JP7620399B2 - Item transfer equipment and automated warehouse - Google Patents

Description

This disclosure relates to item transfer equipment and automated warehouses.

Patent document 1 discloses that a bottom plate extends from each of a pair of picking frame sections, and that the pair of bottom plates overlap according to the distance between the pair of picking frame sections.

Patent Document 2 discloses that the front and rear support platforms for the reciprocating members each have a luggage carrying plate that protrudes inward, and that the top surface of one end of the pair of luggage carrying plates is cut at an angle, and the bottom surface of the other end is cut at an angle, so that when the distance between the two support platforms for the reciprocating members is narrow, the luggage carrying plates can overlap one another vertically.

JP 2012-144327 A JP 2012-184085 A

In Patent Document 1, the maximum distance between the pair of picking frame parts is considered to be restricted to the range in which the pair of bottom plates overlap. Also, the minimum distance between the pair of picking frames is restricted to the range in which the bottom plate does not interfere with the picking frame part on the opposite side.

In addition, in Patent Document 2, a pair of luggage placement plates that are at the same position in the vertical direction can only overlap at the diagonally cut portions of their respective tips. For this reason, there are restrictions on reducing the distance between the two support stands for the reciprocating members.

Therefore, the purpose of this disclosure is to solve the above problems.

To solve the above problem, the article transfer device according to the first aspect includes a first transfer unit that applies a force to transfer the article between one side of an article to be transferred and an article support part, a second transfer unit that applies a force to transfer the article between the article support part and the other side of the article, a first loading plate adjacent to the first transfer unit and extending toward the second loading unit, a second loading plate adjacent to the second transfer unit and extending toward the first loading unit, and a distance adjustment mechanism that moves at least one of the first and second loading units closer to or farther away from each other between a state in which the tip of the first loading plate and the tip of the second loading plate are separated and a state in which the loading surface of the first loading plate and the loading surface of the second loading plate overlap.

The second aspect is an article transfer device according to the first aspect, in which the first and second loading plates are supported so that the loading surface of the first loading plate and the loading surface of the second loading plate are positioned at different vertical positions.

The third aspect is an article transfer device according to the second aspect, in which the first and second loading plates are supported such that a gap is provided between the first and second loading plates when the loading surface of the first and second loading plates overlap.

The fourth aspect is an article transfer device according to any one of the first to third aspects, in which at least one of the leading end of the first loading plate and the leading end of the second loading plate is provided with a collision suppression part that suppresses collision between the leading ends of the first loading plate and the second loading plate when they approach each other.

The fifth aspect is an article transfer device according to the fourth aspect, in which the collision suppression part is provided at the tip of the first loading plate and includes a guide surface formed so as to move toward one side in the thickness direction of the first loading plate as it moves toward the tip edge of the first loading plate.

The sixth aspect is an article transfer device according to the fifth aspect, further comprising a support rod extending from the tip of the first loading plate toward the second loading plate below the first loading plate, the guide surface being formed to extend downward toward the tip edge of the first loading plate, and the support rod passing through a position above the lower edge of the guide surface to support the first loading plate from below.

The seventh aspect is an article transfer device according to any one of the first to sixth aspects, in which a downward protruding piece is formed on the side of the article support section of one of the first and second loading plates, and an overlapping guide surface is formed on the side of the tip of the other of the first and second loading plates, on the side of the article support section, which faces inward as it approaches the tip edge.

The eighth aspect is an article transfer device according to the seventh aspect, in which the downward protruding piece includes a loading guide surface that faces downward as it approaches the article support portion.

The ninth aspect is an article transfer device according to the seventh or eighth aspect, in which the downward protruding piece is supported so as to be movable along a direction connecting the first loading plate and the second loading plate.

The automated warehouse according to the tenth aspect includes an item storage section including a plurality of the item support sections, an item transfer device according to any one of the first to ninth aspects, and a transfer running device including a cart that moves the item transfer device between each position facing the plurality of item support sections.

According to the article transfer device of the first aspect, at least one of the first transfer unit and the second transfer unit is moved toward or away from each other between a state in which the tip of the first loading plate and the tip of the second loading plate are separated and a state in which the loading surface of the first loading plate and the loading surface of the second loading plate overlap, so that the adjustment range of the gap between the first transfer unit and the second transfer unit can be increased.

According to the second aspect, the first and second mounting plates can be easily overlapped.

According to the third aspect, the rubbing noise and scratches between the first and second placement plates are suppressed, and the two can be smoothly stacked.

According to the fourth aspect, the first and second placement plates can be smoothly stacked.

According to the fifth aspect, a simple configuration can be used to prevent collisions between the first placement plate and the second placement plate.

According to the sixth aspect, the first loading plate is supported by the support rod. Furthermore, even if the position of the second loading plate drops due to the weight of the items or the like, the second loading plate is supported from below by the support rod. Since the support rod passes through a position above the lower edge of the guide surface, when the second loading plate is placed on the support rod, the tip of the second loading plate moves relatively closer to the guide surface. Therefore, the tip of the second loading plate can ride up above the lower edge of the guide surface and smoothly overlap the first loading plate.

According to the seventh aspect, the downward protruding piece comes into contact with the overlapping guide surface and is guided thereby, so that the first and second loading plates can be smoothly overlapped.

According to the eighth aspect, when an item is transferred to the item transfer device, the bottom surface is guided by the loading guide surface, allowing the item to be transferred smoothly.

According to the ninth aspect, the first and second loading plates on which the downward protruding piece is formed can move smoothly while supporting its own weight, etc.

According to the tenth aspect, multiple types of items with significantly different widths can be smoothly stored in and removed from the item storage section.

FIG. 2 is a schematic side view showing an automated warehouse. FIG. 2 is a schematic plan view showing an automated warehouse. FIG. FIG. FIG. 13 is an explanatory diagram showing an example of the configuration of a driving force transmission mechanism in the second loading/unloading unit; FIG. FIG. 8 is a partial cross-sectional view taken along line VIII-VIII in FIG. 7. 9 is a partial cross-sectional view taken along line IX-IX in FIG. 7. 9 is a partial cross-sectional view taken along line IX-IX in FIG. 7. 13 is a partial cross-sectional view showing an example in which the height of a placement guide member is changed. FIG.

The article transfer device and automated warehouse according to the embodiment will be described below. Here, an example in which the article transfer device is incorporated into an automated warehouse will be described. Note that the article transfer device is not limited to being incorporated into an automated warehouse, and can be applied to devices that take in and send articles of various widths between shelves, tables, etc.

<Overall structure>
The overall configuration of the automated warehouse will be described below. Fig. 1 is a schematic side view showing the automated warehouse 20, and Fig. 2 is a schematic plan view showing the automated warehouse.

The automated warehouse 20 includes an item storage section 21 and a transfer running device 40 including an item transfer device 50.

The item storage section 21 is provided on at least one side of the running path 38 along which the transfer running device 40 described below runs. Here, a pair of item storage sections 21 are provided on both sides of the running path 38. The transfer running device 40 running on the running path 38 can put items 30 in and take them out of both of the pair of item storage sections 21.

The item storage section 21 includes a plurality of shelf units 22. The shelf unit 22 includes a plurality of shelf boards 24 as a plurality of item support sections. The shelf boards 24 are supported at intervals in the vertical direction, and items 30 can be placed on each shelf board 24. Here, a plurality of items 30 are placed on each shelf board 24 in a line at intervals. The item storage section 21 is configured by arranging a plurality of shelf units 22 in a line. When viewed as a whole, a plurality of items 30 are stored in a state of being arranged up, down, left, and right. Items 30 are inserted and removed from each shelf board 24 from the running path 38 side. The plurality of support sections do not have to be shelves. For example, the item support section may be a pair of rails that support both sides of the bottom side of the item. The item support section may also be a hanging rail that supports the item in a hanging state.

A plurality of types of items 30 with different widths can be placed on the shelves 24. The distance between the items 30 is set to a size equal to or larger than the minimum gap through which the retractable arms 54A and 54B described below can enter. Thus, a plurality of items 30 can be placed as closely packed as possible on each shelf 24 with a gap equal to or larger than the minimum gap. For example, for items 30 with a relatively large width, three items 30 can be stored on one shelf 24 (see the shelf 24 in the third row from the left in Figures 1 and 2). In contrast, for items with a relatively small width, five items 30 can be stored on one shelf 24 (see the shelf 24 on the left in Figure 1). This allows items 30 to be stored efficiently on each shelf 24.

The item storage section 21 is provided with a temporary storage shelf 26 and a lifting mechanism section 28. In this embodiment, the temporary storage shelf 26 and the lifting mechanism section 28 are provided at one end of the item storage section 21 in the extension direction.

The lifting mechanism 28 includes a lifting shelf 28a and a lifting drive mechanism 28b. The lifting shelf 28a is raised and lowered by the lifting drive mechanism 28b to a position facing the shelf board 24 of each level. This allows the item 30 to be stored to be raised and lowered to the position above or below the shelf board 24 where it is to be stored. Conversely, the item 30 to be removed from the shelf board 24 where it is stored to a height position suitable for removal.

The temporary storage shelves 26 are provided, for example, between the item storage section 21 and the lifting mechanism section 28. The temporary storage shelves 26 are provided corresponding to the shelves 24 of each level. Each temporary storage shelf 26 is configured to receive an item 30 from the lifting mechanism section 28 and temporarily place the item 30 thereon until the item 30 is received by the transfer running device 40. Conversely, each temporary storage shelf 26 is configured to receive an item 30 from the transfer running device 40 and temporarily place the item 30 thereon until the lifting mechanism section 28 comes to receive the item 30. The temporary storage shelves 26 are also an example of a support section that supports items.

The transfer of the item 30 between the temporary shelf 26 and the lifting mechanism 28 can be performed, for example, by rotating the rollers provided thereon in both forward and reverse directions using a rotation drive unit such as a motor, or by pushing the item 30 placed on the temporary shelf 26 or the lifting mechanism 28 by driving an actuator such as a cylinder.

The temporary storage shelf 26 and the lifting mechanism 28 may be provided in the middle of the extension direction of the item storage section 21. The temporary storage shelf 26 and the lifting mechanism 28 may be provided in multiple locations in the item storage section 21.

The running path 38 is provided along the item storage section 21, here between a pair of item storage sections 21, in the extending direction between them. Therefore, the item storage section 21 can store multiple items 30 lined up along the extending direction of the running path 38. The running path 38 extends along the extending direction of the item storage section 21 and up to the temporary storage shelf 26.

Here, multiple running paths 38 are provided corresponding to each of the upper and lower shelves 24. Each running path 38 has a pair of rails 39, 39. The pair of rails 39, 39 are supported horizontally on the pair of item storage sections 21 along the extension direction of the item storage sections 21. As a result, the pair of rails 39, 39 are supported in a parallel position with a gap between them.

The rails 39, 39 may also serve as the horizontal frames of each shelf unit 22. The rails 39, 39 may not function as the frame of the shelf unit 22 and may be configured as separate bodies from the shelf unit 22. In addition, the running path does not have to be configured as a pair of rails, and may be configured as, for example, a long, thin, plate-shaped running path along which the transfer running device 40 can run, or may be configured as rails that support the cart in a suspended state.

The transfer running device 40 includes a trolley 42 and an item transfer device 50.

The item transfer device 50 is a device that transfers an item from another location to its own location, or transfers an item from its own location to another location. In this embodiment, an example is shown in which the item transfer device 50 transfers an item 30 from the shelf 24 or temporary shelf 26 to the item transfer device 50 side, or transfers an item 30 from the item transfer device 50 to the shelf 24 or temporary shelf 26. The item transfer device is not limited to the above example, and may be a device that transfers an item 30 between another location, for example, a device that transfers an item between the item transfer device and a conveyor.

The cart 42 is configured to move the article transfer device 50 between positions corresponding to the multiple shelves 24, which are an example of multiple article support sections. In this embodiment, one article transfer device 50 is mounted on one cart 42. At each shelf level, the cart 42 travels back and forth on the rails 39, 39, so that the article transfer device 50 moves to a position facing one of the multiple shelves 24 at that shelf level (specifically, a position facing the position on the shelf 24 where the article 30 is placed or the empty position where the article is to be placed). In this embodiment, the travel of the cart 42 also moves the article transfer device 50 to a position facing the temporary storage shelf 26.

By moving the cart 42, the item transfer device 50 can move to the position of the shelf 24 or temporary shelf 26 where the item 30 is placed, and transfer the item 30 from the shelf 24 or temporary shelf 26 to the item transfer device 50 side. Alternatively, the item transfer device 50 can move to an empty position of the shelf 24 or temporary shelf 26 where the item is to be placed, and transfer the item 30 on the item transfer device 50 side to the shelf 24 or temporary shelf 26 side.

It is not essential that the transfer running device 40 and rails 39, 39 are provided for each shelf level. For example, the rails 39, 39 and the transfer running device 40 may be provided in common to multiple shelf levels. In this case, for example, multiple article transfer devices 50 may be stacked on a cart traveling on a running path, making it possible to load and unload articles from multiple shelf levels. Also, for example, one article transfer device 50 may be supported by a lifting mechanism on a cart traveling on a running path so that it can be raised and lowered, making it possible to load and unload articles 30 from multiple shelf levels. Also, multiple transfer carts may run on one running path.

The operation of the transfer traveling device 40 is controlled by the control unit 36. The control unit 36 is composed of a computer equipped with a CPU, ROM, RAM, and a storage device (e.g., flash memory). The control unit 36 controls the operation of the transfer traveling device 40 by the CPU as a processor executing calculations according to the programs stored in the storage device.

The control of the transfer running device 40 by the control unit 36 includes running control of the trolley 42 and control of the transfer operation of the article transfer device 50.

For example, when an item 30 is stored in and out of the warehouse, the control unit 36 generates and updates storage information that associates the specific information of the item 30 (identification code, item name, etc.) with a storage location. The storage information may be stored in a storage device in the control unit 36, or may be stored in another server device, etc. When the item is stored in the warehouse, the control unit 36 refers to the input specific information and storage information of the item 30 to be removed, identifies an empty location in the item storage section 21, and moves the transfer running device 40, which has taken in the item 30 from the temporary storage shelf 26, to a position in the item storage section 21 opposite the empty location. Furthermore, when specific information for the item 30 to be removed is input by an operator or the like at the time of removal, the control unit 36 references the specific information and storage information for the item 30 to be removed to identify the storage position of the item 30 to be removed in the item storage section 21, moves an empty transfer running device 40 to a position in the item storage section 21 opposite the storage position of the item 30 to be removed, and then moves it toward the temporary storage shelf 26.

In addition, the control of the transfer operation for the article transfer device 50 is assumed to include a transfer operation in which the article 30 is taken into the article transfer device 50, and a transfer operation in which the article 30 is sent from the article transfer device 50. For example, the control unit 36 causes the article transfer device 50 to perform a transfer operation in which the article 30 is taken in when the empty transfer running device 40 has moved to a position facing the temporary storage shelf 26 or shelf board 24 on which the article 30 to be taken in is placed. In addition, for example, the control unit 36 causes the article transfer device 50 to perform a transfer operation in which the article 30 is sent from the article transfer device 50 when the transfer running device 40 that has taken in the article 30 has moved to a position facing an empty portion of the empty temporary storage shelf 26 or shelf board 24. These transfer operations will be described in further detail later.

Here, the control unit 36 also controls the transfer operation of the item 30 between the temporary storage shelf 26 and the lifting mechanism 28, and the lifting operation of the lifting mechanism 28.

In this automated warehouse, under the control of the control unit 36, the goods 30 to be stored are stored in the goods storage section 21 from the lifting mechanism section 28 via the temporary storage shelf 26 and the transfer running device 40. Also, under the control of the control unit 36, the goods 30 to be removed are removed from the goods storage section 21 via the transfer running device 40, the temporary storage shelf 26 and the lifting mechanism section 28 to the outside.

<About the transfer traveling device>
The transfer traveling device 40 will now be described in more detail.

Figures 3 and 4 are perspective views of the transfer running device 40. Figure 5 is a plan view of the transfer running device 40. Figures 3 and 5 show a state in which an article 30 wider than that in Figure 4 can be transferred, and Figure 4 shows a state in which an article 30 narrower than that in Figures 3 and 5 can be transferred. In Figure 5, the configuration related to the first loading plate 60A and the second loading plate 60B is simplified. In the following description, for convenience, the running direction of the transfer running device 40 is referred to as the width direction, and one side in the horizontal direction perpendicular to the running direction may be referred to as the front and the other side as the rear.

As described above, the cart 42 is configured to be capable of traveling back and forth along the running path 38. The article transfer device 50 is supported on the cart 42.

The cart 42 has a base 43, wheels 44, 45, and a travel drive unit 46, and is configured to be able to travel on the travel path 38.

The base 43 is a part that rotatably supports the wheels 44, 45 and also supports the traveling drive unit 46. Here, the base 43 includes a rectangular frame-shaped part. Two wheels 44 are rotatably supported on one side of the base 43 (the right side in Figs. 3 to 5). Two wheels 45 are rotatably supported on the other side of the base 43 (the left side in Figs. 3 to 5). The traveling drive unit 46 is supported on a part of the base 43 closer to one side. The front wheel 44 of the two wheels 44 and the front wheel 45 of the two wheels 45 roll on one of the two rails 39, and the rear wheel 44 of the two wheels 44 and the rear wheel 45 of the two wheels 45 roll on the other of the two rails 39. The traveling drive unit 46 includes a traveling motor 46a that can rotate in both forward and reverse directions. The rotational drive force of the travel motor 46a is transmitted to the axles of the two wheels 44 directly or via a transmission mechanism such as a pulley or gear. Then, under the control of the control unit 36, the direction and amount of rotation of the travel motor 46a are controlled, so that the transfer travel device 40 moves to any position facing the shelf 24 or temporary shelf 26.

Note that one side of the base 43 is covered by a cover 47, but this is not essential.

The article transfer device 50 is supported by the base 43. The article transfer device 50 includes a first transfer unit 52A, a second transfer unit 52B, a first loading plate 60A, a second loading plate 60B, and a distance adjustment mechanism 70. The article transfer device 50 also includes a loading guide member 80. The loading guide member 80 is a member that supports and guides the article 30 from below when the article 30 is transferred from the shelf 24 toward at least one of the first loading plate 60A and the second loading plate 60B, or in the opposite direction.

The first transfer unit 52A is configured to apply a force to transfer the item 30 between the shelf 24 and one side of the item 30 to be transferred. The second transfer unit 52B is configured to apply a force to transfer the item 30 between the shelf 24 and the other side of the item 30 to be transferred. In other words, the first transfer unit 52A and the second transfer unit 52B are arranged side by side with a gap between them that allows the item 30 to be placed between them. The first transfer unit 52A applies a transfer force to one side of the item 30, and the second transfer unit 52B applies a transfer force to the other side of the item 30. The force to transfer the item 30 is a force that pushes the item 30 from the item transfer device 50 toward the shelf 24 or a force that pulls the item 30 from the shelf 24 toward the item transfer device 50.

More specifically, the first loading/unloading unit 52A is provided on one side of the base 43, in this case, on the center side of the cover 47. The first loading/unloading unit 52A includes an arm base 53A and a retractable arm 54A.

The arm base 53A is formed in an elongated shape. The arm base 53A is fixed to the base 43 by screws or the like, in an orientation perpendicular to the width direction and along the front-rear direction, on the upper side of the base 43. The advance/retract arm 54A is supported by guide rails or the like so as to be able to advance and retreat on both sides of the arm base 53A in the longitudinal direction relative to the arm base 53A. The advance/retract arm 54A may be extendable and retractable in accordance with the advance/retract movement relative to the arm base 53A. At the ends on both sides of the advance/retract arm 54A, hook pieces 55A are provided that can be lowered by the drive of a drive unit such as a motor. Thus, in this embodiment, the first loading/unloading unit 52A is fixed at a fixed position relative to the base 43.

The second loading/unloading unit 52B is provided on the base 43 closer to the other side than the first loading/unloading unit 52A. The second loading/unloading unit 52B includes an arm base 53B corresponding to the arm base 53A, and an advancing/retracting arm 54B corresponding to the advancing/retracting arm 54B.

The arm base 53B is formed in an elongated shape. The arm base 53B is provided on the upper side of the base 43 in a position perpendicular to the width direction and along the front-rear direction. A movable support part 53Ba protrudes downward from the lower part of the arm base 53B. The movable support part 53Ba is supported by the base 43 so as to be movable in the width direction. For example, a guide rail 43a extending along the width direction is provided inside a pair of frame-shaped parts of the base 43 extending in the width direction. Runners 53Bc movable along the guide rails 43a are provided at both front and rear ends of the movable support part 53Ba (see FIG. 4). The runners 53Bc at both front and rear ends of the movable support part 53Ba are supported movably along the front and rear guide rails 43a, so that the movable support part 53Ba is supported movably in the width direction relative to the base 43. The arm base 53B is supported movably along the width direction by the movable support part 53Ba.

The arm base 53B is supported by the movable support part 53Ba on the upper side of the base 43 in a position perpendicular to the width direction and along the front-rear direction so that it can move in the width direction. As described above, the advance/retract arm 54B is supported on both sides of the arm base 53B in the longitudinal direction so that it can advance/retract. Hook pieces 55B are provided at both ends of the advance/retract arm 54B, which can be lowered by driving a driving part such as a motor. The arm base 53B moves along the other width direction on the other side of the width direction relative to the arm base 53A, thereby adjusting the distance between the first transfer unit 52A and the second transfer unit 52B. The other side of the arm base 53B is covered by a cover 48.

When transferring the item 30 to the transfer running device 40, the transfer running device 40 is placed facing the item 30 placed on the shelf 24 or temporary shelf 26, and the pair of forward and backward arms 54A, 54B are advanced to a position where the item 30 is sandwiched between them. In this state, the hook pieces 55A, 55B are tilted down to hook onto the rear side of the item 30. When the pair of forward and backward arms 54A, 54B are then retracted toward the dolly 42, a force acts on both sides of the item 30 to pull them toward the transfer running device 40. This causes the item 30 to be taken in by the transfer running device 40.

When transferring the item 30 on the transfer running device 40 to the shelf board 24 or temporary storage shelf 26, the hook pieces 55A, 55B on the front side in the sending direction are tilted down to hook onto both sides of the item 30, and the pair of forward/reverse arms 54A, 54B are advanced and moved out from the transfer running device 40. Then, a force acts on both sides of the item 30 to transfer it to the shelf board 24 or temporary storage shelf 26. This causes the item 30 to be sent to the shelf board 24 or temporary storage shelf 26.

The first loading plate 60A is adjacent to the first transfer unit 52A and is a plate-like portion extending toward the second transfer unit 52B. There may be a gap between the first loading plate 60A and the first transfer unit 52A. More specifically, the first loading plate 60A is formed in a rectangular plate shape. The dimension in the front-rear direction of the first loading plate 60A is smaller than the dimension in the front-rear direction of the base 43. Here, the dimension in the front-rear direction of the first loading plate 60A is set to a size that spreads between two long frame-like parts extending in the width direction of the base 43. The first loading plate 60A is arranged at a height position corresponding to the upward surface of the base 43 so as to spread in the horizontal direction in an area adjacent to the second transfer unit 52B side with respect to the first transfer unit 52A. The first loading plate 60A is fixed to at least one of the arm base 53A and the base 43 by screwing or the like. The article 30 pulled in by the first loading/unloading unit 52A can slide across the first loading plate 60A and be placed on the first loading plate 60A. Therefore, the upper surface of the first loading plate 60A includes a loading surface 60Af on which the article 30 can be placed in contact. The portion of the first loading plate 60A on the first loading/unloading unit 52A side is the base end, and the portion on the second loading/unloading unit 52B side is the tip end.

A lateral transfer guide 59A is provided above the base end of the first loading plate 60A. The lateral transfer guide 59A includes a central guide surface 59A1 and a pair of end guide surfaces 59A2. The central guide surface 59A1 is formed in a rectangular shape, and is formed in a shape extending in the front-rear direction with the width direction aligned with the up-down direction. The front end guide surface 59A2 is formed as an inclined surface that faces the other side in the width direction (outside) as it moves forward from the front end of the central guide surface 59A1. The rear end guide surface 59A2 is formed as an inclined surface that faces the other side in the width direction (outside) as it moves rearward from the rear end of the central guide surface 59A1. When the article 30 is taken on the first loading plate 60A, the article 30 comes into contact with the lateral transfer guide 59A, particularly the end guide surface 59A2, and is guided toward the inside of the first loading unit 52A.

The second loading plate 60B is adjacent to the second transfer unit 52B and is a plate-like portion extending toward the first transfer unit 52A. There may be a gap between the second loading plate 60B and the second transfer unit 52B. More specifically, the second loading plate 60B is formed in a rectangular plate shape. The dimension in the front-rear direction of the second loading plate 60B is smaller than the dimension in the front-rear direction of the base 43. Here, the dimension in the front-rear direction of the second loading plate 60B is set to a size that spreads between two long frame-like parts extending in the width direction of the base 43. The second loading plate 60B is arranged at a height position corresponding to the upward surface of the base 43 so as to spread in the horizontal direction in an area adjacent to the first transfer unit 52A side with respect to the second transfer unit 52B. The second loading plate 60B is fixed to the arm base 53B by screwing or the like. Therefore, the second loading plate 60B can move in the width direction together with the second transfer unit 52B. The article 30 pulled in by the second transfer unit 52B can slide across the second loading plate 60B and be placed on the second loading plate 60B. Therefore, the upper surface of the second loading plate 60B includes a loading surface 60Bf on which the article 30 can be placed in contact. The portion of the second loading plate 60B on the second transfer unit 52B side is the base end, and the portion on the first transfer unit 52A side is the tip. A lateral transfer guide 59B similar to the above-mentioned lateral transfer guide 59A is provided above the base end of the second loading plate 60B.

The first and second mounting plates 60A and 60B will be described in more detail later.

The interval adjustment mechanism 70 is configured to move at least one of the first transfer unit 52A and the second transfer unit 52B closer to or farther from the first placement plate 60A between a state in which the tip of the first placement plate 60A and the tip of the second placement plate 60B are separated and a state in which the placement surface 60Af of the first placement plate 60A and the placement surface 60Bf of the second placement plate 60B overlap. Here, the state in which the tip of the first placement plate 60A and the tip of the second placement plate 60B are separated refers to a state in which the tip of the first placement plate 60A and the tip of the second placement plate 60B are separated in a plan view. In this state, a gap extending along the front-rear direction can be formed between the tip of the first placement plate 60A and the tip of the second placement plate 60B. In addition, the state where the placement surface 60Af of the first placement plate 60A and the placement surface 60Bf of the second placement plate 60B overlap refers to a state where the placement surface 60Af and the placement surface 60Bf at least partially overlap in a planar view. Therefore, even if a portion of the first placement plate 60A on which the article 30 is not placed (for example, a guide-shaped portion at the end, which is a portion where the article 30 does not come into contact and is not placed) overlaps with the placement surface 60Bf of the second placement plate 60B in a planar view, if the placement surface 60Af and the placement surface 60Bf do not overlap in a planar view, this is not the latter overlapping state.

In this embodiment, an example is described in which the interval adjustment mechanism 70 moves the second transfer unit 52B toward and away from the first transfer unit 52A. More specifically, the interval adjustment mechanism 70 includes an interval adjustment drive unit 71 and a transmission mechanism 72. The interval adjustment drive unit 71 is, for example, a motor that can rotate in both forward and reverse directions. Here, the interval adjustment drive unit 71 is fixed to the inner part of the long frame-shaped part on the other side of the base 43 with the drive shaft aligned in the vertical direction. The transmission mechanism 72 includes a gear 72a and a circular belt 72b. The gear 72a is supported by the base 43 at a position away from the interval adjustment drive unit 71 on the other side in the width direction. At this position, the gear 72a is supported rotatably around a rotation axis along the vertical direction. A gear is also fixed to the rotating shaft of the interval adjustment drive unit 71, and the circular belt 72b is wound around the gear of the interval adjustment drive unit 71 and the gear 72a. The circular belt 72b then rotates due to the rotational driving force of the gap adjustment drive unit 71.

The movable support part 53Ba of the second loading/unloading unit 52B is fixed to a part of the circular belt 72b. The circular belt 72b can be rotated in both directions by the rotational drive of the gap adjustment drive part 71 in both forward and reverse directions, and the second loading/unloading unit 52B and the second loading plate 60B can move in the width direction depending on the direction of rotation.

The closest approach width and the maximum separation width between the first transfer unit 52A and the second transfer unit 52B are set according to the maximum and minimum widths of the article 30 assumed to be transferred. For example, if the width of the assumed article 30 is 190-500 mm, the closest approach width between the lateral transfer guide 59A on the first transfer unit 52A side and the lateral transfer guide 59B on the second transfer unit 52B side may be set to 230 mm and the maximum separation width to 510 mm. The width between the first transfer unit 52A and the second transfer unit 52B may be adjustable in two steps, the closest approach width and the maximum separation width, or may be adjustable to an intermediate size between the minimum approach width and the maximum separation width. In the latter case, the width between the first transfer unit 52A and the second transfer unit 52B may be adjustable in steps or continuously.

At the maximum separation width, the distance between the tip of the first loading plate 60A and the tip of the second loading plate 60B is arbitrary, but may be a width that does not allow the article 30 to fall off. For example, the distance between the tip of the first loading plate 60A and the tip of the second loading plate 60B may be less than 1/3 of the maximum separation width. Also, at the minimum approach width, the degree to which the loading surface 60Af of the first loading plate 60A and the loading surface 60Bf of the second loading plate 60B overlap is arbitrary, but for example, one of the loading surfaces 60Af and 60Bf may overlap more than half of the other, or one of the loading surfaces 60Af and 60Bf may overlap the other entirely. In particular, in the latter case, in the maximum separation state, the gap between the tip of the first loading plate 60A and the tip of the second loading plate 60B can be made as small as possible, while the distance adjustment range between the first loading/unloading unit 52A and the second loading/unloading unit 52B can be increased.

The configuration for moving the second loading/unloading unit 52B in the width direction is not limited to the above example. For example, the second loading/unloading unit 52B may be moved in the width direction by a linear movement mechanism formed by a combination of a ball screw mechanism and a motor, a linear motor, a fluid cylinder, or the like.

In addition, in this embodiment, as described above, an example is described in which the first loading/unloading unit 52A is provided at a fixed position in the width direction of the transfer running device 40, and the second loading/unloading unit 52B is movable in the width direction of the transfer running device 40. However, the first loading/unloading unit 52A may be movable along the width direction of the transfer running device 40, and the second loading/unloading unit 52B may be provided at a fixed position in the width direction of the transfer running device 40. Also, both the first loading/unloading unit 52A and the second loading/unloading unit 52B may be movable along the width direction of the transfer running device 40.

We will now explain an example configuration in which the advancing/retreating arm 54A in the first loading/unloading unit 52A and the advancing/retreating arm 54B in the second loading/unloading unit 52B are driven to move forward and backward by a single common drive unit.

Figure 6 is an explanatory diagram showing an example of the driving force transmission configuration in the second loading/unloading unit 52B. As shown in Figures 4 to 6, a spline shaft 49S extending in the width direction is rotatably supported in the middle of the base 43 in the front-rear direction. A motor 49M, which is an example of a width direction movement drive unit, is provided adjacent to the spline shaft 49S. The rotational driving force of the motor 49M is transmitted to the spline shaft 49S via a transmission mechanism such as a belt or gears. As a result, the forward and reverse rotations of the motor 49M are transmitted to the spline shaft 49S, and the spline shaft 49S is driven to rotate in both forward and reverse directions.

A pair of pulleys 53Br1, 53Br1 are rotatably supported at a distance in the front-rear direction on the movable support part 53Ba below the arm base 53B of the second loading/unloading unit 52B. A transmission belt 53Bb is wound around the pair of pulleys 53Br1, 53Br1.

A number of auxiliary pulleys 53Br2 are provided on the inside of one path portion of the transmission belt 53Bb wound around the pair of pulleys 53Br1, 53Br1. The number of auxiliary pulleys 53Br2 prevent the transmission belt 53Bb from moving inward.

A gear is formed on the outer periphery of the transmission belt 53Bb, and the teeth 54Bg on the retractable arm 54B are pressed against one of the path portions of the transmission belt 53Bb (see FIG. 6). The motor 49M is then driven to rotate the transmission belt 53Bb in both forward and reverse directions, allowing the retractable arm 54B to move forward and backward to both ends of the arm base 53A. A plurality of auxiliary pulleys 53Br2 are provided on the inner periphery of the portion of the transmission belt 53Bb where the teeth 54Bg of the retractable arm 54B mesh, and the movement of the transmission belt 53Bb toward the inner periphery is suppressed, so that the meshing between the teeth and the transmission belt 53Bb is more reliably maintained.

A pair of pulleys 53Br3, 53Br3 is provided on the inside of the other path portion of the transmission belt 53Bb wound around the pair of pulleys 53Br1, 53Br1. A gap is provided between the pair of pulleys 53Br3, 53Br3 so that a drive pulley 53Brd, which will be described later, can be disposed therebetween.

The drive pulley 53Brd is pressed against the transmission belt 53Bb from the outer periphery side of the transmission belt 53Bb between the pair of pulleys 53Br3, 53Br3. When the drive pulley 53Brd rotates in both forward and reverse directions, the transmission belt 53Bb rotates in both forward and reverse directions according to the direction of rotation.

The drive pulley 53Brd has a spline hole 53Brh. At least one protrusion extending along the axial direction is formed on the outer periphery of the spline shaft 49S, and at least one groove into which the protrusion fits is formed in the spline hole 53Brh. The spline shaft 49S is inserted through the spline hole 53Brh in a manner that allows it to move along the axial direction and prevents it from rotating.

Therefore, even if the second loading/unloading unit 52B moves in the width direction of the loading/unloading traveling device 40, the spline shaft 49S remains inserted in the spline hole 53Brh in a non-rotating state. The same configuration as above can be adopted for the first loading/unloading unit 52A. Therefore, the rotational driving force of a common motor 49M can be transmitted to both the first loading/unloading unit 52A and the second loading/unloading unit 52B by the spline shaft 49S, and the respective advancing/retracting arms 54A, 54B can be driven to advance and retreat in sync. Note that for the first loading/unloading unit 52A, the drive pulley corresponding to the drive pulley 53Brd may be fixed in a state where it cannot move axially relative to the spline shaft 49S.

Of course, examples of driving the retractable arms 54A and 54B forward and backward are not limited to the above examples. The retractable arms 54A and 54B may also be driven forward and backward by separate drive units. For example, the retractable arms 54A and 54B may be driven forward and backward separately by a linear movement mechanism formed by a combination of a ball screw mechanism and a motor, a linear motor, a fluid cylinder, or the like.

<Regarding the first and second placement plates>
The first loading plate 60A and the second loading plate 60B will be described in more detail. Fig. 7 is a plan view showing the transfer running device 40. Fig. 8 is a partial cross-sectional view taken along line VIII-VIII in Fig. 7. Figs. 7 and 8 show the transfer running device 40 in the maximum separation state. In Fig. 7, the second transfer unit 52B and the second loading plate 60B in the closest state are shown by two-dot chain lines, and in Fig. 8, the second loading plate 60B overlapping the first loading plate 60A is shown by two-dot chain lines.

The first loading plate 60A includes a main plate portion 61A and a downward protruding piece 66A. The main plate portion 61A is formed in a rectangular plate shape and is provided so as to extend into an area adjacent to the second loading plate 60B side with respect to the first transfer unit 52A. The downward protruding piece 66A protrudes downward from the side of the main plate portion 61A that faces the shelf board 24 or the temporary storage shelf 26.

The main plate portion 61A, excluding the collision suppression portion 63A described later, is horizontally extended. The upper surface of the main plate portion 61A that is horizontally extended is the mounting surface 60Af. The collision suppression portion 63A is provided at the tip of the first mounting plate 60A on the second mounting plate 60B side. The collision suppression portion 63A is a portion that suppresses collision between the tips of the first mounting plate 60A and the second mounting plate 60B when they approach each other. Note that collision between the tips refers to a state in which the tip of the first mounting plate 60A and the tip of the second mounting plate 60B come into contact with each other, preventing further movement in the direction of approach.

In this embodiment, the collision suppression portion 63A is provided at the tip of the first mounting plate 60A and is formed in a shape including a guide surface 63Af that faces one side (here, the lower side) in the thickness direction of the first mounting plate 60A as it approaches the tip edge of the first mounting plate 60A. More specifically, the collision suppression portion 63A is configured such that the tip of the first mounting plate 60A is formed in a plate-shaped portion that inclines toward one side (here, the lower side) in the thickness direction of the first mounting plate 60A as it approaches the tip edge of the first mounting plate 60A. The upper surface of the collision suppression portion 63A is the guide surface 63Af. In this embodiment, since the second mounting plate 60B overlaps on the first mounting plate 60A, the collision suppression portion 63A and the guide surface 63Af are inclined toward the lower side as it approaches the tip edge of the first mounting plate 60A. When the first loading plate 60A overlaps the second loading plate 60B, the inclination direction of the collision prevention portion and the guide surface may be reversed.

When the first and second mounting plates 60A and 60B approach and overlap, the tip of the second mounting plate 60B comes into contact with the guide surface 63Af, and the tip of the second mounting plate 60B moves upward along the guide surface 63Af. This causes the second mounting plate 60B to be pushed upward relative to the first mounting plate 60A. This prevents the tip of the first mounting plate 60A from colliding with the tip of the second mounting plate 60B, allowing the first mounting plate 60A and the second mounting plate 60B to overlap smoothly.

The collision suppression portion may be provided on the second loading plate 60B side. In this case, for example, if the second loading plate 60B overlaps the first loading plate 60A, the collision suppression portion may be shaped to include a guide surface at the tip of the second loading plate 60B that slopes upward toward the tip edge. The collision suppression portion may be provided on both the first loading plate 60A and the second loading plate 60B. The collision suppression portion may be a portion where the tip surface of the first loading plate 60A or the second loading plate 60B is processed to be an obliquely inclined surface.

It is not essential that the collision suppression portion has a shape including a guide surface. For example, the collision suppression portion may be a roller rotatably provided at the tip of at least one of the first and second loading plates 60A and 60B. For example, a roller may be provided at the tip of the first loading plate 60A rotatably around a rotation axis along the front-rear direction of the transfer running device 40. In this case, when the tip of the second loading plate 60B comes into contact with the roller, the roller rotates and can relatively displace the tip of the second loading plate 60B upward or downward. Even in this case, collision between the tip of the first loading plate 60A and the tip of the second loading plate 60B is suppressed.

The base end of the first mounting plate 60A is fixed to the base 43 or the arm base 53A by screws or the like, so that the first mounting plate 60A is supported in a horizontal position. In this embodiment, the first mounting plate 60A is also supported by the support rod 65A.

The support rod 65A is a rod-shaped member that extends from the tip of the first mounting plate 60A toward the second mounting plate 60B below the first mounting plate 60A. The support rod 65A passes through a position above the lower edge of the guide surface 63Af and supports the first mounting plate 60A from below. In this embodiment, multiple support rods 65A (three in this example) are provided.

More specifically, the support rod 65A includes a rod main body 65A1 and a support bracket 65A2. The support bracket 65A2 is provided below the first mounting plate 60A. The support bracket 65A2 is formed in a long and narrow gutter shape with an open upper portion. One end of the support bracket 65A2 is fixed to the base 43 via a frame or the like below the base end of the first mounting plate 60A. The support bracket 65A2 extends from the base end of the first mounting plate 60A to a position just before the tip end of the first mounting plate 60A below the first mounting plate 60A. A fixed piece 65A2p is provided at the other end of the support bracket 65A2. An extension piece 61Ap extending along the horizontal direction is formed on the tip edge of the first mounting plate 60A (i.e., the tip edge of the collision suppression part 63A). The other end of the support bracket 65A2 is fixed to the first mounting plate 60A by fixing the fixed piece 65A2p to the underside of the extension piece 61Ap with screws or the like, so that the first mounting plate 60A is supported from below by the support rod 65A.

The rod body 65A1 is formed in a round bar shape. The rod body 65A1 may have another long shape, for example, a square bar shape. One end of the rod body 65A1 is fitted into and supported by the other end of the support bracket 65A2. The one end of the rod body 65A1 and the other end of the support bracket 65A2 may be fixed by screws, welding, or the like. The rod body 65A1 extends toward the base end of the second mounting plate 60B and penetrates a through hole formed in the movable support part 53Ba. The rod body 65A1 does not have to penetrate the movable support part 53Ba. The other end of the rod body 65A1 may be fixed to the base 43 via a frame or the like.

A U-shaped recess 60Ag is formed in the tip of the first mounting plate 60A where the support rod 65A is disposed. The recess 60Ag is formed in a U-shaped recess shape extending from the extension piece 61Ap to the height direction middle part of the guide surface 63Af. At the tip of the support bracket 65A2, a part of the rod main body part 65A1 protrudes upward from the support bracket 65A2 and is disposed in the recess 60Ag. Therefore, the upward surface part of the rod main body part 65A1 extends from the vertical middle part of the guide surface 63Af along the horizontal direction toward the bottom of the second mounting plate 60B. For example, even if the tip of the second mounting plate 60B is lowered below the initial assumed position, the second mounting plate 60B is supported by the upward surface part of the rod main body part 65A1 and is prevented from lowering below it. In this state, when the second mounting plate 60B approaches the first mounting plate 60A, the tip of the second mounting plate 60B moves onto the guide surface 63Af while being guided by the upward surface portion of the rod main body 65A1, and then moves onto the first mounting plate 60A while being guided by the guide surface 63Af (see arrow P1 in FIG. 8). In this way, the first mounting plate 60A and the second mounting plate 60B overlap with the tip of the second mounting plate 60B positioned above the lower edge of the guide surface 63Af of the first mounting plate 60A, so that even if the tip of the second mounting plate 60B tries to hang down, it is guaranteed that it will be guided by the guide surface 63Af. This allows the first mounting plate 60A and the second mounting plate 60B to overlap smoothly.

A downward protruding piece 66A is formed on the side of the first loading plate 60A on which the shelf plate 24 or the temporary storage shelf 26 is provided. The downward protruding piece 66A is provided on both sides of the first loading plate 60A (the front side and the rear side based on the transfer running device 40). The downward protruding piece 66A is formed in a narrow plate shape along the width direction of the transfer running device 40 and protrudes downward from the loading surface 60Af. In addition, between the downward protruding piece 66A and the base 43, a gap is provided through which the downward protruding piece 66B on the second loading plate 60B side described later can enter. Between the downward protruding piece 66A and the loading guide member 80 described later, a gap is also provided through which the downward protruding piece 66B on the second loading plate 60B side can enter.

The portion of the downward protruding piece 66A close to the mounting surface 60Af is formed into a mounting guide surface 66Af1 that faces downward toward the shelf board 24. In this embodiment, the mounting guide surface 66Af1 is formed into a curved shape that is outwardly convex when viewed along the width direction (see FIG. 9).

An overlapping guide surface 66Af2 is formed on the side of the tip of the first mounting plate 60A that faces the shelf 24 or temporary shelf 26, i.e., the tip of the downward protruding piece 66A. The overlapping guide surface 66Af2 is formed in a shape that turns inward toward the tip edge of the first mounting plate 60A. In other words, a pair of overlapping guide surfaces 66Af2 is formed on both sides of the tip of the first mounting plate 60A. When the first mounting plate 60A is viewed in plan, the pair of overlapping guide surfaces 66Af2 are shaped to turn inward toward the tip edge of the first mounting plate 60A. In other words, the tip of the first mounting plate 60A is formed in a shape that narrows toward the tip. When the first and second mounting plates 60A and 60B overlap, the downward protruding pieces 66B on the second mounting plate 60B (described later) come into contact with a pair of overlapping guide surfaces 66Af2, so that the first and second mounting plates 60A and 60B are aligned in a direction perpendicular to the approaching direction of the second mounting plate 60B. This allows the first and second mounting plates 60A and 60B to overlap smoothly.

The second mounting plate 60B includes a main plate portion 61B and a downward protruding piece 66B. The second mounting plate 60B is supported so that the mounting surface 60Af of the first mounting plate 60A and the mounting surface 60Bf of the second mounting plate 60B are arranged at different vertical positions. In this embodiment, the second mounting plate 60B is supported so that the mounting surface 60Bf of the second mounting plate 60B is arranged above the mounting surface 60Af of the first mounting plate 60A. Therefore, the second mounting plate 60B is arranged on the first mounting plate 60A with the first mounting plate 60A and the second mounting plate 60B overlapping each other. In addition, the following two cases are included when the first mounting plate 60A and the second mounting plate 60B are supported so that the mounting surfaces 60Af and 60Bf are arranged at different vertical positions. The first is when the initial support positions of the first and second loading plates 60A and 60B are different vertically. The second is when the initial support positions of the first and second loading plates 60A and 60B are the same vertically, and at least one of them can move vertically, so that the loading surfaces 60Af and 60Bf can be positioned at different vertical positions when overlapping.

The main plate portion 61B is formed in a rectangular plate shape and is provided so as to extend into the area adjacent to the first loading plate 60A side with respect to the second loading/unloading unit 52B. The tip of the main plate portion 61B includes a folded portion 61Bp folded downward. The folded portion 61Bp makes it easier to keep the tip of the main plate portion 61B straight. The main plate portion 61B extends in a horizontal position. The upper surface of the portion of the main plate portion 61B that extends in a horizontal position is the loading surface 60Bf.

The downward protruding pieces 66B protrude downward from both sides of the main plate portion 61B that face the shelf plate 24 or the temporary storage shelf 26. The downward protruding pieces 66B are elongated plate shapes that run along the width direction of the transfer running device 40 and protrude downward from the placement surface 60Bf.

The dimension between the inward faces of the pair of downward protruding pieces 66B is greater than the dimension between the outward faces of the pair of downward protruding pieces 66A. Therefore, the first mounting plate 60A can be placed between the pair of downward protruding pieces 66B. When the first mounting plate 60A and the second mounting plate 60B are overlapped, the downward protruding piece 66B fits between the downward protruding piece 66A and the long frame-shaped portion of the base 43 that is aligned in the width direction.

The base end of the second loading plate 60B is fixed to the part on the second loading unit 52B side, for example, the arm base 53B, by means of screws or the like. This allows the second loading plate 60B to move toward and away from the first loading unit 52A together with the second loading unit 52B.

The downward protruding piece 66B is supported so as to be movable in the direction connecting the first loading plate 60A and the second loading plate 60B, that is, along the width direction of the transfer running device 40. More specifically, a guide rail 43b having a guide groove 43bg is provided on the inside of the long frame-shaped part of the base 43 along the width direction of the transfer running device 40. The guide rail 43b extends from a position next to the second loading plate 60B in the maximum separation state to a position next to the first loading plate 60A. A movable body supported by the guide rail 43b is provided on the downward protruding piece 66B. In this example, the movable body is a guide roller 67B rotatably supported on the outward portion of the downward protruding piece 66B. The guide roller 67B moves while rolling in the guide groove 43bg, so that the downward protruding piece 66B is supported so as to be movable along the width direction of the transfer running device 40.

When the second loading plate 60B is moving toward or away from the first loading plate 60A, the guide roller 67B moves in the guide groove 43bg, thereby guiding the second loading plate 60B to move toward or away from the first loading plate 60A at a predetermined height position. This allows the first loading plate 60A and the second loading plate 60B to overlap more smoothly.

The portion of the downward protruding piece 66B close to the placement surface 60Bf is formed into a placement guide surface 66Bf that faces downward toward the shelf board 24. In this embodiment, the placement guide surface 66Bf is formed into a curved shape that is outwardly convex when viewed along the width direction (see FIG. 9). The placement guide surface 66Bf is formed into a curved shape that can cover the outside of the placement guide surface 66Af1.

The support position of the second loading plate 60B by the second transfer unit 52B and the guide roller 67B may be set so that a gap S (see FIG. 8) is provided between the first loading plate 60A and the second loading plate 60B when the loading surface 60Af of the first loading plate 60A and the loading surface 60Bf of the second loading plate 60B are overlapped. In this case, the first loading plate 60A and the second loading plate 60B may be in partial contact. For example, the folded portion 61Bp of the second loading plate 60B may be in contact with the first loading plate 60A. If the first loading plate 60A and the second loading plate 60B can be overlapped with the gap S therebetween, the contact area between them can be made as small as possible.

<Regarding the placement guide member>
The placement guide member 80 will be described in more detail. Figures 9 and 10 are partial cross-sectional views taken along line IX-IX in Figure 7. Figures 9 and 10 show the rails 39 and the shelf boards 24. Figure 9 shows the article 30 to be taken in, and Figure 10 shows the article 30 to be sent out.

As shown in Figures 7, 9, and 10, the placement guide member 80 is interposed between at least one of the first placement plate 60A and the second placement plate 60B and the shelf plate 24 or the temporary shelf 26. If the first placement plate 60A or the second placement plate 60B that is the target of guiding from below during transfer is understood to be the target placement plate, the placement guide member 80 is interposed between the corresponding placement plate and the shelf plate 24 or the temporary shelf 26.

In this embodiment, both the first and second loading plates 60A and 60B are corresponding loading plates, and therefore, an example is described in which the loading guide member 80 is interposed between the first and second loading plates 60A and 60B and the shelf 24 or the temporary shelf 26. The loading guide member may be interposed between one of the first and second loading plates 60A and 60B and the shelf 24 or the temporary shelf 26. For example, for the first loading plate 60A supported at a fixed position relative to the base 43, a guide-shaped portion that supports the article 30 from below during transfer is formed on the first loading plate 60A itself, and for the second loading plate 60B that is movable relative to the base 43, a loading guide member may be provided separately from the second loading plate 60B.

The loading guide members 80 are provided on the front and rear sides of the first loading plate 60A and the second loading plate 60B in the transfer running device 40. In this embodiment, the loading guide members 80 are fixed by screws or the like to each of a pair of long frame-shaped portions of the base 43 that extend along the width direction of the transfer running device 40.

The placement guide member 80 is formed separately from the corresponding placement plate. In this embodiment, the placement guide member 80 is formed separately from both the first placement plate 60A and the second placement plate 60B. The placement guide member may be integrally formed with one of the first placement plate 60A and the second placement plate 60B. For example, the placement guide member may be integrally formed with the first placement plate 60A that is fixed at a fixed position relative to the base 43. In this case, the placement guide member integrally formed with the first placement plate 60A may extend toward the second placement plate 60B and be interposed between the second placement plate 60B and the shelf plate 24 or the temporary placement shelf 26.

The loading guide member 80 has a loading guide surface 81 that inclines toward the shelf board 24 or temporary storage shelf 26 between the positions of the first loading plate 60A and the second loading plate 60B in the transfer direction of the article 30 (the front-rear direction of the transfer running device 40) and the position of the shelf board 24 or temporary storage shelf 26.

In this embodiment, the placement guide member 80 is formed in a long, narrow plate shape. The side of the placement guide member 80 facing the shelf board 24 or temporary shelf 26 is bent downward as it approaches the shelf board 24 or temporary shelf 26. The upper surface of this side is the placement guide surface 81 that faces downward as it approaches the shelf board 24 or temporary shelf 26.

In addition to the above-mentioned placement guide surface 81, the placement guide member 80 has a reverse placement guide surface 82 that slopes toward the first placement plate 60A and the second placement plate 60B between the positions of the first placement plate 60A and the second placement plate 60B and the position of the shelf plate 24 or the temporary placement shelf 26 in the transfer direction (front-back direction in the transfer running device 40) of the article 30. In this embodiment, the side portion of the placement guide member 80 on the first placement plate 60A or the second placement plate 60B side (i.e., the side portion opposite the placement guide surface 81) is bent so as to face downward as it faces the first placement plate 60A or the second placement plate 60B. The upper surface of this side portion is the reverse placement guide surface 82 that faces downward as it faces the first placement plate 60A or the second placement plate 60B.

The mounting guide member 80 has an upper guide surface 83 between the mounting guide surface 81 and the reverse mounting guide surface 82. The upper guide surface 83 is the guide surface located at the highest position in the mounting guide member 80. Here, the upper guide surface 83 is a flat surface along the horizontal direction. The upper guide surface 83 may be a slightly inclined surface or a curved surface. The mounting guide surface 81 and the reverse mounting guide surface 82 are inclined downward in a direction away from the upper guide surface 83.

To explain an example of the height position of the upper guide surface 83, the upper guide surface 83 may be located above the lower of the placement surfaces 60Af and 60Bf (here, placement surface 60Af) and below the upper one (here, placement surface 60Bf).

In this case, the item 30 on the shelf 24 or temporary shelf 26 is guided diagonally upward by the loading guide surface 81, slides on the upper guide surface 83, and is guided by the loading guide surface 66Af1 of the first loading plate 60A or the loading guide surface 66Bf of the second loading plate 60B to move onto the first loading plate 60A or the second loading plate 60B.

In this case, if the upper guide surface 83 is located at the midpoint between the placement surface 60Af and the placement surface 60Bf, the difference in height between the upper guide surface 83 and the placement surface 60Af and the difference in height between the upper guide surface 83 and the placement surface 60Bf can be made as small as possible. This allows the article 30 to be smoothly taken in from the upper guide surface 83 toward the first placement plate 60A and the second placement plate 60B.

In addition, the items 30 on the first and second loading plates 60A and 60B are guided by the reverse loading guide surface 82 and move onto the upper guide surface 83. As described above, if the upper guide surface 83 is located at the middle position between the loading surfaces 60Af and 60Bf, the difference in height between the upper guide surface 83 and the loading surface 60Af and the difference in height between the upper guide surface 83 and the loading surface 60Bf can be minimized, so that the items 30 are smoothly fed toward the first and second loading plates 60A and 60B with less vertical displacement. If the upper guide surface 83 is at the same height position or above the rail 39 and the top surface of the shelf 24 or temporary shelf 26, the items 30 are smoothly sent from the upper guide surface 83 to the rail 39 and onto the shelf 24 or temporary shelf 26.

As shown in FIG. 11, the upper guide surface 83 may be located at the same height as or above the mounting surface (here, mounting surface 60Bf) of the first mounting plate 60A or the second mounting plate 60B that overlaps above (here, second mounting plate 60B).

In this case, the item 30 moves from the upper guide surface 83 to the same height position or to a lower position relative to the first loading plate 60A or the second loading plate 60B. This allows the item 30 to be more reliably taken into the first loading plate 60A or the second loading plate 60B. When the item 30 moves in the reverse direction, the item 30 comes into contact with the reverse loading guide surface 82, and is guided diagonally upward, allowing it to move smoothly onto the upper guide surface 83.

In this embodiment, an example has been described in which the placement guide surface 81 of the placement guide member 80 has a shape that faces downward as it approaches the shelf board 24 or the temporary storage shelf 26. However, the placement guide surface may have a shape that faces upward as it approaches the shelf board 24 or the temporary storage shelf 26. In this case, the edge of the placement guide surface may be set at a position lower than the rail 39 and the upper surface of the shelf board 24 or the temporary storage shelf 26. Similarly, the reverse placement guide surface may have a shape that faces upward as it approaches the first placement plate 60A or the second placement plate 60B. In this case, the edge of the reverse placement guide surface may be set at a position lower than the placement surfaces 60Af, Bf.

In addition, in the above embodiment, one or both of the reverse placement guide surface 82 and the upper guide surface 83 may be omitted. Also, the placement guide member 80 itself may be omitted.

The loading guide member 80 may be provided at any position between the shelf 24 or temporary shelf 26 and the first loading plate 60A and second loading plate 60B so as to support and guide the item 30 from below when the item 30 is transferred.

The following describes examples of preferred placement areas of the placement guide surface 81 of the placement guide member 80 in relation to the placement area of the first placement plate 60A and the second placement plate 60B in the maximum separation state and the placement area of the first placement plate 60A and the second placement plate 60B in the closest approach state.

The width direction of the transfer traveling device 40 is used as the reference. In the maximum separation state, the arrangement area of the first loading plate 60A is E1, the arrangement area of the second loading plate 60B is E2, and the area corresponding to the area between the tip of the first loading plate 60A and the tip of the second loading plate 60B is E3.

When the first and second mounting plates 60A and 60B are stacked on top of each other, the area corresponding to the section where the boundary between the first and second mounting plates 60A and 60B appears in a plan view is designated as E4. In this embodiment, area E3 is the area between the leading edge of the second mounting plate 60B and the leading edge of the first mounting plate 60A in the closest state.

When the first and second mounting plates 60A and 60B are separated and the article 30 is transferred to the first and second mounting plates 60A and 60B, it is expected that the article 30 will get caught on the first tip or the tip of the second mounting plate 60B. To prevent this, the mounting guide surface 81 may be provided in the above-mentioned area E3. As a result, even if the first and second mounting plates 60A and 60B are separated and the article 30 is transferred onto the first and second mounting plates 60A and 60B, the article 30 is transferred so that it rests on the top of the first and second mounting plates 60A and 60B, so that the article 30 is less likely to get caught on those tips.

In addition, when the first and second loading plates 60A and 60B are overlapped, one edge of the other appears on top of the other as a step. In this state, when the item 30 is placed on the first and second loading plates 60A and 60B, it is expected that the item 30 will get caught on the step edge. Therefore, the loading guide surface 81 may be provided in the above-mentioned area E4. As a result, even if the item 30 is transferred onto the first and second loading plates 60A and 60B when the first and second loading plates 60A and 60B are overlapped, the item 30 is transferred so that it rests on the top of the first and second loading plates 60A and 60B, so that the item 30 is less likely to get caught on the step-like tip.

In addition, since the article 30 is transferred onto the first loading plate 60A and the second loading plate 60B, the loading guide surface 81 may be provided between the first loading plate 60A and the shelf board 24 or the temporary storage shelf 26, and further between the second loading plate 60B and the shelf board 24 or the temporary storage shelf 26. In particular, in the maximum separation state, the loading guide surface 81 may be provided in the areas E2 and E4 corresponding to the first loading plate 60A and the second loading plate 60B.

In this embodiment, in the maximum separation state, the loading guide surface 81 of the loading guide member 80 extends from the outermost portion of the first loading plate 60A to the outermost portion of the second loading plate 60B. Therefore, an example is shown in which the loading guide surface 81 exists in all of the above-mentioned regions E1, E2, E3, and E4. The loading guide surface 81 may extend only to one or more of the regions E1, E2, E3, and E4.

<Effects, etc.>
According to the article transfer device 50 configured in this manner and the automated warehouse 20 equipped with the article transfer device 50, at least one of the first and second transfer units 52A and 52B is moved toward or away from each other between a state in which the leading end of the first loading plate 60A and the leading end of the second loading plate 60B are separated and a state in which the loading surface 60Af of the first loading plate 60A and the loading surface 60Bf of the second loading plate 60B overlap. In a state in which the loading surface 60Af of the first loading plate 60A and the loading surface 60Bf of the second loading plate 60B overlap, the first and second transfer units 52A and 52B can be moved closer to each other than the combined width of the loading surfaces 60Af and 60Bf by the amount of overlap between the loading surfaces 60Af and 60Bf. Therefore, the adjustment range of the interval between the first loading/unloading unit 52A and the second loading/unloading unit 52B can be increased.

In addition, the first and second mounting plates 60A and 60B are supported so that the mounting surfaces 60Af and 60Bf are positioned at different vertical positions, so that the first and second mounting plates 60A and 60B can easily overlap each other.

In particular, if the first and second mounting plates 60A and 60B are supported so that a gap S is provided between the first and second mounting plates 60A and 60B when the mounting surfaces 60Af and 60Bf are overlapped, the rubbing noise and scratches between the first and second mounting plates 60A and 60B are suppressed, and the two can be smoothly overlapped.

In addition, because a collision suppression portion 63A is provided on at least one of the first loading plate 60A and the second loading plate 60B, the first loading plate 60A and the second loading plate 60B can smoothly approach each other and overlap. As a result of the first loading plate 60A and the second loading plate 60B being able to smoothly overlap each other, the reliability of the operation of the article transfer device 50 is improved, and safety is also improved.

In addition, if the collision prevention section 63A has a guide surface 63Af, the collision between the first loading plate 60A and the second loading plate 60B can be prevented with a simple configuration.

In addition, the support rod 65A passes through a position above the lower edge of the guide surface 63Af to support the first loading plate 60A from below and extends below the second loading plate 60B. Therefore, even if the position of the second loading plate 60B drops due to the weight of the items, etc., the second loading plate 60B is supported from below by the support rod 65A. Since the support rod 65A passes through a position above the lower edge of the guide surface 63Af, when the second loading plate 60B is placed on the support rod 65A, the tip of the second loading plate 60B comes relatively close to the guide surface 63Af. Therefore, the tip of the second loading plate 60B rides up above the lower edge of the guide surface 63Af and can be smoothly placed on the first loading plate 60A.

The downward protruding piece 66B of the second mounting plate 60B contacts and is guided by the overlapping guide surface 66Af2 on the downward protruding piece 66A of the first mounting plate 60A. This allows the first mounting plate 60A and the second mounting plate 60B to be smoothly overlapped with each other while being aligned in a direction perpendicular to the approaching and separating direction.

In addition, since a loading guide surface 66Bf is formed on the downward protruding piece 66B of the second loading plate 60B, when the item 30 is transferred onto the loading surface 60Bf, the bottom surface of the item 30 is guided by the loading guide surface 66Bf, so that the item 30 is transferred smoothly.

Similarly, a loading guide surface 66Af1 is formed on the downward protruding piece 66A of the first loading plate 60A, and the loading guide surface 66Af1 allows the article 30 to be smoothly transferred onto the loading surface 60Bf.

The downward protruding piece 66B of the second loading plate 60B is supported by the guide rail 43b so that it can move in the approaching and retracting direction. This allows the second loading plate 60B to move smoothly toward and away from the loading plate while supporting its own weight, etc.

In addition, the automated warehouse 20 equipped with the above-mentioned transfer running device 40 can smoothly store and retrieve multiple types of items 30 with widely differing widths from the item storage section 21.

The configurations described in the above embodiment and each modified example can be combined as appropriate as long as they are not mutually inconsistent.

The above description is illustrative in all respects and does not limit the present invention. It is understood that countless variations not illustrated can be envisioned without departing from the scope of the present invention.

20 Automated warehouse 21 Item storage section 24 Shelf 26 Temporary storage shelf 30 Item 40 Transfer running device 42 Cart 50 Item transfer device 52A First transfer unit 52B Second transfer unit 60A First loading plate 60B Second loading plate 60Af, 60Bf Loading surface 63A Collision prevention section 63Af Guide surface 65A Support rod 66A, 66B Downward protruding piece 66Af1, 66Bf Loading guide surface 66Af2 Overlapping guide surface 67B Guide roller 70 Spacing adjustment mechanism 80 Loading guide member 81 Loading guide surface 82 Reverse loading guide surface 83 Upper guide surface

Claims (9)

a first loading/unloading unit that applies a force to transfer the object between the first loading/unloading unit and the object support unit on one side of the object to be loaded;
a second loading/unloading unit that applies a force to transfer the article between the second loading/unloading unit and the article support unit on the other side of the article;
a first placement plate adjacent to the first loading/unloading unit and extending toward the second loading/unloading unit;
a second loading plate adjacent to the second loading unit and extending toward the first loading unit;
a distance adjustment mechanism that moves at least one of the first and second transfer units closer to or farther from one another between a state in which a tip end of the first mounting plate and a tip end of the second mounting plate are separated and a state in which the first mounting plate and the second mounting plate are disposed at different vertical positions, thereby causing a mounting surface of the first mounting plate and a mounting surface of the second mounting plate to overlap;
Equipped with
a collision suppression portion is provided on at least one of a leading end portion of the first placement plate and a leading end portion of the second placement plate to suppress a collision between the leading ends of the first placement plate and the second placement plate when the first placement plate and the second placement plate approach each other;
The article transfer device further comprises a support rod extending from a tip of the first mounting plate below the first mounting plate toward the second mounting plate and supporting the first mounting plate from below . The article transfer device according to claim 1,
An article transfer device, wherein the first placement plate and the second placement plate are supported such that a placement surface of the first placement plate and a placement surface of the second placement plate are positioned at different vertical positions. The article transfer device according to claim 2,
An article transfer device, in which the first loading plate and the second loading plate are supported so that a gap is provided between the first loading plate and the second loading plate when the loading surface of the first loading plate and the loading surface of the second loading plate overlap. The article transfer device according to claim 1 ,
An article transfer device, wherein the collision prevention portion is provided at the tip portion of the first loading plate and includes a guide surface formed so as to move toward one side in the thickness direction of the first loading plate as it moves toward the tip edge of the first loading plate. The article transfer device according to claim 4 ,
The guide surface is formed so as to extend downward toward the leading edge of the first mounting plate,
A recess is formed on the guide surface,
An article transfer device, wherein the support rod supports the first loading plate from below with at least a portion of the support rod being positioned within the recess and passing through a position above the lower edge of the guide surface. An article transfer device according to any one of claims 1 to 5 ,
a downward protruding piece that protrudes downward is formed on a side portion of one of the first placement plate and the second placement plate on the side of the article support portion,
An article transfer device, wherein an overlapping guide surface is formed on the side of the tip portion of the other of the first and second loading plates that faces the article support portion and faces inward toward the tip edge. The article transfer device according to claim 6 ,
An article transfer device, wherein the downward protruding piece includes a loading guide surface that faces downward toward the article support portion. The article transfer device according to claim 6 or 7 ,
An article transfer device, wherein the downward protruding piece is supported so as to be movable along a direction connecting the first placement plate and the second placement plate. an article storage section including a plurality of the article support sections;
A transfer traveling device including the article transfer device according to any one of claims 1 to 8 and a carriage that moves the article transfer device between positions facing the multiple article support units;
An automated warehouse equipped with

Images