JP6003419B2 - Transfer equipment - Google Patents

Description

  The present invention relates to a transfer device for transferring a load in a stacker crane or a station of an unmanned conveyance system.

The stacker crane is provided with a transfer device in order to load and unload luggage with respect to a shelf installed in an automatic warehouse. Moreover, in the station of an unmanned conveyance system, the transfer apparatus for transferring a load between conveyance vehicles is provided.
As a transfer device method, a slide fork method for picking up and transferring a load with a fork, a suction method for sucking and holding the load by suction, and a pickup belt method for transferring the load by sliding the pickup belt・ Clamping system that holds and transfers both sides of the load, hooks the end of the load with a hook provided at the tip of the slide arm, pushes the load by moving the slide arm back and forth, or transfers the load by pulling There are hook methods.

  As a transfer device adopting the hook method, for example, there is one described in Patent Document 1. In this transfer device, the end position sensor of the load is detected by the end detection sensor provided on the slide arm, and the speed at which the hook is engaged with the end of the load is controlled according to the end position. .

International Publication No. 2011/158422 Pamphlet

In the transfer device as described above, the hooks provided on the pair of slide arms are engaged with the end portions of the load, and the slide arms are slid to move the stacker crane lifting platform and the shelf mounting portion. Luggage is transferred between the stacker crane and the station.
The pair of slide arms are slid and moved synchronously by a single drive unit composed of a motor or the like. Therefore, the hook that engages with the end position of the load is at the same position on the left and right with respect to the moving direction of the slide arm.

  In such a transfer device, when a load having different left and right lengths is transferred, the load is conveyed in a state of being inclined with respect to the moving direction of the slide arm. In this case, when the shelf on which the luggage is placed is narrow, or when the space between the shelf and the transfer device is narrow, the luggage may not be transferred normally.

  An object of the present invention is to enable normal transfer in a transfer device used in a stacker crane or a station of an unmanned transfer system regardless of the shape of a load.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
The transfer device according to an aspect of the present invention includes a pair of left and right slide arms, an arm driving unit, an end position grasping unit, a stroke determining unit, and a control unit. The pair of left and right slide arms have hooks that come into contact with the end surface of the load. The arm drive unit slides the pair of slide arms independently in the horizontal direction. The end position grasping section grasps the end position of the load that can be contacted by each hook. The stroke determining unit determines the movement amount of each slide arm based on the end position of the load grasped by the end position grasping unit. The control unit controls the driving of the slide arm by the arm driving unit based on the movement amount determined by the stroke determining unit.
In this transfer device, since the pair of slide arms can be independently driven with different movement amounts, even when the end position of the load is different on the left and right, the load can be prevented from being conveyed in an inclined state. The transfer process can be performed smoothly.

Here, it is further provided with an end detection sensor which is attached in the vicinity of each hook of the slide arm and configured by a diffuse reflection type photoelectric sensor for detecting the side surface of the load, and the end position grasping unit is detected by the end detection sensor. Based on the signal, the end position of the load can be grasped.
With this device, the end position of the load can be grasped by the detection signal of the end detection sensor during the movement of the slide arm, the moving amount of the slide arm is quickly determined, and the transfer process is quickly performed. Can be completed.

In addition, the placement unit can be arranged on both sides of the transfer device, and the slide arm can be moved back and forth with respect to the placement unit arranged on both sides of the transfer device. In this case, the storage unit further includes a storage state grasping unit that grasps data relating to the loading state of the load in the loading unit, and the control unit sandwiches the transfer device when transferring the load to and from the loading unit. When the slide arm grasps the storage state of the opposite placement unit with the storage state grasping unit and interferes with the load stored in the opposite placement unit, the stroke determination unit slides each slide arm. The amount of movement can be changed.
In this apparatus, by grasping the storage state in the shelf, it is possible to prevent the load stored in the shelf and the slide arm from interfering with each other and perform the transfer process smoothly.

When transferring the load to the placement unit, the control unit moves the slide arm by the arm driving unit and detects the end position of the load by the end position grasping unit, and stops the movement of the corresponding slide arm. In a state where the hook is brought into contact with the end portion of the load and both hooks of the pair of slide arms are in contact with the end portion of the load, the slide arm can be extended to the placement portion side to perform transfer.
In this apparatus, the end position of the load can be detected in real time during the movement of the slide arm, the hook can be brought into contact with the end position of the load, and the transfer process can be performed quickly.

  According to the present invention, in a transfer device used in a stacker crane, an unmanned transport system station, or the like, normal transfer is possible regardless of the shape of the load.

The perspective view which shows a part of automatic warehouse in which the stacker crane which has a transfer apparatus was provided. The side view which shows an automatic warehouse typically. The perspective view of the transfer apparatus 100 by 1st Embodiment. The control block diagram of 1st Embodiment. The control flowchart at the time of transferring the luggage | load 200 mounted in the shelf 302 to the lifting platform 316. FIG. Explanatory drawing of transfer operation | movement. Explanatory drawing which shows the state which the 1st hooks 114 and 124 which are operation | movement attitude | positions contact | abutted at the edge part position of a load. Explanatory drawing at the time of transfer completion of the luggage | load 200. FIG. 7 is a control flowchart showing an example of an operation when transferring the luggage 200 from the lifting platform 316 to the shelf 302. Explanatory drawing explaining the process which transfers the luggage | load 200 mounted in the lifting platform 316 to the shelf 302. FIG. Explanatory drawing explaining the process which transfers the luggage | load 200 mounted in the lifting platform 316 to the shelf 302. FIG. Explanatory drawing explaining the process which transfers the luggage | load 200 mounted in the lifting platform 316 to the shelf 302. FIG. Explanatory drawing explaining the process which transfers the luggage | load 200 mounted in the lifting platform 316 to the shelf 302. FIG. Explanatory drawing of the transfer apparatus 100 which concerns on 2nd Embodiment. The control block diagram of 2nd Embodiment. The control flowchart at the time of transferring the load 200B in 2nd Embodiment. Explanatory drawing which shows the state which the 1st hooks 114 and 124 which are operation | movement attitude | positions contact | abutted at the edge part position of the load 200B. Explanatory drawing at the time of transfer of the load 200B.

(1) Configuration of Automatic Warehouse An embodiment of the transfer device of the present invention will be described by exemplifying a case where it is provided in a stacker crane.
FIG. 1 is a perspective view showing a part of an automatic warehouse provided with a stacker crane having a transfer device.
As shown in FIG. 1, the automatic warehouse 300 includes a stacker crane 301 that can travel to transport the luggage 200, and shelves 302 that are arranged on both sides of the stacker crane 301 in the traveling direction.

The automatic warehouse 300 includes a station 303 for loading and unloading the luggage 200. The stacker crane 301 is provided with a transfer device 100. The stacker crane 301 transfers the load 200 carried into the station 303 to the stacker crane 301 by the transfer device 100. In addition, the stacker crane 301 conveys the luggage 200 to the storage position of the shelf 302 and transfers it to the corresponding shelf 302 using the transfer device 100.
Similarly, the stacker crane 301 transfers the load 200 stored in the shelf 302 to the stacker crane 301 by the transfer device 100 and conveys it to the station 303.

FIG. 2 is a side view schematically showing the automatic warehouse.
In the stacker crane 301, a lower carriage 311 and an upper carriage 312 are connected by a mast 313, and a lifting platform 316 moves up and down along the mast 313.
The lifting platform 316 is provided with a transfer device 100.

(2) First Embodiment (2-1) Configuration FIG. 3 is a perspective view of a transfer device 100 according to the first embodiment.
The transfer device 100 is a device for transferring the load 200 between the lifting platform 316 and the shelf 302, and includes a first slide arm 110 and a second slide arm 120 that are paired on the left and right. In each figure, the extension / contraction direction of the slide arm is defined as a first horizontal direction, and the left / right direction that is orthogonal to the first horizontal direction is defined as a second horizontal direction.
The first slide arm 110 and the second slide arm 120 are arranged at an interval in the second horizontal direction. The first slide arm 110 includes a base arm 111, a middle arm 112, and a top arm 113. The base arm 111 is fixed to the lifting platform 316. The middle arm 112 is supported by the base arm 111 so as to be slidable in the first horizontal direction, and the top arm 113 is supported so as to be slidable in the first horizontal direction.

The first slide arm 110 is provided with a first hook 114 and a second hook 115 at both ends of the top arm 113 in the first horizontal direction.
When the first hook 114 and the second hook 115 are rotationally driven, the first hook 114 and the second hook 115 are movable between an operation posture in contact with the end surface of the load and a retracted position in which the first hook 114 and the second hook 115 do not contact the end surface of the load.
The first hook 114 and the second hook 115 may be configured to be driven simultaneously to move between the operating position and the retracted position, or may be configured to be individually driven.

A first end detection sensor 116 for detecting the side surface of the luggage 200 is attached to the top arm 113 in the vicinity of the first hook 114.
The first end detection sensor 116 is configured by a diffuse reflection type optical sensor that integrally includes a light projecting unit and a light receiving unit. The first end detection sensor 116 projects the light from the light projecting unit to the placement unit side on which the luggage 200 is placed, and the reflected light reflected from the side surface of the luggage 200 is received by the light receiving unit. It is configured to detect 200 sides.

Further, a second end detection sensor 117 for detecting a side surface of the luggage 200 is attached to the top arm 113 in the vicinity of the second hook 115.
The second end detection sensor 117 has the same configuration as that of the first end detection sensor 116, and includes a diffuse reflection type optical sensor that integrally includes a light projecting unit and a light receiving unit. The second end detection sensor 117 projects the light from the light projecting unit to the placement unit side on which the luggage 200 is placed, and the reflected light reflected from the side surface of the luggage 200 is received by the light receiving unit. It is configured to detect 200 sides.

The first slide arm 110 is slidable in the first horizontal direction by a first arm driving unit 118 configured by a motor and driving force transmitting means attached to the lifting platform 316. The middle arm 112 and the top arm 113 can slide with respect to the base arm 111, and the tip of the top arm 113 is placed between the mounting portion in the lifting platform 316 and the mounting portion in the shelf 302. Moved between.
As shown in FIG. 2, when the shelves 302 are arranged on both sides in the traveling direction of the stacker crane 301, the first slide arm so that the tip of the top arm 113 reaches the mounting portions of the shelves 302 on both sides. 110 is driven.

The second slide arm 120 has the same configuration as the first slide arm 110, and includes a base arm 121, a middle arm 122, and a top arm 123. The base arm 121 is fixed to the lifting platform 316. The middle arm 122 is slidably supported by the base arm 121, and supports the top arm 123 so as to be slidable. The second slide arm 120 is provided with a first hook 124 and a second hook 125 at both ends of the top arm 123.
When the first hook 124 and the second hook 125 are rotationally driven, the first hook 124 and the second hook 125 are movable between an operation posture that comes into contact with the end surface of the load and a retracted position that does not come into contact with the end surface of the load.
The first hook 124 and the second hook 125 may be configured to be driven simultaneously to move between the operation position and the retracted position, or may be configured to be driven individually.

A first end detection sensor 126 for detecting the side surface of the luggage 200 is attached to the top arm 123 in the vicinity of the first hook 124.
The first end detection sensor 126 includes a diffuse reflection type optical sensor that integrally includes a light projecting unit and a light receiving unit. The first end detection sensor 126 projects the light from the light projecting unit to the placement unit side on which the luggage 200 is placed, and the reflected light reflected from the side surface of the luggage 200 is received by the light receiving unit. It is configured to detect 200 sides.

Further, a second end detection sensor 127 for detecting a side surface of the luggage 200 is attached to the top arm 123 in the vicinity of the second hook 125.
The second end detection sensor 127 has the same configuration as that of the first end detection sensor 126, and includes a diffuse reflection type optical sensor that integrally includes a light projecting unit and a light receiving unit. The second end detection sensor 127 projects the light from the light projecting unit to the placement unit side on which the luggage 200 is placed, and the reflected light reflected from the side surface of the luggage 200 is received by the light receiving unit. It is configured to detect 200 sides.

The second slide arm 120 is slidable in the horizontal direction by a second arm driving unit 128 configured by a motor and driving force transmitting means attached to the lifting platform 316. The middle arm 122 and the top arm 123 can slide with respect to the base arm 121, and the tip of the top arm 113 is placed between the mounting portion in the lifting platform 316 and the mounting portion in the shelf 302. Moved between.
As shown in FIG. 2, when shelves 302 are arranged on both sides of the stacker crane 301 in the traveling direction, the second slide arm so that the tip of the top arm 123 reaches the mounting portions of the shelves 302 on both sides. 120 is driven.

(2-2) Control Block FIG. 4 is a control block diagram of the first embodiment.
The transfer apparatus 100 includes a control unit 400 for controlling each unit. The control unit 400 can be configured by a microprocessor including a CPU, a ROM, a RAM, and the like.
The control unit 400 is connected to a first arm driving unit 118 for sliding the first slide arm 110 with respect to the shelf 302.
The control unit 400 is connected to a second arm driving unit 128 for sliding the second slide arm 120 with respect to the shelf 302.
The control unit 400 moves the first hook 114 attached to the first slide arm 110, the second hook 115, and the first hook 124 and the second hook 125 attached to the second slide arm 120 in an operating posture and a retracted posture. It is connected to a hook drive unit 404 that moves between them.

Detection signals from the first end detection sensor 116 and the second end detection sensor 117 attached to the first slide arm 110 are input to the control unit 400.
Further, detection signals from the first end detection sensor 126 and the second end detection sensor 127 attached to the second slide arm 120 are input to the control unit 400.

The control unit 400 includes a first end detection sensor 116 and a second end detection sensor 117 of the first slide arm 110, and a first end detection sensor 126 and a second end detection sensor 127 of the second slide arm 120. An end position grasping unit 405 for detecting the end position of the luggage 200 is connected based on the detection signal.
The end position grasping unit 405 is based on detection signals transmitted from the first end detection sensor 116 and the second end detection sensor 117 of the first slide arm 110 while the first slide arm 110 is slid. The end position of the load 200 on the first slide arm 110 side is detected.
At the same time, the end position grasping unit 405 is based on the detection signals transmitted from the first end detection sensor 126 and the second end detection sensor 127 of the second slide arm 120, on the second slide arm 120 side of the luggage 200. The end position of is detected.

The control unit 400 is connected to a stroke determination unit 406 for determining the amount of movement of the first slide arm 110 and the second slide arm 120.
Based on the end position on the first slide arm 110 side and the end position on the second slide arm 120 side of the luggage 200 detected by the end position grasping unit 405, the stroke determination unit 406 The amount of movement of the second slide arm 120 is determined.
When the transfer device 100 is configured as a part of the stacker crane 301, the control unit 400 also controls each part of the stacker crane 301. In this case, for example, the main body unit in which the lower carriage 311 and the upper carriage 312 are connected by the mast 313 is run along the running rail, and the lifting platform 316 is placed at a position to be transferred on the shelf 302 formed in multiple stages. A traveling and lifting drive unit 401 that moves up and down is connected to the control unit 400.

(2-3) Control operation 1
A control operation when the luggage 200 placed on the shelf 302 is transferred to the lifting platform 316 will be described below.
FIG. 5 is a control flowchart for transferring the luggage 200 placed on the shelf 302 to the lifting platform 316.
In step S501, the control unit 400 starts sliding movement of the first slide arm 110 and the second slide arm 120. At this time, the first hooks 114 and 124 are in a retracted posture so as not to contact the load.

FIG. 6 is an explanatory diagram of the transfer operation.
As shown in FIG. 6, the case where the luggage 200 is placed on the shelf 302 and transferred to the lifting platform 316 will be described. Here, a case will be described in which a load 200 having different end positions on the left and right sides of the shelf 302 (downward in the drawing) is transferred.
The control unit 400 sets the first hooks 114 and 124 until the first hooks 114 and 124 are located at the first positions L1 and R1 that are deeper than the rear end surface of the luggage 200, according to the assumed maximum size of the loaded luggage 200. The first slide arm 110 and the second slide arm 120 are moved.

In step S502, the control unit 400 determines whether or not the end position of the luggage 200 has been detected based on detection signals from the first end detection sensors 116 and 126.
While the first slide arm 110 and the second slide arm 120 are slid, the control unit 400 receives the detection signals of the first end detection sensors 116 and 126, and the first end detection sensor 116 The second position L2, which is the end position of the load 200 on the first slide arm 110 side, is detected at the point of transition from the light receiving state to the non-light receiving state, and the first end detection sensor 126 transitions from the light receiving state to the non-light receiving state. At this point, the second position R2, which is the end position of the load 200 on the second slide arm 120 side, is detected.

  The control unit 400 maintains the sliding movement of the first slide arm 110 and the second slide arm 120 until any one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state. In addition, when one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state, the control unit 400 determines that one end portion position of the luggage 200 has been detected, and the process proceeds to step S503. Transition.

In step S <b> 503, the control unit 400 stores the detected end position of the luggage 200, and calculates the movement amount when the corresponding slide arm of the first slide arm 110 and the second slide arm 120 is transferred. .
In step S504, the control unit 400 determines whether or not end positions on both sides of the luggage 200 are detected. After the detection signal of one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state, the control unit 400 performs step S502 until the other detection signal transitions from the light receiving state to the non-light receiving state. Then, the moving state of the first slide arm 110 and the second slide arm 120 is maintained. When the detection signals of both the first end detection sensors 116 and 126 transition from the light receiving state to the non-light receiving state, the control unit 400 determines that the ends on both sides of the luggage 200 have been detected, and step S504 is performed. Migrate to

  In step S505, the control unit 400 determines whether or not the first hooks 114 and 124 have reached the end position of the luggage 200. For example, when the first end detection sensors 116 and 126 provided in the vicinity of the first hooks 114 and 124 transition from the non-light receiving state to the light receiving state, the first hooks 114 and 124 are respectively connected to the ends of the luggage 200. It can be determined that the part position has been reached. Further, when the first arm driving unit 118 and the second arm driving unit 128 are configured by stepping motors having a servo mechanism, the control unit 400 determines that the first hooks 114 and 124 are based on the number of driving pulses, respectively. It can be determined that the first positions L1 and R1 have been reached.

FIG. 7 is an explanatory view showing a state in which the first hooks 114 and 124 in the operating posture are in contact with the end position of the load.
The controller 400 maintains the moving state of the slide arm by the first arm driving unit 118 and the second arm driving unit 128 until it is determined that the first hooks 114 and 124 have reached the first positions L1 and R1, respectively. As shown in FIG. 7, if it is determined that the first hooks 114 and 124 have reached the first positions L1 and R1, respectively, the process proceeds to step S506.

  In step S506, the control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128 to stop the first slide arm 110 and the second slide arm 120.

In step S <b> 507, the control unit 400 starts moving the first slide arm 110 and the second slide arm 120 according to the strokes. The controller 400 slides the first slide arm 110 and the second slide arm 120 toward the lifting platform 316 according to the respective movement amounts of the first slide arm 110 and the second slide arm 120 calculated in step S503. To start.
At this time, the first arm driving unit 118 drives the first slide arm 110 so that the first hook 114 moves from the first position L1 to the second position L2. Similarly, the second arm driving unit 128 drives the second slide arm 120 so that the first hook 124 moves from the first position R1 to the second position R2.

Here, the first slide arm 110 and the second slide arm 120 are moved at a low speed so that the luggage 200 is not damaged when the first hooks 114 and 124 come into contact with the end position of the luggage 200. Is preferred.
Further, the time for the first hook 114 of the first slide arm 110 to reach the second position L2 from the first position L1, and the first hook 124 of the second slide arm 120 reaches the second position R2 from the first position R1. It is possible to control the moving speed of the first slide arm 110 and the moving speed of the second slide arm 120 so that the time to perform the same time.

In step S508, the control unit 400 determines whether or not the first hooks 114 and 124 have reached the end position of the luggage 200. The control unit 400 maintains the movement state of the first slide arm 110 and the second slide arm 120 until the movement amounts of the first slide arm 110 and the second slide arm 120 reach the movement amounts calculated in advance, respectively. .
When the control unit 400 determines that the movement amount of one of the first slide arm 110 and the second slide arm 120 has reached the movement amount calculated in advance, the control unit 400 stops the movement of the corresponding slide arm, The moving state of the slide arm is maintained.
The control unit 400 determines that the movement amounts of both the first slide arm 110 and the second slide arm 120 have reached the movement amounts calculated in advance, and the first hooks 114 and 124 have reached the end position of the luggage 200. If so, the process proceeds to step S509.

  In step S509, the control unit 400 changes the moving speed of the first slide arm 110 and the second slide arm 120. The controller 400 increases the moving speed of the first slide arm 110 and the second slide arm 120 in a state where the first hooks 114 and 124 are in contact with the end position of the luggage 200.

In step S510, the control unit 400 determines whether or not the transfer of the luggage 200 by the first slide arm 110 and the second slide arm 120 is completed. When the first arm driving unit 118 and the second arm driving unit 128 are configured by stepping motors having a servo mechanism, the control unit 400 can transfer the load 200 to the lifting platform 316 based on the number of driving pulses. It can be determined that it has been completed. In addition, a sensor for detecting the tip position of the first slide arm 110 is provided, and the control unit 400 determines whether the first slide arm 110 and the second slide arm 120 are provided on the lifting platform 316 based on a detection signal from the sensor. It can be configured to determine whether the position has been reached.
When the control unit 400 determines that the transfer of the luggage 200 has been completed, the movement state of the first slide arm 110 and the second slide arm 120 is maintained until it is determined that the transfer of the luggage 200 has been completed. The process proceeds to step S511.

FIG. 8 is an explanatory diagram when the transfer of the luggage 200 is completed.
As shown in FIG. 8, the transfer device 100 according to the first embodiment moves the first slide arm 110 and the second slide arm 120 up and down 316 in a state where the first hooks 114 and 124 are in contact with the end positions. The load 200 is transported to a predetermined position on the lifting platform 316.
In step S511, the control unit 400 stops the first slide arm 110 and the second slide arm 120. The control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128, and ends the sliding movement of the first slide arm 110 and the second slide arm 120. At the same time, the control unit 400 moves the first hooks 114 and 124 to the retracted posture.

As shown in the drawing, even if the end position located on the back side of the shelf 302 is different on the left and right, the end of the luggage 200 can be adjusted by adjusting the movement amount of the first slide arm 110 and the second slide arm 120. The timing at which the first hooks 114 and 124 come into contact with the part positions can be synchronized. Therefore, the luggage 200 can be conveyed straight with respect to the transfer direction.
Even when the shape of the luggage 200 is a normal rectangular shape, it is possible to transfer using the transfer device according to the first embodiment.

(2-4) Control operation 2
An operation when the luggage 200 placed on the lifting platform 316 is transferred to the shelf 302 will be described.
When the load 200 placed on the lifting platform 316 is transferred to the shelf 302, the first hooks 115 and 125 located on the opposite side of the shelf 302 are brought into contact with the end position of the load 200, and then the first slide arm 110 and the second slide arm 120 are moved to the shelf 302 side.

  FIG. 9 is a control flowchart illustrating an example of an operation when the luggage 200 is transferred from the lifting platform 316 to the shelf 302.

  In step S <b> 901, the control unit 400 determines whether the luggage 200 is stored in the shelf 302. The control unit 400 can confirm whether or not the luggage 200 is stored in the shelf 302 based on the detection signal of the sensor installed on the lifting platform 316. In addition, the control unit 400 can read data when the luggage 200 is stored in the shelf 302 from a predetermined storage area, and determine whether the luggage 200 is stored in the shelf 302.

  When the control unit 400 determines that the luggage 200 is not stored in the shelf 302, the process proceeds to step S <b> 902, and when the control unit 400 determines that the luggage 200 is stored in the shelf 302, the process ends. .

In step S <b> 902, the control unit 400 grasps the placement state of the luggage 200 placed on the lifting platform 316.
The control unit 400 receives a detection signal of a sensor installed on the lifting platform 316 and grasps data regarding the size and placement position of the luggage 200 on the lifting platform 316.
Further, the control unit 400 determines the load 200 on the lifting platform 316 based on the amount of movement of the first slide arm 110 and the second slide arm 120 when transferred from the station 300 or another shelf 302 to the lifting platform 316. It is also possible to store data relating to the loading state in a predetermined storage area and use this to grasp the current loading state of the luggage 200.

In step S903, the control unit 400 starts sliding movement of the first slide arm 110 and the second slide arm 120. The control unit 400 transmits a control signal to the hook driving unit 404 so that the first hooks 114 and 124 are in the retracted posture in which they do not contact the luggage 200 and the second hooks 115 and 125 are in the operating posture in which they are in contact with the luggage 200. deep.
At this time, in order to prevent the luggage 200 from being damaged when the second hooks 115 and 125 come into contact with the luggage 200, the first arm driving unit 118 and the second arm driving unit 128 are connected to the first slide arm 110 and The second slide arm 120 is moved at a low speed.

FIG. 10 is an explanatory diagram illustrating a process of transferring the luggage 200 placed on the lifting platform 316 to the shelf 302.
The baggage 200 has different shapes on the left and right end positions on the side far from the shelf 302 to be transferred, and as shown in FIG. 10, the end position on the left side of the figure is the third position L3. The end position on the right side is the third position R3.

In step S <b> 904, the control unit 400 determines whether any of the first hooks 114 and 124 has reached the end position of the luggage 200.
When one of the second end detection sensor 117 and the second end detection sensor 127 transitions from the non-light-receiving state to the light-receiving state, the control unit 400 determines that one of the first hooks 114 and 124 is the load 200. It can be determined that the end position is reached.

FIG. 11 is an explanatory diagram illustrating a process of transferring the luggage 200 placed on the lifting platform 316 to the shelf 302.
As shown in FIG. 11, when the second hook 115 of the first slide arm 110 reaches the third position L3, the second end detection sensor 117 detects the end position of the luggage 200 and the light receiving state is changed from the non-light receiving state. Transition to. Accordingly, the control unit 400 may determine that the second hook 115 of the first slide arm 110 has reached the end position of the luggage 200 when the detection signal of the second end detection sensor 117 transitions. it can.

When the control unit 400 determines in step S904 that one of the second hooks 115 and 125 has reached the end position of the luggage 200, the control unit 400 proceeds to step S905.
In step S905, the control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128, and stops the corresponding one of the first slide arm 110 and the second slide arm 120. . Here, since it is determined that the second hook 115 of the first slide arm 110 has reached the end position of the luggage 200, the control unit 400 stops the first slide arm 110 by the first arm driving unit 118.

In step S <b> 906, the control unit 400 calculates the amount of movement of the slide arm necessary for transferring the luggage 200 to the shelf 302.
The control unit 400 calculates the amount of movement of the stopped slide arm of the first slide arm 110 and the second slide arm 120 until the load 200 is completely transferred from the stop position to the shelf 302.

In step S907, the control unit 400 determines whether or not both of the second hooks 115 and 125 have reached the end position of the luggage 200.
When the second end detection sensor 127 of the second slide arm 120 transitions from the non-light receiving state to the light receiving state after stopping the first slide arm 110, the control unit 400 performs the second slide by the second arm driving unit 128. The slide movement of the arm 120 is stopped (step S905), and the movement amount of the second slide arm 120 from the stop position to the completion of transfer is calculated (step S906).
Based on the detection signals of the second end detection sensors 117 and 127, the control unit 400 sets the second hook 115 of the first slide arm 110 and the second hook 125 of the second slide arm 120 to the end position of the luggage 200. If it is determined that it has reached, the process proceeds to step S908.

FIG. 12 is an explanatory diagram illustrating a process of transferring the luggage 200 placed on the lifting platform 316 to the shelf 302.
As shown in FIG. 12, the second hook 115 of the first slide arm 110 and the second hook 125 of the second slide arm 120 are located at the end positions of the luggage 200 in the state where they are located at the third positions L3 and R3, respectively. To reach.

In step S908, the control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128 to start movement of the first slide arm 110 and the second slide arm 120. The first arm driving unit 118 and the second arm driving unit 128 correspond to the movement amounts of the first slide arm 110 and the second slide arm 120 calculated in step S906, respectively. 120 is extended to the shelf 302 side.
At this time, the first arm driving unit 118 and the second arm driving unit 128 move the first slide arm 110 and the second slide arm 120 at a high speed in order to transfer the load 200 at a high speed.

In step S909, the control unit 400 determines whether or not the transfer of the luggage 200 by the first slide arm 110 and the second slide arm 120 has been completed (whether or not the predetermined position has been reached).
The control unit 400 includes the first slide arm 110 and the second slide, in which the movement amounts of the first slide arm 110 and the second slide arm 120 by the first arm driving unit 118 and the second arm driving unit 128 are calculated in step S906. When the movement amount of the arm 120 is reached, it can be determined that the transfer of the luggage 200 is completed.

  When the control unit 400 determines that the transfer of the luggage 200 has been completed, the movement state of the first slide arm 110 and the second slide arm 120 is maintained until it is determined that the transfer of the luggage 200 has been completed. The process proceeds to step S910.

  In step S910, the control unit 400 stops the first slide arm 110 and the second slide arm 120. The control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128, and ends the sliding movement of the first slide arm 110 and the second slide arm 120.

FIG. 13 is an explanatory diagram illustrating a process of transferring the luggage 200 placed on the lifting platform 316 to the shelf 302.
As shown in FIG. 13, the luggage 200 pushed out to the shelf 302 side by the second hooks 115 and 125 is stored in a predetermined placement portion of the shelf 302. As shown in the figure, even when the end position of the luggage 200 is different on the left and right, the luggage 200 to be transported is changed to the first slide by changing the movement amount of the first slide arm 110 and the second slide arm 120. It is possible to prevent the arm 110 and the second slide arm 120 from being inclined with respect to the moving direction.

  In step S911, the control unit 400 moves the second hooks 115 and 125 to the retracted posture, and returns the first slide arm 110 and the second slide arm 120 to the initial positions.

  With such a configuration, when the load 200 is transferred from the lifting platform 316 to the shelf 302 side, regardless of the shape of the load 200, the moving direction of the first slide arm 110 and the second slide arm 120 is not affected. Thus, the transfer process can be performed smoothly without the luggage 200 tilting.

(2-5) Other Embodiments Luggage on the lifting platform 316 based on the amount of movement of the first slide arm 110 and the second slide arm 120 when transferred from the station 300 or another shelf 302 to the lifting platform 316 Data relating to the 200 loading states can be calculated and stored in a predetermined storage area.
In this case, in step S <b> 903, the control unit 400 is necessary for the second hooks 115 and 125 to abut the end position of the baggage 200 based on data regarding the loading state of the baggage 200 on the lifting platform 316. The amount of movement of the first slide arm 110 and the second slide arm 120 is calculated.
In this case, steps S903 to S906 can be omitted, and the control unit 400 can control the first arm driving unit 118, the second arm so that the calculated movement amount of the first slide arm 110 and the second slide arm 120 can be obtained. The arm drive unit 128 slides the first slide arm 110 and the second slide arm 120.
In this case, in step S907, the control unit 400 causes the movement amounts of the first slide arm 110 and the second slide arm 120 by the first arm driving unit 118 and the second arm driving unit 128 to reach the movement amounts calculated in advance. In this case, it can be determined that both of the second hooks 115 and 125 have reached the end position of the luggage 200.

(3) Second Embodiment (3-1) Outline Configuration FIG. 14 is an explanatory diagram of the transfer device 100 according to the second embodiment.
Shelves 302A and 302B are provided along both sides of the stacker crane 301 in the traveling direction.
The transfer device 100 provided in the stacker crane 301 is slidable to both the shelf 302A side and the shelf 302B side. Thus, the transfer device 100 can transfer the load 200A between the lifting platform 316 and the shelf 302A, and the transfer of the luggage 200B between the lifting platform 316 and the shelf 302B. It is possible to do.

As shown in FIGS. 6 to 8, when transferring a load 200 having different end positions on the left and right, there is a possibility that a part of the first slide arm 110 and the second slide arm 120 may protrude to the opposite side.
For example, in the example shown in FIG. 8, after the luggage 200 is transferred from the shelf 302 to the lifting platform 316, a part of the second slide arm 120 protrudes to the opposite side of the shelf 302.

As shown in FIG. 14, when the stacker crane 301 is provided with shelves 302A and 302B, the first slide arm 110 and the first slide arm 316 are placed when the luggage 200B placed on the shelf 302B is placed on the lifting platform 316. One of the two slide arms 120 may protrude toward the shelf 302A.
Depending on the size in the width direction of the luggage 200A stored in the shelf 302A and the storage position, there is a possibility of interference with the protruding slide arm. In particular, the first slide arm 110 and the second slide arm 120 are movable in a horizontal direction (left and right direction) orthogonal to the slide movement direction, and the first slide arm is in accordance with the size in the width direction of the load 200B to be transferred. When the distance in the width direction between 110 and the second slide arm 120 is variable, if one or both of the first slide arm 110 and the second slide arm 120 protrude toward the shelf 302A, there is a possibility of interfering with the luggage 200A.

  For this reason, in the transfer device 100 according to the second embodiment, the storage state of the luggage 200A on the shelf 302A opposite to the shelf 302B in which the luggage 200B to be transferred is stored is grasped in advance, and the luggage 200A The first slide arm 110 and the second slide arm 120 are controlled so as not to interfere with each other.

(3-2) Control Block FIG. 15 is a control block diagram of the second embodiment.
About the same structure as 1st Embodiment, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.

The control unit 400 is connected to the storage state grasping unit 407.
The storage state grasping unit 407 grasps in advance the presence / absence of the luggage 200A stored in the shelf 302A opposite to the shelf 302B to be transferred, the size and the storage position of the luggage 200A in the width direction, and the like.
The lifting platform 316 includes a plurality of sensors (not shown) for detecting the storage state of the luggage 200A. Based on detection signals from a plurality of sensors provided on the lifting platform 316, the control unit 400 specifies the size in the width direction and the storage position of the luggage 200A stored in the shelf 302A, and stores it in a predetermined storage area. Can be kept.

  For example, the lifting platform 316 is provided with a plurality of transmission type or diffuse reflection type optical sensors for detecting the side surface of the luggage 200A. The control unit 400 detects in which region the side surface of the luggage 200A along the slide movement direction of the first slide arm 110 and the second slide arm 120 is present based on the detection signals of the plurality of optical sensors. The control unit 400 determines whether or not the luggage 200A is stored in the shelf 302A and between which sensor installation position the end position on the lifting platform 316 side of the luggage 200A exists, and stores it in a predetermined storage area. Store.

  In addition, the lifting platform 316 is provided with a plurality of transmission type or diffuse reflection type optical sensors for detecting the upper surface and the bottom surface of the baggage 200A, thereby determining in which region the end of the baggage 200A is located in the width direction. It can be detected.

  Further, when the transfer device 100 has transferred the luggage 200A to the shelf 302A in the past, the control unit 400 relates to the storage state of the shelf 302A based on the slide movement amount of the first slide arm 110 and the second slide arm 120. It is also possible to calculate data and store it in a predetermined storage area.

Data relating to the storage state including the size in the width direction and the storage position of the luggage 200A can be specified as an area where the end position of the luggage 200A exists according to the installation interval of the sensors of the lifting platform 316. The control unit 400 stores the area where the end portion position of the luggage 200A exists in the storage area by including it in the data relating to the storage state.
The storage state grasping unit 407 acquires data on the storage state of the luggage 200A in the shelf 302A stored in the storage area when the luggage 200B stored in the shelf 302B is transferred to the lifting platform 316.
When the control unit 400 transfers the load 200B stored in the shelf 302B, there is an end position of the load 200A in which the first slide arm 110 or the second slide arm 120 is stored in the opposite shelf 302A. Control signals are transmitted to the first arm driving unit 118 and the second arm driving unit 128 so as not to reach the area.

(3-3) Control Operation FIG. 16 is a control flowchart when transferring the luggage 200B in the second embodiment. Here, the transfer apparatus 100 demonstrates the case where the load 200B accommodated in the shelf 302B (lower side of the figure) is transferred to the lifting platform 316.

In step S1601, the control unit 400 grasps the storage state of the luggage 200A on the shelf 302A opposite to the shelf 302B to be transferred.
As described above, regarding the storage state of the luggage 200A on the shelf 302A, whether or not the luggage 200A is stored based on detection signals of a plurality of sensors provided on the lifting platform 316 is determined. Data relating to the area where the end position in the width direction exists is stored in a predetermined storage area. The control unit 400 causes the storage state grasping unit 407 to read data relating to the storage state of the luggage 200A on the shelf 302A from a predetermined storage area.

  In step S1602, the control unit 400 starts sliding movement of the first slide arm 110 and the second slide arm 120. At this time, the first hooks 114 and 124 are in a retracted posture so as not to contact the luggage 200B.

  As shown in FIG. 14, when the luggage 200B is placed on the shelf 302B and is transferred to the lifting platform 316, the control unit 400 determines the maximum size of the placed luggage 200B. The first slide arm 110 and the second slide arm 120 are moved until the first hooks 114 and 124 are located at the first positions L1 and R1 that are deeper than the rear end surface of the luggage 200B.

In step S1603, the control unit 400 determines whether or not the end position of the luggage 200B has been detected based on the detection signals of the first end detection sensors 116 and 126.
Based on the detection signals transmitted from the first end detection sensors 116 and 126, the control unit 400 controls the second position L2 and the second slide arm 120 side, which are the end positions of the luggage 200B on the first slide arm 110 side. The second position R2, which is the end position of the baggage 200B, is detected.

  The control unit 400 maintains the sliding movement of the first slide arm 110 and the second slide arm 120 until any one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state. In addition, when one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state, the control unit 400 determines that one end position of the luggage 200B has been detected, and proceeds to step S1604. Transition.

In step S <b> 1604, the control unit 400 stores the detected end position of the luggage 200, and the stroke determination unit 406 transfers the corresponding slide arm of the first slide arm 110 and the second slide arm 120 to each other. The amount of movement is calculated.
At this time, the stroke determination unit 406 determines whether the first slide arm 110 and the second slide arm 120 are used when the baggage 200B is drawn based on the data regarding the storage state of the baggage 200A on the shelf 302A read in step S1601. It is determined whether or not the corresponding slide arm protrudes on the shelf 302A and interferes with the luggage 200A. The stroke determination unit 406 calculates the movement amount so that the corresponding slide arm of the first slide arm 110 and the second slide arm 120 does not reach an area where there is a possibility of interfering with the luggage 200A.

  In step S1605, the control unit 400 determines whether or not end positions on both sides of the luggage 200 are detected. After the detection signal of one of the first end detection sensors 116 and 126 transitions from the light receiving state to the non-light receiving state, the control unit 400 performs step S1603 until the other detection signal transitions from the light receiving state to the non-light receiving state. Then, the moving state of the first slide arm 110 and the second slide arm 120 is maintained. When both detection signals of the first end detection sensors 116 and 126 transition from the light receiving state to the non-light receiving state, the control unit 400 determines that the ends on both sides of the luggage 200B have been detected, and step S1606. Migrate to

In step S <b> 1606, the control unit 400 determines whether the first hooks 114 and 124 have reached the end position of the luggage 200.
FIG. 17 is an explanatory view showing a state in which the first hooks 114 and 124 in the operating posture are in contact with the end position of the luggage 200B.
The control unit 400 moves the first slide arm 110 by the first arm driving unit 118 and the second arm driving unit 128 until it is determined that the first hooks 114 and 124 have reached the first positions L1 and R1, respectively. When the movement of the second slide arm 120 is maintained and it is determined that the first hooks 114 and 124 have reached the first positions L1 and R1, respectively, as shown in FIG. 17, the process proceeds to step S1607.

  In step S1607, the control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128 to stop the first slide arm 110 and the second slide arm 120.

In step S <b> 1608, the control unit 400 starts moving the first slide arm 110 and the second slide arm 120 according to the strokes. The controller 400 slides the first slide arm 110 and the second slide arm 120 toward the lifting platform 316 according to the respective movement amounts of the first slide arm 110 and the second slide arm 120 calculated in step S1604. To start.
At this time, the first arm driving unit 118 drives the first slide arm 110 so that the first hook 114 moves from the first position L1 to the second position L2. Similarly, the second arm driving unit 128 drives the second slide arm 120 so that the first hook 124 moves from the first position R1 to the second position R2.

Here, the first slide arm 110 and the second slide arm 120 are moved at a low speed so that the load 200B is not damaged when the first hooks 114 and 124 come into contact with the end position of the load 200B. Is preferred.
Further, the time for the first hook 114 of the first slide arm 110 to reach the second position L2 from the first position L1, and the first hook 124 of the second slide arm 120 reaches the second position R2 from the first position R1. It is possible to control the moving speed of the first slide arm 110 and the moving speed of the second slide arm 120 so that the time to perform the same time.

  In step S1609, the control unit 400 determines whether or not the first hooks 114 and 124 have reached the end position of the luggage 200B. For example, the control unit 400 changes the first slide arm until the first end detection sensor 116 of the first slide arm 110 and the first end detection sensor 126 of the second slide arm 120 transition from the non-light receiving state to the light receiving state. The moving state of 110 and the second slide arm 120 is maintained. In addition, when the movement amount of the first slide arm 110 and the second slide arm 120 can be measured, the control unit 400 can adjust the first slide arm 110 and the second slide arm until the movement amount calculated in advance is reached. The moving state of the slide arm 120 is maintained.

When it is determined that one of the first slide arm 110 and the second slide arm 120 has reached the end position of the luggage 200B, the control unit 400 stops the movement of the corresponding slide arm, and the other slide arm Maintain the moving state.
When the control unit 400 determines that both the first slide arm 110 and the second slide arm 120 have reached the end position of the load 200B, and the first hooks 114 and 124 have come into contact with the end position of the load 200B. In step S1610, the process proceeds to step S1610.

  In step S1610, the control unit 400 changes the moving speed of the first slide arm 110 and the second slide arm 120. The controller 400 increases the moving speed of the first slide arm 110 and the second slide arm 120 in a state where the first hooks 114 and 124 are in contact with the end position of the luggage 200.

In step S1611, the control unit 400 determines whether or not at least one of the first slide arm 110 and the second slide arm 120 has reached the vicinity of the region that interferes with the luggage 200A.
In accordance with the movement amount of the first slide arm 110 and the second slide arm 120 determined by the stroke determination unit 406, the control unit 400 is located near the region where at least one of the slide arms protrudes toward the shelf 302A and interferes with the luggage 200A. Determine if it has been reached.

If the control unit 400 determines that at least one of the first slide arm 110 and the second slide arm 120 has reached the vicinity of the region that interferes with the luggage 200A, the control unit 400 proceeds to step S1612; The process proceeds to S1613.
In step S <b> 1612, the control unit 400 transmits a control signal to the first arm driving unit 118 and the second arm driving unit 128 to stop the corresponding ones of the first slide arm 110 and the second slide arm 120.

FIG. 18 is an explanatory diagram when the luggage 200B is transferred.
As shown in FIG. 18, when it is assumed that the size in the width direction of the luggage 200A stored in the shelf 302A is large and the second slide arm 120 protrudes beyond the end position on the lifting platform 316 side, The control unit 400 transmits a control signal to the second arm driving unit 128 to stop the second slide arm 120 at a position where it does not interfere with the luggage 200A.
Further, when it is assumed that the first slide arm 110 and / or the second slide arm 120 interfere with the luggage 200A stored in the opposite shelf 302A, the transfer process is not executed. You can also In this case, when the control unit 400 grasps the storage state of the shelf 302A in step S1601 or calculates the movement amount of the slide arms 110 and 120 in step S1604, the control unit 400 interferes with the luggage 200A in the shelf 302A. When the determination is made, the transfer process of the luggage 200B on the shelf 302B can be terminated.

In step S1613, the control unit 400 determines whether or not the transfer of the luggage 200B by the first slide arm 110 and the second slide arm 120 is completed.
When the first arm driving unit 118 and the second arm driving unit 128 are configured by stepping motors having a servo mechanism, the control unit 400 can transfer the load 200B to the lifting platform 316 based on the number of driving pulses. It can be determined that it has been completed. In addition, a sensor for detecting the tip positions of the first slide arm 110 and the second slide arm 120 is provided, and the control unit 400 is configured to detect the first slide arm 110 and the second slide arm 120 based on a detection signal from the sensor. It can be configured to determine whether or not has reached a predetermined position of the lifting platform 316.

Since the control unit 400 stops the second slide arm 120 determined to interfere with the load 200A in step S1612, the transfer of the load 200B is performed when the amount of movement of the first slide arm 110 reaches a predetermined amount. It can be determined that the loading has been completed.
The control unit 400 maintains the moving state of the first slide arm 110 until it is determined that the transfer of the luggage 200B is completed, and when it is determined that the transfer of the luggage 200B is completed, the process proceeds to step S1614. .

  In step S <b> 1614, the control unit 400 stops the first slide arm 110. The control unit 400 transmits a control signal to the first arm driving unit 118 and ends the sliding movement of the first slide arm 110. At the same time, the control unit 400 moves the first hooks 114 and 124 to the retracted posture.

As described above, in the transfer device 100 according to the second embodiment, even if the end position of the luggage 200B is different on the left and right, the movement amount of the first slide arm 110 and the second slide arm 120 is adjusted. The timing at which the first hooks 114 and 124 come into contact with the end position of the luggage 200B can be synchronized. Therefore, the luggage 200 can be conveyed straight with respect to the transfer direction.
Further, the storage state grasping unit 407 grasps the storage state of the shelf 302A located on the opposite side of the shelf 302B in which the load 200B to be transferred is stored, so that the first slide arm 110 and the second slide arm It is possible to prevent 120 from protruding to the shelf 302A side and interfering with the luggage 200A.

(4) Common Configuration and Effects of Embodiments In the first to second embodiments described above, the transfer device (for example, the transfer device 100) is a pair of left and right slide arms (for example, the first slide arm). 110, the second slide arm 120), an arm driving unit (for example, the first arm driving unit 118, the second arm driving unit 128), an end position grasping unit (for example, the end position grasping unit 405), and a stroke. A determination unit (for example, stroke determination unit 406) and a control unit (for example, control unit 400) are provided. The pair of left and right slide arms has hooks (for example, first hooks 114 and 124, and second hooks 115 and 125 that abut against the end surface of the load (for example, load 200). The end position grasping unit grasps the end position of the load that can be brought into contact with the hook, and the stroke determination unit determines the end position of the load grasped by the end position grasping unit. The control unit controls the driving of the pair of left and right slide arms by the arm driving unit based on the movement amount determined by the stroke determination unit.

  The transfer device determines the amount of movement of the pair of left and right slide arms by the stroke determination unit in accordance with the end position of the load grasped by the end position grasping unit (for example, Yes in step S502 and step S1603) ( For example, step S503, step S1604). Accordingly, smooth transfer processing can be performed without tilting the load regardless of the shape of the end portion of the load.

The transfer device is attached in the vicinity of hooks (eg, first hooks 114, 124, second hooks 115, 125) of a pair of left and right slide arms, and detects an end detection sensor (eg, a diffuse reflection type) that detects the side surface of the load. First end detection sensors 116 and 126 and second end detection sensors 117 and 127), and the end position grasping unit is based on the detection signal of the end detection sensor. It can comprise so that the edge part position of may be grasped | ascertained.
The end detection sensor is configured by a diffuse reflection type optical sensor that detects the presence or absence of the target portion by projecting light from the light projecting portion to the object and receiving the reflected light by the light receiving portion. Therefore, by acquiring the detection signal of the end detection sensor while moving the pair of left and right slide arms, the end position grasping unit detects the end position of the load (for example, Yes in step S502 and step S1603). It is possible.

(5) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

(5-1) Elevating platform on which a conveyor is mounted A conveyor such as a belt conveyor capable of transporting the luggage 200 can be mounted on the elevating platform 316.
In this case, for example, as shown in FIG. 7, the movement of the first slide arm 110 and the second slide arm 120 is started in a state where the first hooks 114 and 124 are in contact with the end position of the luggage 200. Then, transfer of the luggage 200 to the lifting platform 316 side is started.
The control part 400 starts conveyance by a conveyor in the stage in which the edge part by the side of the raising / lowering base 316 of the luggage | bag 200 arrived on the conveyor.
In this case, even if the first slide arm 110 and the second slide arm 120 are stopped before the luggage 200 reaches the final placement portion, the transfer process of the luggage 200 can be completed by the conveyor.
Therefore, a part of the first slide arm 110 and the second slide arm 120 does not protrude on the opposite shelf 302, and even if the storage state of the shelf 302 is not grasped in advance, it can be transferred without any trouble. Can be completed.

(5-2) Shelf Storage Unit The shelf 302 can be configured such that a plurality of loads 200 can be placed in series with respect to the moving direction of the first slide arm 110 and the second slide arm 120.
In this case, the first slide arm 110 and the second slide arm 120 can be further provided with a third hook so that the two loads 200 can be transferred simultaneously.

  The present invention can be applied to a transfer device for transferring a load at a stacker crane in an automatic warehouse or the like or a station of an unmanned transfer system.

100 Transfer Device 110 First Slide Arm 111 Base Arm 112 Middle Arm 113 Top Arm 114 First Hook 115 Second Hook 116 First End Detection Sensor 117 Second End Detection Sensor 118 First Arm Driving Unit 120 Second Slide Arm 121 Base arm 122 Middle arm 123 Top arm 124 First hook 125 Second hook 126 First end detection sensor 127 Second end detection sensor 128 Second arm drive unit 200 Luggage 300 Automatic warehouse 301 Stacker crane 302 Shelf 302A Shelf 302B Shelf 303 Station 311 Lower cart 312 Upper cart 316 Lifting platform 400 Control unit 401 Traveling and lifting drive unit 404 Hook drive unit 405 End position grasping unit 406 Stroke determining unit 407 Storage state grasping unit

Claims (3)

A transfer device capable of traveling along a shelf provided with a shelf placement unit capable of placing a load,
A transfer device placement unit in which a pair of shelf placement units are arranged on both sides;
A pair of left and right slide arms having a hook that can be moved back and forth in a horizontal direction from the transfer device placement portion to the pair of shelf placement portions;
An arm drive unit that slides the pair of slide arms independently in the horizontal direction;
An end position grasping portion for grasping an end position of the load that can be contacted by each hook;
Stroke determination that determines the amount of movement of each slide arm between the shelf mounting portion and the transfer device mounting portion based on the end position of the load grasped by the end portion grasping portion. And
A storage state grasping unit for grasping data relating to the placement state of the luggage in the shelf placement unit ;
Based on the amount of movement determined by the stroke determination unit, the drive of the slide arm by the arm driving unit is controlled, and the load is transferred from the shelf mounting unit to the transfer device mounting unit. When performing loading, the storage state grasping unit grasps the storage state of the opposite shelf placing part across the transfer device placing part, and the slide arm is moved to the opposite shelf placing part. If it is grasped and interfere with housed luggage includes a control unit for interference to change the moving amount more determined in the stroke determining unit so as to prevent,
A transfer device comprising: A transfer device capable of traveling along a shelf provided with a shelf placement unit capable of placing a load,
A transfer device placement unit in which a pair of shelf placement units are arranged on both sides;
A pair of left and right slide arms having a hook that can be moved back and forth in a horizontal direction from the transfer device placement portion to the pair of shelf placement portions;
An arm drive unit that slides the pair of slide arms independently in the horizontal direction;
An end position grasping portion for grasping an end position of the load that can be contacted by each hook;
Stroke determination that determines the amount of movement of each slide arm between the shelf mounting portion and the transfer device mounting portion based on the end position of the load grasped by the end portion grasping portion. And
Based on the amount of movement determined by the stroke determination unit, the drive of the slide arm by the arm driving unit is controlled, and the load is transferred from the transfer device mounting unit to the shelf mounting unit. When loading, when the slide arm is moved by the arm driving unit and the end position of the load is detected by the end position grasping unit, the movement of the corresponding slide arm is stopped and the hook is moved to the end of the load. parts to abut, in a state in which the hook of said pair of slide arms are both in contact with the end portion of said package, and a control unit for executing a transfer by extending said slide arm to the rack mounting part side ,
A transfer device comprising: An end detection sensor that is attached in the vicinity of each hook of the slide arm, and that is configured by a diffuse reflection type photoelectric sensor that detects a side surface of the load;
It said end position grasping unit on the basis of the detection signal of the edge detection sensor, to grasp the end position of the cargo, the transfer device according to claim 1 or 2.

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