Holding device, cargo handling apparatus, and holding method
According to one embodiment, a holding device includes a first holder configured to hold an upper surface of an article, and a second holder configured to hold a side surface of the article. The holding device performs at least a first operation of the first and second holders holding the article, and a second operation of only the first holder holding the article.
1. A holding device, comprising:
a first holder configured to hold an upper surface of an object; and
a second holder configured to hold a side surface of the object,
the holding device performing at least
a first operation of the first and second holders holding the object, the first operation being performed in a first state in which the second holder can hold the side surface of the object, and
a second operation of the first holder holding the object, the second operation being performed in a second state in which the second holder is positioned higher than at least a portion of the first holder,
in a switching from the first state to the second state, as the second holder moves upward, a distance between the first holder and the second holder in a longitudinal direction, when viewed along a vertical direction, becomes shorter.
2. The device according to claim 1 , further comprising:
a first driver driving the first holder along the longitudinal direction; and
a second driver driving the second holder along the longitudinal direction with respect to the first holder.
3. The device according to claim 1 , wherein
in the first state, the second holder is at a first position, and
in the second state, the second holder is at a second position separated from the first position.
4. The device according to claim 1 ,
wherein at least a portion of the second holder is positioned directly above the first holder in the second state.
5. The device according to claim 1 , wherein
the first state and the second state are switched by rotating the second holder around a rotation center, and
the rotation center is along a lateral direction and is located at a different position from the second holder.
6. The device according to claim 1 , wherein
a plurality of the first holders and a plurality of the second holders are arranged in a lateral direction.
7. The device according to claim 6 , wherein
the plurality of first holders is mutually-independently movable in a vertical direction.
8. A cargo handling apparatus, comprising:
a third driver driving the first and second holders in vertical direction;
a lift on which the object is placed, the lift moving in the vertical direction; and
the holding device according to claim 1 .
9. The apparatus according to claim 8 , further comprising:
a first supporter and a second supporter supporting the first holder and the second holder, the first supporter and the second supporter being separated from each other in a lateral direction,
a length in the lateral direction of the lift being greater than a length in the lateral direction between the first supporter and the second supporter.
10. The apparatus according to claim 9 , wherein
the first holder and the second holder are movable to a position not interfering with the lift when the lift is moved to be higher than the first holder.
11. The apparatus according to claim 8 , further comprising:
a controller,
the controller receiving data of an arrangement of the object and switching a position of the second holder according to the data.
12. A holding device, comprising:
a first holder configured to hold an upper surface of an object; and
a second holder configured to hold a side surface of the object,
the second holder being movable between
a first position that is lower than at least a portion of the first holder, and
a second position that is higher than the at least a portion of the first holder,
at least a portion of the second holder being positioned directly above the first holder when the second holder is at the second position.
13. The device according to claim 12 , further comprising:
a fourth driver changing a position in a vertical direction of the second holder by moving the second holder with respect to the first holder.
14. A holding method, comprising:
using a holding device to perform at least a first operation and a second operation, the holding device including
a first holder configured to hold an upper surface of an article object, and
a second holder configured to hold a side surface of the article object,
only the first holder holding the object in the second operation,
in the first operation, the first holder and the second holder holding the object in a first state in which the second holder can hold the side surface of the object,
in the second operation, the first holder holding the object in a second state in which the second holder is positioned higher than at least a portion of the first holder,
in a switching from the first state to the second state, as the second holder moves upward, a distance between the first holder and the second holder in a longitudinal direction, when viewed along a vertical direction, becomes shorter.
15. The method according to claim 14 , wherein:
the second holder is positioned at a first position in the first operation,
the second holder can hold the side surface of the object at the first position, and
the second holder is positioned at a second position separated from the first position in the second operation.
16. The method according to claim 15 , wherein the second position is higher than the first position.
17. The method according to claim 14 , wherein the holding device is caused to receive data of an arrangement of the object, and switch a position of the second holder according to the data.