device 1, the transport means 23 has a belt conveyor 131 for the low-speed accumulator zone and a belt conveyor 132 for the high-speed disconnection zone.

Further, the first moving means 36 moves the articles 2 one by one from the belt conveyor 132 of the conveying means 23 to the movable storage body 31 of the storage means 32 by pushing the article 2 in the collapsed state in the front-rear direction and the left-right direction. It has one possible rod-shaped pusher (pusher) 133.

Further, the second moving means 39 simultaneously moves a plurality (for example, five) articles 2 from the movable storage body 31 of the storage means 32 to the storage body 106 of the holding hand 37 of the transfer means 38 by pushing the article 2 in the collapsed state. It has a pusher 134 that can be moved in the front-rear direction. The push body 134 is composed of, for example, a plurality of (for example, five) rod-shaped members 135 for pushing articles.

Then, when the operation of the storage device 1 is explained with reference to FIG. 20, as shown in FIG. 20 (a), the article 2 is conveyed in the inverted state by the conveying means 23, and the belt for the high-speed separation zone is conveyed. Stop at a predetermined position on the conveyor 132.

Next, as shown in FIG. 20 (b), one article 2 on the belt conveyor 132 is pushed by the push body 133 that moves forward and moves in the collapsed state, and the movable storage body 31 of the storage means 32 It is carried into the goods storage section 50 of. After this loading, the push body 133 of the first moving means 36 returns to the original position, and the movable storage body 31 rises by a predetermined distance for one step to be in a state where the next article 2 can be accepted.

Then, by repeating such an operation, as shown in FIG. 20 (c), the five article storage sections (other than the lowermost article storage section 50a) 50 of the movable storage body 31 of the storage means 32 are subjected to Five articles 2 which are a predetermined number (set number) set in advance are carried in and stored.

Then, as shown in FIGS. 20 (d) and 20 (e), after the lateral holding hand 37 arrives at a predetermined position, when the push body 134 of the second moving means 39 moves forward, the five articles 2 Is carried and stored in the storage body 106 of the holding hand 37 of the transfer means 38 by being pushed and moved by the push body 134. When the push body 134 is moved, the push body 133 of the first moving means 36 is also moved to push the next article 2 and carry it into the lowermost article storage unit 50a.

After that, the holding hand 37 of the transfer means 38 holds the five articles 2 by the holding body 107, and then moves toward the container 3. Then, the holding hand 37 releases the holding of the article 2 by the holding body 107 in the vertical posture of entering the container 3, and pushes the five articles 2 with the article pushing portion 126 of the rotating body 121 to the container 3. Store in the desired state. The push body 134 may be returned to the position before extrusion through the gap of the empty article storage unit 50a.

Therefore, the storage device 1 according to the second embodiment also has an effect such that a plurality of articles 2 can be appropriately stored in a desired state in the container 3 as in the first embodiment described above. be able to.

In any of the above embodiments, the holding hand 37 of the transfer means 38 is not limited to the one shown in FIGS. 10 to 12, and may be, for example, the one shown in FIG. 21.

The holding hand 37 shown in FIG. 21 does not include a rotating body 121, a diaphragm 123 for rotating the rotating body 121, or the like.

Therefore, in this holding hand 37, as shown in FIG. 21, after the holding body 107 releases the holding of the article 2, the holding hand 37 is rotated around the rotation center axis 103 of the wrist portion 105 of the robot arm 102. When the robot 2 is tilted in the central space portion 11, a plurality of articles 2 fall by their own weight and are stored in the container 3 in a desired state. The tilting operation of the holding hand 37 may be a method of rotating the holding hand 37 with respect to the robot arm 102 about the rotation center axis 103, or a method of tilting the robot arm itself.

Although not shown, the holding hand 37, which is a hand device, has, for example, a vacuum type suction holding portion for sucking and holding the upper surface of the article, or a holding hand 37 having a plurality of holding portions for sandwiching the upper end portion of the article. Etc. may be used. Further, the holding hand 37 is not limited to one that can hold five articles 2 at the same time, for example, one row in the container 3 (a row of articles corresponding to the storage member), that is, for example, ten articles 2. May be held at the same time.

Further, the first moving means may be a conveyor provided with a protrusion or a belt with a crosspiece, a chain or the like, and the article 2 may be pushed out to the movable storage body side by the protrusion or the like, or may be moved by lowering the transport direction forward. The article 2 may be sent to the storage body side.

Further, the second moving means may be, for example, a plurality of transport rollers provided on the movable storage body or the fixed storage body.

Further, the positioning means for positioning the article at a predetermined position in the movable storage body may be, for example, one having a rotating member for positioning rotatably provided on the movable storage body.

Further, the article storage means capable of storing a plurality of articles while maintaining a gap between adjacent articles is not limited to the one consisting of only one storage means 32 or the one consisting of two storage means 32, 34. For example, it may be composed of three or more storage means arranged along the transport direction of the transport means.

Further, in the above embodiment, the article 2 and the storage member 3 are exemplified by a container for a cold insulating material and a cold insulating material, but the article 2 and the storage member 3 are not limited to these, and various articles and articles are not limited thereto. A storage member corresponding to the above can be used.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the present invention.

1 Storage device 2 Goods 3 Container that is a storage member
23 transport hand stage
31 Movable storage
32 First storage means (storage means)
33 Fixed storage
34 Second storage means
36 First means of transportation
37 Holding hand
38 Transportation means
39 Second means of transportation
50 Good storage section of movable storage
60 Goods storage section of fixed storage
106 Storage body
107 holding body a gap

Claims (12)

A storage device that stores multiple items in a storage member.
A means of transporting goods and
A first storage means having a movable storage body for storing a plurality of articles,
A second storage means having a fixed storage body for storing a plurality of articles,
A first moving means for moving an article from the transport means to the movable storage body,
It has a holding hand that holds a plurality of articles in a state where a gap exists between the articles adjacent to each other, and the holding hand is used to transfer the plurality of articles and a gap exists between the articles adjacent to each other in the storage member. A means of transportation to store it in a state where it can be stored,
A storage device including a second moving means for moving an article from the movable storage body to the fixed storage body and moving the article from the fixed storage body to the holding hand. A storage device that stores multiple items in a storage member.
A means of transporting goods and
A first storage means having a movable storage body for storing a plurality of articles,
A second storage means having a fixed storage body for storing a plurality of articles,
A first moving means for moving an article from the transport means to the movable storage body,
A transfer means having a holding hand for holding a plurality of articles and using the holding hand to transfer the plurality of articles to the storage member.
A second moving means for moving the article from the movable storage body to the fixed storage body and moving the article from the fixed storage body to the holding hand.
A storage device characterized by being equipped with. The fixed storage element of the movable storage member and said second storage means of said first storage means has a plurality of article storage portion the article is stored,
The storage device according to claim 1 or 2 , wherein the articles are stored in the article storage section of the movable storage body and the fixed storage body in a state where a gap exists between the articles adjacent to each other. .. The fixed storage of the second storage means, storage according to claim 3, characterized by having the said number of the article storage unit than the number of the article storage portion of the movable storage member of said first storage means Device. The movable storage body is movable in the vertical direction and can be moved in the vertical direction.
Said first moving means moves the article in the article storage portion of the movable storage member located in the loading position,
The movable storage member, the raised or lowered by a predetermined distance each time the article is carried into the article storage portion of the movable storage member, the load position the article storage portion of the movable storage member capable of receiving the next article The storage device according to claim 3 or 4 , wherein the storage device is moved to. The number of the article storage portion before Symbol movable storage body, housing unit according to any one of claims 3 to 5, characterized in that more than the number of articles that the holding hand held. It said first moving means moves one by one the articles,
The storage device according to any one of claims 1 to 6 , wherein the second moving means moves a plurality of articles at the same time. The holding hand of the transfer means,
A storage body in which a plurality of articles are stored in a state where there is a gap between articles adjacent to each other,
The storage device according to any one of claims 1 to 7 , further comprising a holding body for holding a plurality of articles stored in the storage body . A storage device that stores multiple items in a storage member.
A means of transporting goods and
A storage means having a movable storage body in which a plurality of articles are stored at intervals, and
A first moving means for moving an article from the transport means to the movable storage body,
A transfer means having a holding hand for holding a plurality of articles and using the holding hand to transfer the plurality of articles to the storage member.
A second moving means for pushing out a plurality of articles stored in the movable storage body from the movable storage body and moving them all at once to the holding hand.
A storage device characterized by being equipped with. The movable storage body has a plurality of article storage units, and has a plurality of article storage units.
The number of the article storage units of the movable storage body is larger than the number of articles held by the holding hand.
While the article is being moved from the movable storage body to the holding hand by the second moving means, the first moving means moves the article to the empty article storage section of the movable storage body.
9. The storage device according to claim 9. Steps to transport goods by transport means,
A step of moving an article from the transport means to the movable storage body by the first moving means with respect to the first storage means having a movable storage body in which a plurality of articles are stored.
A step of moving a plurality of articles stored in the movable storage body to the fixed storage body by a second moving means,
A step of moving the plurality of articles in the fixed storage body to a holding hand capable of holding the plurality of articles in a state where a gap exists between the articles adjacent to each other by the second moving means.
A step of moving the holding hand holding a plurality of articles by a transfer means to which the holding hand is connected to transfer the articles.
A method of transporting goods, comprising: Steps to transport goods by transport means,
A step of moving an article from the transport means to the movable storage body by the first moving means with respect to the first storage means having a movable storage body in which a plurality of articles are stored.
A step of moving a plurality of articles stored in the movable storage body to the fixed storage body by a second moving means,
A step of moving the plurality of articles in the fixed storage body to a holding hand capable of holding the plurality of articles by the second moving means.
A step of moving the holding hand holding a plurality of articles by a transfer means to which the holding hand is connected to transfer the articles.
A method of transporting goods, comprising:

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