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WO2017033845A1 - 物品搬送用容器の昇降搬送装置 - Google Patents

物品搬送用容器の昇降搬送装置 Download PDF

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Publication number
WO2017033845A1
WO2017033845A1 PCT/JP2016/074179 JP2016074179W WO2017033845A1 WO 2017033845 A1 WO2017033845 A1 WO 2017033845A1 JP 2016074179 W JP2016074179 W JP 2016074179W WO 2017033845 A1 WO2017033845 A1 WO 2017033845A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
gripping means
height
container gripping
transported
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/074179
Other languages
English (en)
French (fr)
Inventor
教喜 小川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daifuku Co Ltd
Original Assignee
Daifuku Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daifuku Co Ltd filed Critical Daifuku Co Ltd
Priority to CN201680047280.9A priority Critical patent/CN108137228B/zh
Priority to RU2018110050A priority patent/RU2719049C2/ru
Priority to EP16839192.8A priority patent/EP3309094B1/en
Priority to BR112018001601-2A priority patent/BR112018001601B1/pt
Priority to KR1020187002579A priority patent/KR102636394B1/ko
Priority to CA2992412A priority patent/CA2992412C/en
Publication of WO2017033845A1 publication Critical patent/WO2017033845A1/ja
Priority to US15/896,705 priority patent/US10556782B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/186—Container lifting frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
    • B66C1/30—Duplicate, e.g. pivoted, members engaging the loads from two sides and also arranged to grip the sides of the loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element

Definitions

  • the present invention relates to an article transport container lifting / lowering apparatus provided with at least two sets of container gripping means for gripping and lifting an article transport container from both sides.
  • the article transport container lifting / lowering transport device includes at least two sets of container gripping means that are movable toward and away from the article transport container in the horizontal direction and that can be lifted / lowered.
  • a plurality of container support pins that are protruded and retractable in the horizontal direction and are biased and held in the protruded position on the side where the container is located.
  • the container is configured to be supported by the container support pin that has entered the lower side of the overhanging rib projecting horizontally outward from the side surface.
  • the container gripping means is supported by the column member so that the container gripping means can be moved up and down with the fixed height of the column member that supports and lifts the container gripping means as the lower limit position. In a state where the container gripping means is supported at the lower limit height with respect to the column member, after the container gripped by the container gripping unit is transported to a position directly above the target position, the column member is lowered.
  • the support member is lowered by a certain height, for example, about 5 to 10 mm, from the target container lowering height, and the lower limit height on the support member is lowered.
  • a very large frictional resistance acts between the overhanging rib and the container support pin that is in sliding contact with any one of the upper and lower surfaces thereof, so that the container support pin cannot be put in and out smoothly.
  • the container support pin of the container gripping means is pulled out laterally outward from the overhanging rib of the container after the container is transferred, the container is hooked laterally outward due to the large frictional resistance between them. There was a fear.
  • the present invention proposes an ascending / descending and conveying apparatus for an article conveying container that can solve the conventional problems as described above, and the ascending and descending conveying apparatus for an article conveying container according to the present invention will be described later.
  • the reference numerals used in the description of the embodiment are shown in parentheses and can be moved toward and away from the article transport container (1) in the horizontal direction.
  • at least two sets of container gripping means (2A, 2B) that can be raised and lowered, and these container gripping means (2A, 2B) protrude and retract in the horizontal direction on the side where the container (1) is located and protrude.
  • the container supporting pin which has entered the lower side of the downward step surface (the lower surface of the overhanging rib (1a))
  • the container gripping means (2A, 2B) is supported by the column members (6a, 6b) for moving up and down the container gripping means (2A, 2B) so that the container gripping means (2A, 2B) can be moved up and down.
  • An elastic body that urges the container gripping means (2A, 2B) in the upward direction between the means (2A, 2B) (the embodiment is a compression coil spring (20), but a tension coil spring or a rubber instead of these springs)
  • the container gripping means (2A, 2B) is balanced with the weight of the container gripping means (2A, 2B) by the upward biasing force of this elastic body (which can also be used).
  • H3) is held movably up and down around the equilibrium height (H3), and when the container gripping means (2A, 2B) lifts the container (1), the container (1) receives the weight and
  • the container gripping means (2A, 2B) lowered from the equilibrium height (H3) is supported at a constant height of the column members (6a, 6b).
  • the container gripping means in a state in which the container is not supported is held in an unstable state in the vertical direction at the equilibrium height by the elastic body, that is, its own weight is canceled out. Therefore, the container gripping means can be easily moved up and down even with a small external force. Further, in a situation where the container gripping means supports the container, the container gripping means that is lowered from the equilibrium height in response to the weight of the container is supported at a constant height of the column member. Therefore, in the operation process of receiving the container to be transported by the container gripping means, the empty container gripping means held at the equilibrium height is lowered together with the support member to a predetermined height on the lateral side of the container to be transported.
  • the container to be transported is moved closer to the container together with the support member.
  • the container gripping means is mounted on the upper surface of the container to be transported or directed downward in the many container support pins provided in the container gripping means. Even when there is a vertical pressing pin located at a height pushed down by the step surface, the container gripping means at this time is in a situation where its own weight is canceled by the urging force of the elastic body, so its vertical direction Since the container gripping means itself moves up and down lightly and easily according to the upward or downward force received from the upper surface or downward step surface of the container, the vertical pressure Pins, or ride less frictional resistance on top of the container sides or can penetrate less frictional resistance on the lower side of the downward stepped surface of the container.
  • the container gripping means that is lowered from the equilibrium height in response to the weight of the container is supported at a constant height of the column member.
  • the container can be transported in a stable state as in the conventional case, but as described above, the container to be transported is more than the height estimated to have reached the target lowering height,
  • the container gripping means is lowered together with the support member by a certain height and the operation is performed to reliably lower the container to be transported at a predetermined height
  • the container gripping is performed after the container to be transported is lowered to a predetermined position.
  • the container support pin positioned immediately above the downward step surface of the container to be transported is a conventional one. In other words, it is not strongly pressed downward on the upper surface of the container to be transported, but is a container support pin located immediately below the downward step surface of the container to be transported, that is, the transport target container is supported during transport.
  • the pin naturally moves up integrally with the container gripping means by the urging force of the elastic body up to a height at which the pin comes into contact with the stepped surface.
  • an elastic body that suspends the container gripping means is interposed between the container gripping means and the support member, and the container gripping means is held at the equilibrium height that balances its weight. It is also possible to make it. In this case, it is necessary to provide a stopper on the column member side for receiving the container gripping means that descends from the equilibrium height when the container gripping means supports the container to be transported at a predetermined height.
  • a spring receiving member (18) is provided on the column member (6a, 6b) at a position below the container holding means (2A, 2B), and the container holding member is used as the elastic body on the spring receiving member (18). It is desirable to carry out by attaching a plurality of compression coil springs (20) that support the means (2A, 2B) at their upper ends. According to this configuration, the stability of the container gripping means at the equilibrium height can be enhanced.
  • the container gripping means when the container gripping means is supported by the compression coil spring as described above, the container gripping means that supports and lowers the container to be transported is supported by the upper end of the compression coil spring that receives the weight of the container and is compressed to the compression limit. It is also possible to make a stopper that receives the container gripping means (2A, 2B) lowered from the equilibrium height (H3) at a position higher than the upper end height at the time of maximum compression of the compression coil spring (20) ( 21a and 21b) are preferably provided separately. According to this configuration, the durability of the compression coil spring to be used can be enhanced, the accuracy of the lower limit height of the container gripping means supporting the container to be transported can be increased, and the container gripping means can be stably supported.
  • the compression coil spring may have a cylindrical shape with the same diameter from the lower end to the upper end, but it is desirable to use a conical shape with the upper end supporting the container gripping means (2A, 2B) having the minimum diameter.
  • the container gripping means (2A, 2B) since the spring itself has a function of automatically aligning the upper end (the upper end of the minimum diameter), the container gripping means (2A, 2B) is smoothly moved up and down with respect to the column members (6a, 6b). It can be made.
  • the container gripping means from the equilibrium height can be made very small compared to the cylindrical compression coil spring because the minimum length in the compression limit with respect to the maximum length under no load can be made very small. It is easy to increase the descending amount.
  • FIG. 1 is a plan view showing the gripping device in an open state with respect to the transport target container.
  • FIG. 2 is a plan view showing the gripping device in a closed state with respect to the container to be transported.
  • FIG. 3 is a side view showing a main part of a gripping device provided with two upper and lower container gripping means.
  • 4A is a front view of the main part showing the lower container gripping means
  • FIG. 4B is a transverse plan view at a position immediately above the lower container gripping means
  • FIG. 4C is a crossing at a position immediately below the lower container gripping means. It is a top view.
  • FIG. 5A is a front view of the main part showing the upper container gripping means
  • FIG. 5B is a cross-sectional plan view at a position immediately below the upper container gripping means.
  • FIG. 6 is a side view of the main part showing a state where the gripping device shown in FIG. 3 grips the container.
  • FIG. 7A is a longitudinal side view of the main part showing a state in which the container gripping means is lifting the container, and
  • FIG. 7B is an enlarged vertical side view of the main part showing the internal structure of the container gripping means.
  • FIG. 8A to FIG. 8C are partially longitudinal side views of the main part for explaining the detailed structure and operation of the spring supporting the container gripping means.
  • the ascending / descending and conveying apparatus for the article conveying container of the present embodiment shown in the attached drawings is basically the same as that shown in the specification and drawings of the prior invention (the invention disclosed in Japanese Patent Application Laid-Open No. 2016-3069).
  • the structure is the same, and as shown in FIGS. 1 to 3, a plastic container for transporting articles (hereinafter abbreviated as “container”) that is small enough to be lifted and carried by both hands. 1 is lifted and transported, and is placed at the center position CP among the horizontal vertical virtual line X and horizontal horizontal virtual line Y passing through the center position CP in a plan view of the lift transport apparatus and orthogonal to each other.
  • a pair of container gripping means 2A and 2B for gripping both sides of the container 1 parallel to the horizontal and vertical imaginary line X, and four positioning members 3a to 4b for fitting and positioning at the four corners of the container 1. ing.
  • the direction parallel to the horizontal vertical virtual line X is defined as the horizontal vertical direction
  • the direction parallel to the horizontal horizontal virtual line Y is defined as the horizontal horizontal direction.
  • horizontal and horizontal container gripping means 2A and 2B it is made of a horizontal member that is long in the horizontal and vertical direction, and can move toward and away from each other in the horizontal and horizontal direction while maintaining a symmetrical position with respect to the horizontal and vertical virtual line X.
  • Lateral motion bases 5A and 5B are provided, and support members 6a and 6b are attached to the inner side of the center of the lateral motion tables 5A and 5B so as to be able to move up and down.
  • the container gripping means 2A and 2B are attached at the same height inside.
  • movable bases 7a to 8b are supported at both ends in the longitudinal direction of the laterally moving bodies 5A and 5B so as to be movable toward and away from each other in the horizontal and vertical directions while maintaining a symmetrical position with respect to the horizontal horizontal imaginary line Y.
  • the positioning members 3a to 4b are supported on the movable bases 7a to 8b so as to be movable up and down.
  • Each of the positioning members 3a to 4b is formed of a mold member having an L-shaped cross section that can be fitted into the four corners of the container 1 and long in the vertical vertical direction.
  • the horizontal moving bases 5A and 5B are moved close to each other in the horizontal and horizontal directions, and at the same time, the movable bases 7a and 7b and 8a and 8b are moved in the horizontal and vertical directions with respect to the horizontal moving tables 5A and 5B.
  • the positioning members 3a to 4b are held at the same time as the pair of horizontal and horizontal container gripping means 2A and 2B grips the center of both lateral sides of the container 1 at the same time. It can be fitted into the four corners of the container 1.
  • Both lateral movement bases 5A and 5B are supported on a transport carriage that can travel in a horizontal vertical direction and a horizontal horizontal direction at a certain height above the floor of the container storage area, and each container gripping means 2A,
  • the column members 6a and 6b to which 2B is attached are driven to move up and down with respect to the lateral movement bases 5A and 5B via two flat drive belts 10a and 10b, respectively.
  • Each of these two up-and-down driving flat belts 10a and 10b has lower ends connected to both ends of a horizontal member 9 attached to the lower ends of the support members 6a and 6b so as to project on both sides in the horizontal and vertical direction.
  • the positioning members 3a and 3b move up and down with respect to the movable bases 7a and 7b in conjunction with the up and down movement of the column member 6a located in the middle thereof, and the positioning members 4a and 4b are arranged in the middle of the column members 6b.
  • the movable bases 8a and 8b are moved up and down.
  • a pair of horizontal and horizontal container gripping means 2A, 2B includes a lower unit 11 attached to the lower ends of the column members 6a, 6b, and a column member 6a,
  • the upper unit 12 is attached to 6b, and each unit 11 and 12 has the same structure.
  • the vertically long units disposed on both sides of the column members 6a and 6b.
  • a pair of upper and lower guide blocks which are provided with parallel casings 11a to 12b, and which are fitted between the parallel casings 11a and 11b and between the parallel casings 11a and 12b so as to freely move up and down on the guide rails 13 which are provided on the inner side of the support members 6a and 6b.
  • container support pins 15 are supported in two vertical rows at positions symmetrical with respect to the horizontal horizontal imaginary line Y in plan view.
  • these container support pins 15 include two container support pins 15 having the same height and a narrow horizontal and vertical interval when viewed from the center position CP side.
  • the two container support pins 15 having the same height and wide horizontal and vertical intervals are arranged alternately at appropriate intervals in the vertical direction.
  • all the container support pins 15 are formed by tapering the container support front end portions 15a protruding from the casings 11a to 12b, and are formed inside the front side wall plates of the casings 11a to 12b.
  • a stopper 15b that abuts is provided, and the rear end has a length that penetrates the rear side wall plate of the casings 11a to 12b.
  • Each of the container support pins 15 has a container support tip portion 15a formed in the casing 11a to the casing 11a by a compression coil spring 15c loosely fitted to the container support pin 15 between the stopper 15b and the rear side wall plates of the casings 11a to 12b. It is biased and held so as to protrude a predetermined length from 12b.
  • the lower single unit 11 and the upper single unit 12 of the container gripping means 2A, 2B configured as described above have the lower ends of the support members 16a, 6b via the support means 16, 17 as shown in FIGS. It is supported by.
  • Each of the upper and lower support means 16 and 17 includes a spring receiving member 18 attached to the column members 6a and 6b, a plurality of compression coil springs 20 attached on the spring receiving member 18 via a spring attaching plate 19, and a horizontal vertical member. It consists of a pair of elastic stoppers 21a and 21b.
  • the stoppers 21a and 21b are attached to the spring receiving member 18 on the rear side of the spring mounting plate 19 so as to be distributed to both sides in the horizontal and vertical directions of the column members 6a and 6b.
  • the spring support member 18 of the lower support means 16 that supports the lower single body 11 is attached to the lower ends of the support members 6a and 6b, and the horizontal member 9 to which the lower ends of the elevating driving flat belts 10a and 10b are connected as it is.
  • the spring receiving member 18 of the upper support means 17 that supports the upper unit 12 is a recess into which the column members 6 a and 6 b and the elevating guide rail 13 inside thereof enter.
  • the horizontal plate 18a is provided with a central portion, and a U-shaped plate 18b whose upper end is fixed to the inner side of the concave portion below the horizontal plate 18a.
  • the U-shaped plate 18b is a column member 6a, 6b. Is attached.
  • the compression coil spring 20 of each support means 16 and 17 has a minimum diameter at the upper end ring portion 20a that receives the bottom surfaces of the upper and lower single bodies 11 and 12 (the bottom surfaces of the casings 11a to 12b).
  • the spring mounting plate 19 is provided with a mounting hole 19a having an inner diameter smaller than the outer diameter of the maximum diameter lower end ring portion 20b of the compression coil spring 20, and the lower end ring portion 20b of the compression coil spring 20 is attached to the mounting hole.
  • the lower end ring portion 20b and the spring mounting plate 19 are fixed by spot welding or the like in a state where they enter the lower side of 19a, whereby a plurality of compression coil springs 20 are shown in an appropriate arrangement, for example, FIGS.
  • the casings 11a to 12b are mounted on the spring mounting plate 19 in an arrangement in which each of the casings 11a to 12b is supported by four compression coil springs 20 respectively.
  • the spring mounting plate 19 is placed on the spring receiving member 18 on the support member 6a, 6b side, and the lower end ring portion 20b of each compression coil spring 20 is sandwiched between the spring mounting plate 19 and the spring receiving member 18. In this state, both ends of the spring mounting plate 19 are attached to the spring receiving member 18 with bolts and nuts.
  • the conical compression spring 20 of each of the support means 16 and 17 is deformed by receiving a compressive force from the maximum extension height H1 in the no-load state shown in FIG. 8A to the maximum compression height H2 shown in FIG. 8C.
  • the upper small-diameter ring portion enters the lower large-diameter ring portion and is in contact with each other, and the wire rod It is lower than the height when the diameter is added by the number of steps.
  • the upper small-diameter ring part completely enters the inside of the lower large-diameter ring part, and the ring parts of all the stages enter the spiral inside one ring part in contact with the upper surface of the spring mounting plate 19.
  • a conical compression coil spring can also be used.
  • the compression coil spring 20 has a maximum compression height H2 lower than the height SH of the stoppers 21a and 21b mounted on the same spring receiving member 18.
  • the maximum extension height H1 is sufficiently higher than the height SH of the stoppers 21a and 21b.
  • the equilibrium height H3 at this time is higher than the height SH of the stoppers 21a and 21b. Furthermore, as will be described later, when the lower unit 11 or the upper and lower units 11 and 12 of the container gripping means 2A and 2B grip and lift a predetermined container 1 via the respective container support pins 15, In response to the weight of the container 1, the lower single body 11 or the upper and lower single bodies 11, 12 are lowered by compressing and deforming the compression coil springs 20 of the support means 16, 17, and these compression coil springs 20 reach the maximum compression height H 2. Before reaching, the size and strength of the compression coil spring 20 are set so that the single bodies 11 and 12 are received by the stoppers 21a and 21b made of elastic material.
  • the container 1 to be handled by the elevating / conveying device configured as described above has a rectangular shape in a plan view and a box shape in which the upper side is opened.
  • a protruding rib 1a that projects outward is integrally formed around the periphery for reinforcement and grip formation, and a protruding base portion 1b that can fit inside the opening of another container 1 is integrally formed at the bottom.
  • the lower surface of the overhanging rib 1a is a downward stepped surface
  • the upper surface of the overhanging rib 1a is the upper surface of the container 1.
  • the container 1 is not limited to the illustrated structure.
  • a container in which a concave groove portion parallel to the circumferential direction is formed near the upper end of the peripheral wall surface, and an inner upper side surface of the concave groove portion becomes a stepped surface facing downward may be used.
  • the container 1 In the storage area of the container 1 provided with the lifting / lowering transport apparatus having the above-described configuration, the container 1 is placed so that its four sides are parallel to the horizontal vertical direction and the horizontal horizontal direction.
  • the container 1 to be transported has a central position CP of the lifting / lowering transport apparatus in plan view and the relevant position.
  • the lifting and lowering transport device is run so as to coincide with the center position of the container 1 and stopped at a position directly above the container 1 to be transported.
  • the elevating driving flat belts 10a and 10b are driven to move horizontally and horizontally.
  • the pair of support members 6a and 6b and the four positioning members 3a to 4b are lowered, and as shown in FIG. 3, just above the protruding rib 1a of the container 1 to be transported (up and down stacked as shown in FIG. 3).
  • the lower single unit 11 and the positioning members 3a to 4b of the container gripping means 2A and 2B are positioned on the right side of the protruding rib 1a of the lowermost container 1.
  • the container 1 to be transported is a large number of stacked containers, and the container 1 to be transported may also be located inside the upper unit 12 of the container gripping means 2A, 2B.
  • the container gripping means 2A and 2B and the positioning members 3a to 4b are lowered to a predetermined height as described above, then the lateral movement bases 5A and 5B are moved closer to each other in the horizontal lateral direction, and each lateral movement
  • the movable bases 7a to 8b on the bases 5A and 5B are moved close to each other in the horizontal and vertical directions, and the positioning members 3a to 4b are fitted to the four corners of the container 1 to be transported as shown in FIGS.
  • the container 1 to be transported is sandwiched from both sides in the horizontal and horizontal directions by the two container gripping means 2A and 2B. As a result, as shown in FIGS.
  • the height of the container support pins 15 of the upper and lower single bodies 11 and 12 in both container gripping means 2A and 2B that faces the protruding rib 1a of the container 1 to be transported Since the tip of the container support pin 15 in the contact with the outer surface of the overhanging rib 1a is prevented from moving forward, the container support pin 15 is relatively retracted into the casings 11a to 12b against the urging force of the compression coil spring 15c. Only the other container support pins 15 are moved closer to the outer surface of the container 1 to be transported while being held in the protruding position by the urging force of the compression coil spring 15c.
  • the container 1 In the process of sandwiching the container 1 to be transported from both sides in the horizontal and lateral direction by the container gripping means 2A and 2B moved close to each other in the horizontal and horizontal direction as described above, the container 1 is held at the protruding position by the urging force of the compression coil spring 15c. There is a possibility that the container support pin 15 that moves forward while being pressed in the vertical direction against the upper or lower surface of the overhanging rib 1a of the container 1 to be transported is sufficiently present in the container support pin 15 that is being transported It is in. On the other hand, as shown in FIG.
  • the upper and lower single bodies 11 and 12 that support the container support pin 15 so as to be movable back and forth are compressed by the support means 16 and 17 to an equilibrium height H3 that balances its weight. It is supported by the coil spring 20 and can be lightly moved up and down.
  • the container support tip 15a of each container support pin 15 is tapered. Combined with the conical point, the specific container support pin 15 is supported by the vertical reaction force between the specific container support pin 15 and the upper surface of the overhanging rib 1a of the container 1 to be transported.
  • the whole of the single body 11, 12 having the pin 15 is moved upward along the column members 6 a, 6 b in the direction of the upward biasing force of the compression coil spring 20 of the support means 16, 17, while the specific container support pin 15
  • the container supporting front end portion 15a can ride on the upper side surface of the overhanging rib 1a of the container 1 to be transported and reliably move to the forward limit position.
  • the container support tip 15a of each container support pin 15 is In combination with the tapered conical point, the specific container is supported by the vertical reaction force between the specific container support pin 15 and the lower side surface of the overhanging rib 1a of the container 1 to be transported.
  • the entire single body 11, 12 having the support pin 15 descends along the column members 6 a, 6 b against the upward biasing force of the compression coil spring 20 of the support means 16, 17, and the specific container support pin 15.
  • the container supporting front end portion 15a can sink under the lower surface of the overhanging rib 1a of the container 1 to be transported and can be reliably moved to the forward limit position.
  • the weight of the container 1 to be transported acts on the single bodies 11 and 12 having the effective container support pins 15 downward via the effective container support pins 15, the single bodies 11 and 12
  • the compression coil spring 20 of the support means 16 and 17 is lowered while being further compressed and deformed from the equilibrium height H3 shown in FIG. 8B, and is received by the stoppers 21a and 21b.
  • the weight of the container 1 to be transported is determined based on the effective container support pins 15 of both the container gripping means 2A and 2B, the single bodies 11 and 12 having the effective container support pins 15, and the stopper 21a made of an elastic material.
  • 21b can be reliably received by the column members 6a, 6b, and the container 1 to be transported can be stably lifted.
  • the positioning members 3a to 4b are fitted and positioned at the four corners of the container 1 to be transported, so even a plurality of stacked containers 1 can be lifted and transported stably without shaking. I can do it.
  • the elevating and conveying apparatus When the container 1 being lifted and conveyed by the elevating and conveying apparatus as described above is lowered to another place, the elevating and conveying apparatus may be operated by a procedure reverse to the above work procedure.
  • the lower limit height of 2B and the positioning members 3a to 4b is determined by the container gripping means 2A and 2B via the effective container support pin 15 in order to ensure transfer at the place where the container 1 to be transported is lowered.
  • the container 1 to be transported that is suspended is not the height at which the bottom surface reaches the floor surface, or the height at which the protruding base 1b finishes fitting in the upper end opening of another container 1 that has already been stored, The height is a little lower than that.
  • the container 1 to be transported suspended via the effective container support pin 15 is landed on the floor surface, or the protruding base 1b is fitted in the upper end opening of another container 1.
  • the weight of the container 1 to be transported is received by the other container on the floor or below, and does not act on the effective container support pin 15.
  • the single bodies 11 and 12 having the effective container support pins 15 receive upward biasing force by the compression coil springs 20 of the support means 16 and 17 from the lower limit height supported by the stoppers 21a and 21b.
  • the compression coil spring 20 can move upward within a range until the compression coil spring 20 returns to the equilibrium height H3.
  • the single units 11 and 12 of the container gripping means 2A and 2B support the container gripping means 2A and 2B.
  • the effective container support pin 15 receives the upward biasing force of the compression coil spring 20 of the support means 16, 17 instead of descending as the members 6 a, 6 b are lowered, and the overhanging rib 1 a of the container 1 to be transported. Only the support members 6a and 6b are lowered relative to the container gripping means 2A and 2B until the compression coil spring 20 reaches the equilibrium height H3 while maintaining the height of contact with the lower surface of the container. Become.
  • the effective container support pin 15 comes into contact with the lower surface of the overhanging rib 1a of the container 1 to be transported. In this state, the pressure contact force between them is a maximum, corresponding to the compression reaction force until the compression coil spring 20 reaches the equilibrium height H3, and is small.
  • the effective container support pin 15 is provided on the lower side of the overhanging rib 1a of the container 1 to be transported.
  • the container supporting pin 15 that is located below the upper side of the overhanging rib 1a is lowered and comes into contact with the upper side of the overhanging rib 1a of the container 1 to be transported.
  • the compression coil spring 20 is smaller than the urging force balanced with the weight of the single bodies 11 and 12, but continues to urge the single bodies 11 and 12 upward, so that the upper side of the overhanging rib 1a of the container 1 to be transported.
  • the pressure contact force that acts between the side surface and the container support pin 15 that abuts on the side surface is smaller than the weight equivalent of the single bodies 11 and 12.
  • the container gripping means 2A and 2B and the positioning members 3a to 4b are lowered to the above-mentioned lower limit height, and the container 1 to be transported is lowered to the target location, and then the container gripping means 2A and 2B are horizontally and horizontally moved.
  • the positioning members 3a to 4b are moved horizontally away from the four corners of the container 1 to be transported to cancel the gripping action on the container 1 to be transported, and then the container gripping means 2A, 2B. Then, by raising the positioning members 3a to 4b to the original standby height, a series of container lowering steps is completed.
  • the container gripping means 2A and 2B are moved away from each other in the horizontal and horizontal directions as described above, and the container support pins 15 of the individual units 11 and 12 are moved to the protruding ribs of the container 1 to be transported.
  • the pressure contact force between the upper or lower surface of the overhanging rib 1a and the container support pin 15 in contact with the upper surface is zero. Therefore, the pull-out resistance of the container support pin 15 that is in contact with the upper or lower surface of the overhanging rib 1a is small, and the container 1 to be transported is an empty container and one container that is not stacked. Even so, there is no risk of dragging the container 1 to be transported sideways along with the extraction of the container support pins 15.
  • the ascending / descending and conveying apparatus for an article conveying container is a storage facility of a type in which a small article conveying container that can be lifted with both hands is placed directly on a plane, and container holding means for holding both sides of the container. Can be used as a device that can be sandwiched between and lifted and conveyed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

本発明の物品搬送用容器の昇降搬送装置は、突出後退移動自在の多数の容器支持用ピン１５を配設した構造の容器把持手段２Ａ，２Ｂを昇降自在に支持する支柱部材６ａ，６ｂと当該容器把持手段２Ａ，２Ｂとの間に、この容器把持手段２Ａ，２Ｂを上昇方向に付勢するバネ２０が介装され、このバネ２０の上向き付勢力により容器把持手段２Ａ，２Ｂが、その重量と平衡する平衡高さＨ３に、当該平衡高さＨ３を中心に上下動可能に保持され、容器把持手段２Ａ，２Ｂが容器１を吊り上げたとき、当該容器１の重量を受けて平衡高さＨ３から下降した当該容器把持手段２Ａ，２Ｂが支柱部材６ａの一定高さで支持されるものである。

Description

物品搬送用容器の昇降搬送装置
　本発明は、物品搬送用容器を両側から把持して昇降させる、少なくとも二組の容器把持手段を備えた物品搬送用容器昇降搬送装置に関するものである。
　この種の物品搬送用容器昇降搬送装置として、取り扱う物品搬送用容器が、正面に開閉扉が設けられた大型容器の場合には、特許文献１に記載されるように、天井走行クレーン形式の走行体から昇降自在に吊り下げられた昇降体を設け、この昇降体の下側で前記大型容器を吊り下げることが出来るように、当該昇降体の下側に、大型容器の天井面に設けられた被係合金具又は、大型容器底面下の隙間に対して係脱自在なフックを設けたものが知られている。一方、本出願人は、両手で持ち上げて運ぶことが出来る、上側解放のプラスチック製小型容器を搬送する場合に好適な物品搬送用容器昇降搬送装置を先に出願している（特開２０１６－３０６９号）。この先願に係る物品搬送用容器昇降搬送装置は、物品搬送用容器に対し水平方向に接近離間移動自在で且つ昇降自在な、少なくとも二組の容器把持手段を備え、これら容器把持手段は、前記容器のある側に、水平方向に突出後退移動自在で且つ突出位置に付勢保持された多数の容器支持用ピンを配設した構造のものであって、前記容器に対する接近移動により、当該容器の外側面から水平外向きに張り出す張出しリブの下側に入り込んだ前記容器支持用ピンにより、前記容器を支持するように構成されたものである。
　上記先願に係る物品搬送用容器昇降搬送装置では、容器把持手段を支持して昇降させる支柱部材の一定高さを下降限位置として、当該支柱部材に容器把持手段を昇降自在に支持し、この容器把持手段が前記支柱部材に対して下降限高さに支持されている状態で、この容器把持手段が把持している容器を目的位置の真上まで搬送させた後、前記支柱部材を下降させて、把持している容器を目的位置に降ろすとき、前記支柱部材を目的の容器降ろし高さよりも一定高さ分、例えば５～１０ｍｍ程度、多く下降させて、当該支柱部材上の下降限高さで支持されていた容器把持手段を上下方向にフリーな状態にすることにより、その容器を確実に保管エリアの床面上に降ろすか又は、先に保管エリアの床面上に載置されている容器の開口部内に、降ろす方の容器の底部を確実に嵌合させて、降ろすようにしている。
特開平０６－１１５６０８号公報
　しかしながら上記構成では、容器把持手段で搬送目的の容器を把持させるために、当該容器把持手段の容器支持用ピンを容器の張出しリブの下側に入り込ませるとき、その張出しリブの上側に入り込む容器支持用ピンが当該張出しリブによって押し上げられる状況にあるときは、その張出しリブの上に乗り上げる容器支持用ピンには、容器把持手段全体の重量が負荷として作用していることになる。逆に、張出しリブの直下に入り込む容器支持用ピンが当該張出しリブによって押し下げられる状況にあるときは、その張出しリブの下側に入り込む容器支持用ピンには、容器側の重量が負荷として作用していることになる。何れの場合も、張出しリブと、その上下何れかの面に摺接する容器支持用ピンとの間には非常に大きな摩擦抵抗が働き、軽く円滑に容器支持用ピンの出し入れが行えない状況になる。特に容器移載後に、容器把持手段の容器支持用ピンを、容器の張出しリブから横外方に引き抜くとき、両者間の摩擦抵抗が大きいことによって、容器を横外方に引っ掛けて位置をずらしてしまう恐れがあった。
　本発明は、上記のような従来の問題点を解消することのできる物品搬送用容器の昇降搬送装置を提案するものであって、本発明に係る物品搬送用容器の昇降搬送装置は、後述する実施例との関係を理解し易くするために、当該実施例の説明において使用した参照符号を括弧付きで付して示すと、物品搬送用容器(1)に対し水平方向に接近離間移動自在で且つ昇降自在な、少なくとも二組の容器把持手段(2A,2B)を備え、これら容器把持手段(2A,2B)は、前記容器(1)のある側で水平方向に突出後退移動自在で且つ突出位置に付勢保持された多数の容器支持用ピン(15)を配設した剣山状構造のものであって、前記容器(1)に対する接近移動により、当該容器(1)の外側に形成された下向き段面（張出しリブ(1a)の下側面）の下側に入り込んだ前記容器支持用ピン(15)により、前記容器(1)を支持するように構成された物品搬送用容器の昇降搬送装置において、
　容器把持手段(2A,2B)を昇降させるための支柱部材(6a,6b)に、前記容器把持手段(2A,2B)が昇降自在に支持され、この支柱部材(6a,6b)と前記容器把持手段(2A,2B)との間に、この容器把持手段(2A,2B)を上昇方向に付勢する弾性体（実施例は圧縮コイルバネ(20)であるが、引張コイルバネやこれらバネに代わるゴム材を使用することも出来る）が介装され、この弾性体の上向き付勢力により前記容器把持手段(2A,2B)が、当該容器把持手段(2A,2B)の重量と平衡する平衡高さ(H3)に、当該平衡高さ(H3)を中心に上下動可能に保持され、容器把持手段(2A,2B)が容器(1)を吊り上げたとき、当該容器(1)の重量を受けて前記平衡高さ(H3)から下降した当該容器把持手段(2A,2B)が前記支柱部材(6a,6b)の一定高さで支持される構成になっている。
　上記本発明の構成によれば、容器を支持していない状況での容器把持手段は、前記弾性体により前記平衡高さで上下方向に関して不安定な状況で保持されている、即ち、自重が打ち消された状況にあるので、小さな外力でも当該容器把持手段を容易に上下動させることが出来る。又、容器把持手段が容器を支持している状況では、当該容器の重量を受けて前記平衡高さよりも下降した容器把持手段が、前記支柱部材の一定高さで支持されている。従って、容器把持手段によって搬送対象容器を受け取る作業工程においては、前記平衡高さで保持されている空の容器把持手段を、搬送対象容器の横側方の所定高さまで前記支柱部材と共に下降させた後、搬送対象容器の方に前記支柱部材と共に接近移動させることになるが、このとき、容器把持手段が備える多数の容器支持用ピンの内に、当該搬送対象容器の上側面に乗り上げるか又は下向きの段面によって押し下げられる高さに位置する上下方向圧接ピンが存在している場合でも、このときの容器把持手段が前記弾性体の付勢力で自重が打ち消された状況にあるので、その上下方向圧接ピンが容器の上側面又は下向きの段面から受ける上向き又は下向きの力に応じて、容器把持手段そのものが軽く容易に上下動するので、当該上下方向圧接ピンは、容器の上側面上に摩擦抵抗少なく乗り上げるか又は、容器の下向き段面の下側に摩擦抵抗少なく入り込むことが出来る。
　又、容器把持手段によって搬送対象容器を目的位置に降ろす作業工程においては、容器の重量を受けて前記平衡高さよりも下降した容器把持手段が、前記支柱部材の一定高さで支持されているので、従来のものと同様に、容器を安定状態で搬送することが出来るのであるが、先に説明したように、搬送対象容器が目的の降ろし高さに達したと推定される高さよりも更に、容器把持手段を支柱部材と共に一定高さ分だけ下降させて、搬送対象容器を確実に所定高さで降ろすような操作を行った場合、搬送対象容器が所定位置に降ろされた以降は、容器把持手段には、搬送対象容器の重量が働かなくなると同時に前記弾性体によって上向きに付勢力を受けているので、当該搬送対象容器の下向き段面の直上に位置する容器支持用ピンは、従来のように、当該搬送対象容器の上側面に下向きに強く押し付けられるのではなく、当該搬送対象容器の下向き段面の直下に位置する容器支持用ピン、即ち、その搬送対象容器を搬送時に支持していたピンが、当該段面に当接する高さまで、前記弾性体の付勢力で、容器把持手段と一体に自然に上動することになる。
　従って、搬送対象容器が目的の降ろし高さに達したと推定される高さよりも更に、容器把持手段を支柱部材と共に一定高さ分だけ下降させるような操作を行っても、搬送対象容器の上側面に容器支持用ピンが強く押し付けられるような現象は生じない。勿論、所定位置に容器を降ろした後の容器把持手段の後退移動、即ち、容器支持用ピンを横外方に引き抜く操作時においても、仮に、当該容器の上側面や下向き段面に当接している容器支持用ピンが存在していても、そのピンと容器側の面との間に作用する上下方向の圧接力は、容器把持手段の重量を打ち消すための前記弾性体の付勢力に起因する力であるから、その両者間に作用する摩擦力は非常に小さく、容器支持用ピンの引き抜きに伴って、降ろされた容器が横側方に引きずられるようなことはない。
　上記本発明を実施する場合、容器把持手段と支柱部材との間に、当該容器把持手段を吊り上げる弾性体を介装して、当該容器把持手段を、その重量と平衡する前記平衡高さで保持させることも可能である。この場合は、容器把持手段が搬送対象容器を支持したときに前記平衡高さから降下する容器把持手段を所定高さで受け止めるストッパーを支柱部材側に設けなければならない。しかしながら、容器把持手段(2A,2B)より下方位置でバネ受け部材(18)を前記支柱部材(6a,6b)に設け、このバネ受け部材(18)上に、前記弾性体として、前記容器把持手段(2A,2B)を上端で支持する複数個の圧縮コイルバネ(20)を取り付けて実施するのが望ましい。この構成によれば、前記平衡高さでの容器把持手段の安定性を高めることが出来る。
　又、上記のように圧縮コイルバネによって容器把持手段を支持させる場合、搬送対象容器を支持して下降する容器把持手段を、当該容器重量を受けて圧縮限まで圧縮された前記圧縮コイルバネの上端で支持させることも可能であるが、前記圧縮コイルバネ(20)の最大圧縮時の上端高さよりも高い位置で、前記平衡高さ(H3)から下降した前記容器把持手段(2A,2B)を受け止めるストッパー(21a,21b)を別途設けるのが望ましい。この構成によれば、使用される圧縮コイルバネの耐久性を高めると共に、搬送対象容器を支持した容器把持手段の下降限高さの精度を高め且つ安定的に容器把持手段を支持させることが出来る。更に、前記圧縮コイルバネは、下端から上端まで同一径の円筒状のものでも良いが、容器把持手段(2A,2B)を支持する上端が最小径となる円錐形のものを使用するのが望ましい。この構成によれば、バネ自体がその上端（最小径の上端）を自動調心する機能を持つので、支柱部材(6a,6b)に対する容器把持手段(2A,2B)の昇降運動を円滑に行わせることが出来る。しかも、円筒状の圧縮コイルバネと比較して、無負荷時の最大長さに対して圧縮限にある最小長さを非常に小さくすることも可能であるから、前記平衡高さからの容器把持手段の下降量を大きくすることが容易である。
図１は、搬送対象容器に対して開いた状態にある把持装置を示す平面図である。 図２は、搬送対象容器に対して閉じた状態にある把持装置を示す平面図である。 図３は、上下二段の容器把持手段を備えた把持装置の要部を示す側面図である。 図４Ａは、下段の容器把持手段を示す要部の正面図、図４Ｂは、下段の容器把持手段の直上位置での横断平面図、図４Ｃは、下段の容器把持手段の直下位置での横断平面図である。 図５Ａは、上段の容器把持手段を示す要部の正面図、図５Ｂは、上段の容器把持手段の直下位置での横断平面図である。 図６は、図３に示す把持装置が容器を把持した様子を示す要部の側面図である。 図７Ａは、容器把持手段が容器を吊り上げている状態を示す要部の縦断側面図、図７Ｂは、容器把持手段の内部構造を示す要部の拡大縦断側面図である。 図８Ａ～図８Ｃは、容器把持手段を支持するバネの詳細構造と作用を説明する要部の一部縦断側面図である。
　添付図に示す本実施例の物品搬送用容器の昇降搬送装置は、先に示した先願発明（特開２０１６－３０６９号に開示された発明）の明細書及び図面に示されたものと基本構造は同一のものであり、図１～図３に示すように、両手で持ち上げて運ぶことが出来る程度に小型で、プラスチック製の段積み可能な物品搬送用容器（以下、容器と略称する）１を吊り上げて搬送するものであって、この昇降搬送装置の平面視における中心位置ＣＰを通り且つ互いに直交する水平縦方向仮想線Ｘと水平横方向仮想線Ｙの内、前記中心位置ＣＰに置かれた容器１の水平縦方向仮想線Ｘと平行な両側辺を把持する一対の容器把持手段２Ａ，２Ｂと、この容器１の四隅に嵌合して位置決めする４つの位置決め部材３ａ～４ｂを備えている。以下、水平縦方向仮想線Ｘと平行な方向を水平縦方向、水平横方向仮想線Ｙと平行な方向を水平横方向として説明する。
　水平横方向一対の容器把持手段２Ａ，２Ｂの上方には、水平縦方向に長い水平部材からなり且つ、水平縦方向仮想線Ｘに対し対称位置を保って水平横方向に互いに接近離間移動自在な横動台５Ａ，５Ｂが設けられ、この横動台５Ａ，５Ｂの水平横方向仮想線Ｙと交差する中央内側に、支柱部材６ａ，６ｂが昇降自在に取り付けられ、これら各支柱部材６ａ，６ｂの内側同一高さに容器把持手段２Ａ，２Ｂが取り付けられている。又、各横動体５Ａ，５Ｂの長さ方向の両端部には、水平横方向仮想線Ｙに対し対称位置を保って水平縦方向に互いに接近離間移動自在に可動台７ａ～８ｂが支持され、これら各可動台７ａ～８ｂに前記各位置決め部材３ａ～４ｂが昇降自在に支持されている。各位置決め部材３ａ～４ｂは、容器１の四隅に嵌合し得る向きの横断面Ｌ字形の、垂直上下方向に長い型材から構成されている。
　上記構成によれば、両横動台５Ａ，５Ｂを水平横方向に互いに接近移動させると同時に、各横動台５Ａ，５Ｂに対して各可動台７ａ，７ｂ及び８ａ，８ｂを水平縦方向に互いに接近移動させることにより、図２に示すように、水平横方向一対の容器把持手段２Ａ，２Ｂで容器１の水平横方向両側辺中央部を把持させると同時に、各位置決め部材３ａ～４ｂを、容器１の四隅に嵌合させることが出来る。両横動台５Ａ，５Ｂは、容器保管エリアの床面上方一定高さで、水平縦方向と水平横方向とに走行可能な搬送台車上に支持されるものであり、各容器把持手段２Ａ，２Ｂが取り付けられた支柱部材６ａ，６ｂは、それぞれ２本の昇降駆動用平ベルト１０ａ，１０ｂを介して、各横動台５Ａ，５Ｂに対し昇降駆動される。これら各２本の昇降駆動用平ベルト１０ａ，１０ｂは、支柱部材６ａ，６ｂの下端に水平縦方向両側に張り出すように取り付けられた水平部材９の両端部に下端が連結されている。位置決め部材３ａ，３ｂは、その中間に位置する支柱部材６ａの昇降運動と連動して、各可動台７ａ，７ｂに対し昇降運動し、位置決め部材４ａ，４ｂは、その中間に位置する支柱部材６ｂの昇降運動と連動して、各可動台８ａ，８ｂに対し昇降運動するものである。
　水平横方向一対の容器把持手段２Ａ，２Ｂは、支柱部材６ａ，６ｂの下端部に取り付けられた下側単体１１と、この下側単体１１より適当距離だけ上方に離れた位置で支柱部材６ａ，６ｂに取り付けられた上側単体１２を備えており、各単体１１，１２は同一構造のものであって、図１及び図２に示すように、支柱部材６ａ，６ｂの両側に配置された縦長の並列ケーシング１１ａ～１２ｂを備え、この並列ケーシング１１ａ，１１ｂ間及び１２ａ，１２ｂ間に、支柱部材６ａ，６ｂの内側に付設された昇降用ガイドレール１３に昇降自在に嵌合する上下一対のガイドブロック１４が取り付けられることにより、下側単体１１と上側単体１２が支柱部材６ａ，６ｂに対して昇降自在となっている。そして各ケーシング１１ａ～１２ｂには、平面視において水平横方向仮想線Ｙに対し対称位置でそれぞれ縦２列に容器支持用ピン１５が支持されている。
　これら容器支持用ピン１５は、図４Ａ及び図５Ａに示すように、中心位置ＣＰの側から見た正面視において、同一高さで水平縦方向の間隔の狭い２本の容器支持用ピン１５と、同一高さで水平縦方向の間隔の広い２本の容器支持用ピン１５が、上下方向に関して交互に適当間隔おきに位置するように、配列されている。全ての容器支持用ピン１５は、図７Ｂに示すように、ケーシング１１ａ～１２ｂから突出する容器支持用先端部１５ａが先細り状に加工されたもので、ケーシング１１ａ～１２ｂの前側壁板の内側に当接するストッパー１５ｂを備え、後端がケーシング１１ａ～１２ｂの後側壁板を貫通する長さを有する。そして各容器支持用ピン１５は、ストッパー１５ｂとケーシング１１ａ～１２ｂの後側壁板との間で当該容器支持用ピン１５に遊嵌された圧縮コイルバネ１５ｃにより、容器支持用先端部１５ａがケーシング１１ａ～１２ｂから所定長さ突出する状態に付勢保持されている。
　以上のように構成された容器把持手段２Ａ，２Ｂの下側単体１１と上側単体１２は、図３～図５Ｂに示すように、その下端が支持手段１６，１７を介して支柱部材６ａ，６ｂに支持されている。これら上下各支持手段１６，１７は、支柱部材６ａ，６ｂに取り付けられたバネ受け部材１８、このバネ受け部材１８上にバネ取付け板１９を介して取り付けられた複数の圧縮コイルバネ２０、及び水平縦方向一対の弾性材製のストッパー２１ａ，２１ｂから構成されている。これらストッパー２１ａ，２１ｂは、バネ取付け板１９の後ろ側でバネ受け部材１８上に、支柱部材６ａ，６ｂの水平縦方向両側に振り分けて取り付けられている。下側単体１１を支持する下側支持手段１６のバネ受け部材１８は、支柱部材６ａ，６ｂの下端に取り付けられて昇降駆動用平ベルト１０ａ，１０ｂの下端が連結される前記水平部材９をそのまま利用するものであり、上側単体１２を支持する上側支持手段１７のバネ受け部材１８は、図５Ａ及び図５Ｂに示すように、支柱部材６ａ，６ｂとその内側の昇降用ガイドレール１３が入り込む凹入部を中央に備えた水平板１８ａと、この水平板１８ａの下側で前記凹入部の内側辺に上端が固着されたコ字形板１８ｂから構成され、このコ字形板１８ｂが支柱部材６ａ，６ｂに取り付けられている。
　各支持手段１６，１７の圧縮コイルバネ２０は、図８Ａ～図８Ｃに示すように、上下各単体１１，１２の底面（各ケーシング１１ａ～１２ｂの底面）を受ける上端リング部２０ａが最小径となる円錐形のものであり、バネ取付け板１９には、圧縮コイルバネ２０の最大径の下端リング部２０ｂの外径より小さな内径の取付け孔１９ａが設けられ、圧縮コイルバネ２０の下端リング部２０ｂを取付け孔１９ａの下側に入り込ませた状態で、当該下端リング部２０ｂとバネ取付け板１９とをスポット溶接などにより固着することにより、複数の圧縮コイルバネ２０を適当な配列、例えば図４Ｃ及び図５Ｂに示すように、各ケーシング１１ａ～１２ｂをそれぞれ４本の圧縮コイルバネ２０で支持する配列で、バネ取付け板１９上に取り付けている。そしてこのバネ取付け板１９を、支柱部材６ａ，６ｂ側のバネ受け部材１８上に載置して、バネ取付け板１９とバネ受け部材１８との間で各圧縮コイルバネ２０の下端リング部２０ｂを挟み付ける状態で、バネ取付け板１９の両端をバネ受け部材１８にボルトナットなどにより取り付けている。
　各支持手段１６，１７の円錐形の圧縮コイルバネ２０は、図８Ａに示す無負荷状態での最大伸長高さＨ１から、図８Ｃに示す最大圧縮時の高さＨ２まで、圧縮力を受けて変形するものであるが、図８Ｃに示す最大圧縮時の高さＨ２にあるときは、上側の小径リング部が下側の大径リング部の内側に入り込んで互いに当接した状態にあって、線材径を段数だけ加算したときの高さよりも低くなっている。勿論、上側の小径リング部が下側の大径リング部の内側に完全に入り込んで、バネ取付け板１９の上面に接する１つのリング部の内側に全ての段のリング部が渦巻き状に入り込むような円錐形の圧縮コイルバネを使用することも出来る。
　何れにしても圧縮コイルバネ２０は、図８Ｃに示すように、その最大圧縮時の高さＨ２が、同一のバネ受け部材１８上に取り付けられているストッパー２１ａ，２１ｂの高さＳＨよりも低く且つ、最大伸長高さＨ１がストッパー２１ａ，２１ｂの高さＳＨよりも十分に高いものである。そして、容器１を把持していない無負荷状態の容器把持手段２Ａ，２Ｂの上下各単体１１，１２を各支持手段１６，１７で支持しているときには、各支持手段１６，１７の圧縮コイルバネ２０が、図８Ｂに示すように、各単体１１，１２の重量と平衡する高さまで圧縮変形され、各単体１１，１２は、平衡高さＨ３で支持される。このときの平衡高さＨ３は、ストッパー２１ａ，２１ｂの高さＳＨよりも高い。更に、後述するように、容器把持手段２Ａ，２Ｂの下側単体１１又は上下両単体１１，１２が、それぞれの容器支持用ピン１５を介して所定の容器１を把持して吊り上げたときには、その容器１の重量を受けて下側単体１１又は上下両単体１１，１２が、支持手段１６，１７の圧縮コイルバネ２０を圧縮変形して下降し、これら圧縮コイルバネ２０が最大圧縮時の高さＨ２に達する前に、弾性材製のストッパー２１ａ，２１ｂによって単体１１，１２が受け止められるように、圧縮コイルバネ２０のサイズや強さが設定されている。
　以上のように構成された昇降搬送装置で取り扱われる容器１は、図１～図３及び図７Ａに示すように、平面形状が四角形の、上側が解放された箱形のもので、開口部の周囲には、補強と把手形成のために外側へ張り出す張出しリブ１ａが一体成形され、底部には、他の容器１の開口部の内側に嵌合し得るサイズの突出台部１ｂが一体成形されている。従って、この容器１では、張出しリブ１ａの下側面が下向き段面となり、張出しリブ１ａの上側面が、この容器１の上側面となっている。尚、容器１としては図示の構造のものに限定されない。例えば、周壁面の上端近くに周方向と平行な凹溝部が形成され、この凹溝部の内側上側面が下向きの段面となるような容器であっても良い。
　上記構成の昇降搬送装置が併設された容器１の保管エリア内には、上記容器１が、その四側辺が水平縦方向と水平横方向とに平行になる向きに置かれている。而して、その内の特定の容器１を、その位置から別の場所へ搬送する場合、図１に示すように、搬送対象の容器１が、平面視における昇降搬送装置の中心位置ＣＰと当該容器１の中心位置とが一致するように、昇降搬送装置を走行させて、搬送対象の容器１の真上位置に停止させる。次に、平面視において、搬送対象の容器１の外側に容器把持手段２Ａ，２Ｂと各位置決め部材３ａ～４ｂが位置する状態で、昇降駆動用平ベルト１０ａ，１０ｂを駆動して、水平横方向一対の支柱部材６ａ，６ｂと４本の位置決め部材３ａ～４ｂを下降させ、図３に示すように、搬送対象の容器１の張出しリブ１ａの真横（図３のように、段積みされた上下複数の容器１が搬送対象であるときは、その最下段の容器１の張出しリブ１ａの真横）に、容器把持手段２Ａ，２Ｂの下側単体１１と各位置決め部材３ａ～４ｂを位置させる。このとき、搬送対象の容器１が、多数の段積み容器であって、容器把持手段２Ａ，２Ｂの上側単体１２の内側にも搬送対象の容器１が位置する場合もある。
　上記のように容器把持手段２Ａ，２Ｂと各位置決め部材３ａ～４ｂを所定高さまで下降させたならば、次に、横動台５Ａ，５Ｂを水平横方向に互いに接近移動させると共に、各横動台５Ａ，５Ｂ上の可動台７ａ～８ｂを、水平縦方向に互いに接近移動させて、図２及び図６に示すように、搬送対象の容器１の四隅に各位置決め部材３ａ～４ｂを嵌合させると同時に、両容器把持手段２Ａ，２Ｂにより、搬送対象の容器１を水平横方向両側から挟み付けるようにする。この結果、図６及び図７Ａに示すように、両容器把持手段２Ａ，２Ｂにおける上下両単体１１，１２の容器支持用ピン１５の内、搬送対象の容器１の張出しリブ１ａに対面する高さにある容器支持用ピン１５は、その先端が張出しリブ１ａの外側面に当接して前進移動を阻止されるので、圧縮コイルバネ１５ｃの付勢力に抗して相対的にケーシング１１ａ～１２ｂ内に退入することになり、その他の容器支持用ピン１５のみが、圧縮コイルバネ１５ｃの付勢力で突出位置に保持されたまま、搬送対象の容器１の外側面に接近移動することになる。
　上記のように水平横方向に互いに接近移動させた両容器把持手段２Ａ，２Ｂにより、搬送対象の容器１を水平横方向両側から挟み付ける過程において、圧縮コイルバネ１５ｃの付勢力で突出位置に保持されている容器支持用ピン１５の内に、搬送対象の容器１の張出しリブ１ａの上側面又は下側面に対し、上下方向に圧接しながら前進移動する容器支持用ピン１５が存在する可能性は十分にある。一方、容器支持用ピン１５を出退移動自在に支持している上下各単体１１，１２は、図８Ｂに示すように、その重量と平衡する平衡高さＨ３に、支持手段１６，１７の圧縮コイルバネ２０によって支持されていて、上下方向に軽く遊動し得る状態である。
　従って、搬送対象の容器１の張出しリブ１ａの上側面に圧接しながら前進移動する特定の容器支持用ピン１５が存在する場合は、各容器支持用ピン１５の容器支持用先端部１５ａが先細りの円錐形のものである点と相俟って、当該特定容器支持用ピン１５と搬送対象の容器１の張出しリブ１ａの上側面との間の上下方向の圧接反力で、当該特定容器支持用ピン１５を有する単体１１，１２の全体が、支持手段１６，１７の圧縮コイルバネ２０の上向き付勢力の作用方向に支柱部材６ａ，６ｂに沿って上動しながら、当該特定容器支持用ピン１５の容器支持用先端部１５ａが搬送対象の容器１の張出しリブ１ａの上側面の上に乗り上げて、前進限位置まで確実に移動することが出来る。又、逆に、搬送対象の容器１の張出しリブ１ａの下側面に圧接しながら前進移動する特定容器支持用ピン１５が存在する場合も、各容器支持用ピン１５の容器支持用先端部１５ａが先細りの円錐形のものである点と相俟って、当該特定容器支持用ピン１５と搬送対象の容器１の張出しリブ１ａの下側面との間の上下方向の圧接反力で、当該特定容器支持用ピン１５を有する単体１１，１２の全体が、支持手段１６，１７の圧縮コイルバネ２０の上向き付勢力に抗して支柱部材６ａ，６ｂに沿って降下しながら、当該特定容器支持用ピン１５の容器支持用先端部１５ａが搬送対象の容器１の張出しリブ１ａの下側面の下に潜り込んで、前進限位置まで確実に移動することが出来る。
　以上のようにして、図６に示すように、水平横方向に互いに接近移動させた両容器把持手段２Ａ，２Ｂにより、搬送対象の容器１を水平横方向両側から挟み付けたならば、昇降駆動用平ベルト１０ａ，１０ｂを逆方向に駆動して、水平横方向一対の支柱部材６ａ，６ｂと４本の位置決め部材３ａ～４ｂを上昇させる。この結果、図７Ａに示すように、両容器把持手段２Ａ，２Ｂの容器支持用ピン１５の内、搬送対象の容器１の張出しリブ１ａの直下に入り込んだ有効容器支持用ピン１５の容器支持用先端部１５ａが、搬送対象の容器１を吊り上げることになる。このとき、当該有効容器支持用ピン１５を有する単体１１，１２には、搬送対象の容器１の重量が当該有効容器支持用ピン１５を介して下向きに作用するので、当該単体１１，１２は、支持手段１６，１７の圧縮コイルバネ２０を、図８Ｂに示す平衡高さＨ３から更に圧縮変形させながら下降して、ストッパー２１ａ，２１ｂに受け止められることになる。換言すれば、搬送対象の容器１の重量を、両容器把持手段２Ａ，２Ｂの前記有効容器支持用ピン１５と当該有効容器支持用ピン１５を有する単体１１，１２、及び弾性材製のストッパー２１ａ，２１ｂを介して支柱部材６ａ，６ｂにより確実に受け止めさせ、安定的に搬送対象の容器１を吊り上げることが出来る。この吊り上げに際して、位置決め部材３ａ～４ｂが搬送対象の容器１の四隅に嵌合して位置決めしているので、段積みされた複数の容器１であっても、揺れ動かすことなく安定的に吊り上げ搬送することが出来る。
　以上のようにして昇降搬送装置により吊り上げ搬送している容器１を別の場所に降ろすときは、上記作業手順とは逆の手順で昇降搬送装置を稼働させれば良いが、容器把持手段２Ａ，２Ｂ及び位置決め部材３ａ～４ｂの下降限高さは、搬送対象の容器１の降ろし場所での移載を確実にするために、容器把持手段２Ａ，２Ｂが前記有効容器支持用ピン１５を介して吊り下げている搬送対象の容器１が、その底面が床面に達する高さ又は、既に保管されている他の容器１の上端開口部内に突出台部１ｂが嵌合し終わる高さではなく、それよりも少し低い高さとしている。このような場合、前記有効容器支持用ピン１５を介して吊り下げている搬送対象の容器１が床面に着床するか又は他の容器１の上端開口部内に突出台部１ｂが嵌合して支持された時点で、当該搬送対象の容器１の重量は、床面や下側の他の容器で受け止められ、前記有効容器支持用ピン１５には作用しなくなる。この結果、当該有効容器支持用ピン１５を有する単体１１，１２は、ストッパー２１ａ，２１ｂで支持される下降限高さから、支持手段１６，１７の圧縮コイルバネ２０による上向きの付勢力を受けて、当該圧縮コイルバネ２０が平衡高さＨ３に復帰するまでの範囲内で上動可能な状態になる。
　従って、搬送対象の容器１の重量が、床面や下側の他の容器で受け止められた以降は、容器把持手段２Ａ，２Ｂの単体１１，１２が、容器把持手段２Ａ，２Ｂを支持する支柱部材６ａ，６ｂの下降に伴って下降するのではなく、支持手段１６，１７の圧縮コイルバネ２０の上向きの付勢力を受けて、前記有効容器支持用ピン１５が搬送対象の容器１の張出しリブ１ａの下側面に当接する高さを維持したまま、前記圧縮コイルバネ２０が前記平衡高さＨ３に達するまで、容器把持手段２Ａ，２Ｂに対して支柱部材６ａ，６ｂのみが相対的に下降することになる。この圧縮コイルバネ２０が前記平衡高さＨ３に達するまでの過程で支柱部材６ａ，６ｂの下降が停止すると、前記有効容器支持用ピン１５は搬送対象の容器１の張出しリブ１ａの下側面に当接したままの状態であり、その時の両者間の圧接力は、最大で、圧縮コイルバネ２０が前記平衡高さＨ３に達するまでの圧縮反力相当分であり、小さい。又、前記圧縮コイルバネ２０が前記平衡高さＨ３に達した以降に支柱部材６ａ，６ｂの下降が停止したときは、前記有効容器支持用ピン１５が搬送対象の容器１の張出しリブ１ａの下側面から下方に離れ、当該張出しリブ１ａの上側面の直上に位置していた容器支持用ピン１５が下降して、搬送対象の容器１の張出しリブ１ａの上側面に当接することになるが、この場合も、圧縮コイルバネ２０が、単体１１，１２の重量と平衡する付勢力よりも小さいが、単体１１，１２を上向きに付勢し続けているので、搬送対象の容器１の張出しリブ１ａの上側面とこれに当接する容器支持用ピン１５との間に作用する圧接力は、単体１１，１２の重量相当分よりも小さい。
　以上のように、容器把持手段２Ａ，２Ｂ及び位置決め部材３ａ～４ｂを上記下降限高さまで下降させて、搬送対象の容器１を目的の場所に降ろした後、容器把持手段２Ａ，２Ｂを水平横方向に互いに離間移動させると共に、位置決め部材３ａ～４ｂを搬送対象の容器１の四隅から水平に離間移動させて、搬送対象の容器１に対する把持作用を解消し、その後、これら容器把持手段２Ａ，２Ｂ及び位置決め部材３ａ～４ｂを元の待機高さまで上昇させることにより、一連の容器降ろし行程が完了する。この容器降ろし行程の過程で、上記のように容器把持手段２Ａ，２Ｂを水平横方向に互いに離間移動させて、各単体１１，１２の容器支持用ピン１５を、搬送対象の容器１の張出しリブ１ａと平面視において重なる領域から水平横方向に離脱させるとき、上記のように、張出リブ１ａの上側面又は下側面と、これに当接する容器支持用ピン１５との間の圧接力はゼロか又は小さいので、張出リブ１ａの上側面又は下側面に当接する容器支持用ピン１５の引き抜き抵抗は小さく、搬送対象の容器１が、空容器で且つ段積みされていない１つの容器であったとしても、容器支持用ピン１５の引き抜きに伴って搬送対象の容器１を横側方に引きずる恐れはなくなる。
　本発明の物品搬送用容器の昇降搬送装置は、両手で持ち上げることが出来る程度の小型の物品搬送用容器を、平面上に直置きするタイプの保管設備において、当該容器の両側辺を容器把持手段によって挟持して、吊上げ搬送することが出来る装置として、活用することが出来る。
　１　　容器
　１ａ　　張出しリブ（下側面が下向きの段面）
　２Ａ，２Ｂ　　容器把持手段
　３ａ～４ｂ　　位置決め部材
　５Ａ，５Ｂ　　横動台
　６ａ，６ｂ　　支柱部材
　７ａ～８ｂ　　可動台
　１０ａ，１０ｂ　　昇降駆動用平ベルト
　１１　　下側単体
　１１ａ～１２ｂ　　ケーシング
　１２　　上側単体
　１３　　昇降用ガイドレール
　１４　　ガイドブロック
　１５　　容器支持用ピン
　１５ａ　　容器支持用先端部
　１５ｂ　　ストッパー
　１５ｃ　　圧縮コイルバネ
　１６，１７　　支持手段
　１８　　バネ受け部材
　１９　　バネ取付け板
　２０　　圧縮コイルバネ
　２１ａ，２１ｂ　　弾性材製のストッパー
　ＣＰ　　昇降搬送装置の中心位置
　Ｈ１　　圧縮コイルバネの最大伸長高さ
　Ｈ２　　圧縮コイルバネの最大圧縮時の高さ
　Ｈ３　　無負荷状態の単体が支持される平衡高さ
　Ｘ　　水平縦方向仮想線
　Ｙ　　水平横方向仮想線

Claims (4)

  1. 　物品搬送用容器(1)に対し水平方向に接近離間移動自在で且つ昇降自在な、少なくとも二組の容器把持手段(2A,2B)を備え、これら容器把持手段(2A,2B)は、前記容器(1)のある側で水平方向に突出後退移動自在で且つ突出位置に付勢保持された多数の容器支持用ピン(15)を配設した剣山状構造のものであって、前記容器(1)に対する接近移動により、当該容器(1)の外側に形成された下向き段面（張出しリブ(1a)の下側面）の下側に入り込んだ前記容器支持用ピン(15)により、前記容器(1)を支持するように構成された物品搬送用容器の昇降搬送装置において、
    　容器把持手段(2A,2B)を昇降させるための支柱部材(6a,6b)に、前記容器把持手段(2A,2B)が昇降自在に支持され、この支柱部材(6a,6b)と前記容器把持手段(2A,2B)との間に、この容器把持手段(2A,2B)を上昇方向に付勢する弾性体（実施例は圧縮コイルバネ(20)であるが、引張コイルバネやこれらバネに代わるゴム材を使用することも出来る）が介装され、この弾性体の上向き付勢力により前記容器把持手段(2A,2B)が、当該容器把持手段(2A,2B)の重量と平衡する平衡高さ(H3)に、当該平衡高さ(H3)を中心に上下動可能に保持され、容器把持手段(2A,2B)が容器(1)を吊り上げたとき、当該容器(1)の重量を受けて前記平衡高さ(H3)から下降した当該容器把持手段(2A,2B)が前記支柱部材(6a,6b)の一定高さで支持されるように構成されている、物品搬送用容器の昇降搬送装置。
  2. 　前記支柱部材(6a,6b)には、容器把持手段(2A,2B)より下方位置でバネ受け部材(18)が設けられ、このバネ受け部材(18)上に、前記弾性体として、前記容器把持手段(2A,2B)を上端で支持する複数個の圧縮コイルバネ(20)が取り付けられている、請求項１に記載の物品搬送用容器の昇降搬送装置。
  3. 　前記圧縮コイルバネ(20)の最大圧縮時の上端高さよりも高い位置で、前記平衡高さ(H3)から下降した前記容器把持手段(2A,2B)を受け止めるストッパー(21a,21b)が設けられている、請求項２に記載の物品搬送用容器の昇降搬送装置。
  4. 　前記圧縮コイルバネ(20)は、前記容器把持手段(2A,2B)を支持する上端が最小径となる円錐形のものである、請求項２に記載の物品搬送用容器の昇降搬送装置。
PCT/JP2016/074179 2015-08-24 2016-08-19 物品搬送用容器の昇降搬送装置 Ceased WO2017033845A1 (ja)

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