CN104619613B - Shifting apparatus - Google Patents

Abstract

The present invention relates to shifting apparatus.Shifting apparatus (100) possesses conveyer (121), travelling arm (110), hook (114,115) and control portion (400).Conveyer (121) can make the goods (200) placed by upper surface carry abreast with goods conveying direction.Travelling arm (110) can slide movement abreast with goods conveying direction.Hook (114,115) travelling arm (110) it is installed in, can be in the direction intersected to the slip moving direction with travelling arm (110), and at the action prominent to goods (200) side placed by conveyer (121) with avoid and the keeping out of the way of abutting of goods (200) placed by conveyer (121) moves between posture.Control portion (400) makes goods (200) to carrying with goods conveying direction rightabout so that the vicinity of end position arrival hook (115) with direction, goods conveying direction opposition side by conveyer (121), then makes travelling arm (110) move to goods conveying direction.

Description

Shifting apparatus

Technical field

The present invention relates to for the transfer dress of transfer goods in stakcer crane, work station etc. without person conveying system Put.

Background technology

Stakcer crane is in order to access goods for the shelf being arranged in automated warehouse, and possesses shifting apparatus.It addition, Without in the work station of person conveying system, it is provided with for the shifting apparatus of transfer goods between waggon.

As the composition of shifting apparatus, have with pallet fork goods scooped up and the slip pallet fork mode of transfer, by attracting By goods absorption keep and transfer attraction mode, by pick-up tape by goods slide and transfer pick-up tape mode, clamp goods The both sides of thing carry out keeping and the fixture mode of transfer, are hooked the end of goods by being arranged at the hook of the front end of travelling arm, And by the advance and retreat of travelling arm, goods is released or is pulled the hook mode etc. of transfer goods.

Such as, propose there is shifting apparatus (such as, the ginseng possessing the hook being rotatably bearing in travelling arm front end According to patent documentation 1).

In patent documentation 1, be arranged at the hook of travelling arm front end and rotate relative to travelling arm such that it is able to goods The action of end abutment and keeping out of the way of not abutting with goods move between posture.

Goods is being downloaded to the action of shelf from shifting apparatus sidesway, this shifting apparatus by making hook be action and It is allowed to the end position with goods abut, and makes travelling arm to the advance of shelf side thus shift goods onto shelf.

When the end position of the hook and goods that are in action is abutted, if with high speed contact, it is likely that cause The damage of goods.Thus, near the hook installation site of travelling arm, pre-set optical pickocff, with low speed make arm move until The end position of goods detected by this optical pickocff till.

Patent documentation 1: No. 2011/158422 pamphlet of International Publication

In shifting apparatus as described above, reach the period till abutted position being hooked to, make the translational speed of travelling arm For low speed, so there is transfer handling time such problem.

Summary of the invention

The problem of the present invention is in stakcer crane, the shifting apparatus that used without the work station etc. of person conveying system, Shorten the time that transfer processes.

Hereinafter, as the method being used for solving problem, multiple modes are illustrated.These modes can be appointed as required The combination of meaning ground.

The shifting apparatus that one viewpoint of the present invention relates to possesses conveyer, travelling arm, hook and control portion.Conveyer can be by Goods placed by upper surface transports abreast with goods conveying direction.Travelling arm can slide abreast with goods conveying direction Mobile.Hook is installed in travelling arm, it is possible on the direction that the slip moving direction with travelling arm intersects, contained to conveyer Action that the goods side put is prominent and avoid and the keeping out of the way of abutting of goods placed by conveyer moves between posture.Control Portion processed by conveyer make goods to the opposition side of goods conveying direction carry so that goods conveying direction direction, opposition side on End position arrive hook vicinity, then make travelling arm move to goods conveying direction.

In this shifting apparatus, during conveying articles, beforehand through conveyer by goods to the opposition side of goods conveying direction Direction carries, and makes the end position of goods abut with hook.Thus, the movement of goods based on travelling arm can from initially starting with It is carried out at high speed, it is possible to shorten the time that transfer processes.

Here, control portion is after hook abuts with the end position of goods, it is possible to while starting the movement of travelling arm Or mobile start after, started the conveying of goods to goods conveying direction by conveyer.

In this case, by travelling arm and conveyer, it is possible to rapidly and be smoothed out the conveying of goods.

It addition, shifting apparatus is also equipped with being installed in the end detection sensor of the vicinity of the hook of travelling arm, control portion base Detection signal in end detection sensor, it is possible to judge goods conveying direction direction, opposition side on end position whether Arrive the vicinity of hook.

In this case, it is possible to the end position reliably detecting goods has arrived the vicinity of hook the most, and its result is energy Enough prevent the damage of goods, carry out rapidly transfer process.

The shifting apparatus of other viewpoints of the present invention possesses the first conveyer and second conveyor, travelling arm, the first hook And second hook, first end detection sensor and the second end detection sensor and control portion.First conveyer and Second conveyor configures on goods conveying direction continuously, it is possible to put down with goods conveying direction by the goods placed by upper surface Carry capablely.Travelling arm can slide movement abreast with goods conveying direction.First hook and the second hook are installed in slip Arm, it is possible on the direction that the slip moving direction with travelling arm intersects, respectively to the first conveyer and second conveyor Action that placed goods side is prominent and avoiding and the supporting of the goods placed by the first conveyer and second conveyor Keeping out of the way of connecing is moved between posture.First end detection sensor and the second end detection sensor are installed in travelling arm, The end position of goods placed by the first conveyer and second conveyor is detected respectively on the moving direction of travelling arm.Control Portion processed based on first end detection sensor and the second end detection sensor testing result, it determines the first conveyer and The state of goods placed on second conveyor, based on differentiating that result is by the first conveyer and/or second conveyor Make goods to the conveying of the direction, opposition side of goods conveying direction so that placed by the first conveyer and/or second conveyor End position on the direction, opposition side of the conveying direction of goods arrives the first hook and/or the vicinity of the second hook, then makes Travelling arm moves to goods conveying direction.

Here, control portion is based on first end detection sensor and the testing result of the second end detection sensor, sentence It not all not load the state of goods, in the first conveyer and second conveyor at the first conveyer and second conveyor Any one party be placed with goods state, the first conveyer and second conveyor be placed with respectively goods state or Person is placed with which of state of large cargo across the first conveyer and second conveyor.

It addition, control portion is being judged as YES the feelings of state all not loading goods at the first conveyer and second conveyor Under condition, terminate the transport process of goods, in any one party mounting being judged as YES in the first conveyer and second conveyor In the case of having the state of goods, make the hook corresponding with the conveyer being placed with goods in the first conveyer and second conveyor For action, goods is made to carry to direction, goods conveying direction opposition side by conveyer, so that placed by conveyer End position on the direction, opposition side of the conveying direction of goods arrives the vicinity of hook, being judged as YES at the first conveyer and In the case of second conveyor is placed with the state of goods respectively, making the first hook and the second hook is action, by first Conveyer and second conveyor make goods to the conveying of direction, goods conveying direction opposition side until the first conveyer and the The position, upper end, direction, opposition side of the conveying direction of the goods placed by two conveyers arrives separately at the first hook and the second hook Vicinity till, be placed with the situation of state of large cargo being judged as YES across the first conveyer and second conveyor Under, making the hook being positioned at the direction, opposition side of goods conveying direction in the first hook and the second hook is action, defeated by first Machine and second conveyor is sent to make goods to the conveying of the direction, opposition side of goods conveying direction so that goods conveying direction contrary Side end position upwards arrives the vicinity of hook.

And, first end detection sensor and the second end detection sensor are respectively installed in the first of travelling arm Hook and the vicinity of the second hook, control portion is based on first end detection sensor and the detection letter of the second end detection sensor Number, it is possible to differentiate on the direction, opposition side of conveying direction of goods placed by the first conveyer and/or second conveyor End position the most abut with the first hook and/or the second hook.

In the present invention, in stakcer crane, the shifting apparatus that used without the work station etc. of person conveying system, it is possible to Shorten the time that transfer processes.

Accompanying drawing explanation

Fig. 1 is the axonometric chart of the part representing the automated warehouse being provided with the stakcer crane with shifting apparatus.

Fig. 2 is the side view schematically showing automated warehouse.

Fig. 3 is the explanatory diagram of the shifting apparatus 100 of the first embodiment, and Fig. 3 (A) is in the case of hook is in and keeps out of the way posture Top view, Fig. 3 (B) is its side view.

Fig. 4 (A) is the top view in the case of hook is in action, and Fig. 4 (B) is its side view.

Fig. 5 is the control block diagram of the first embodiment.

Fig. 6 is the control flow chart of the first embodiment.

Fig. 7 is the explanatory diagram of the shifting apparatus 100 of the second embodiment.

Fig. 8 is the control block diagram in the second embodiment.

Fig. 9 is the control flow chart of the second embodiment.

Figure 10 be by 2 goods 200A, 200B transfer simultaneously placed on lifting platform 316 in the case of explanatory diagram.

Figure 11 be by the first conveyer 121 being arranged at lifting platform 316 and second conveyor 122 across mounting goods Thing 200 transfer is to the explanatory diagram of the action of shelf 302.

Detailed description of the invention

(1) composition of automated warehouse

For the embodiment of the shifting apparatus of the present invention, illustration is arranged at the situation of stakcer crane and illustrates.

Fig. 1 is the axonometric chart of the part representing the automated warehouse being provided with the stakcer crane with shifting apparatus.

As it is shown in figure 1, automated warehouse 300 possesses the stakcer crane 301 that can travel for conveying articles 200 and joins Put the shelf 302 of travel direction both sides at stakcer crane 301.

Automated warehouse 300 possesses the work station 303 for making goods 200 outbound put in storage.Stakcer crane 301 is arranged There is shifting apparatus 100.Goods 200 transfer being moved to work station 303 is arrived by stakcer crane 301 by shifting apparatus 100 Stakcer crane 301.And, goods 200 is transported to the reception position of shelf 302 by stakcer crane 301, uses shifting apparatus 100 and transfer to the shelf 302 met.

Similarly, stakcer crane 301 will be accommodated in goods 200 transfer of shelf 302 to stacking by shifting apparatus 100 Crane 301, and it is transported to work station 303.

Fig. 2 is the side view schematically showing automated warehouse.

Stakcer crane 301 is configured to bottom chassis 311 and top chassis 312 be linked with post 313, lifting platform 316 edge Post 313 moves up and down.

Lifting platform 316 is provided with shifting apparatus 100.

(2) first embodiments

(2-1) constitute

Fig. 3 is the explanatory diagram of the shifting apparatus 100 of the first embodiment, and Fig. 3 (A) is in the case of hook is in and keeps out of the way posture Top view, Fig. 3 (B) is its side view.Fig. 4 is the explanatory diagram of the shifting apparatus 100 of the first embodiment, and Fig. 4 (A) is at hook Top view in the case of action, Fig. 4 (B) is its side view.Additionally, in Fig. 3 (A), Fig. 4 (A), if figure right and left To for the first horizontal direction, if figure above-below direction is the second horizontal direction.

Shifting apparatus 100 (example of shifting apparatus) is for transfer goods between lifting platform 316 and shelf 302 The device of 200 (examples of goods), possesses pair of sliding arm 110 (example of travelling arm).

Pair of sliding arm 110 configures in the second horizontal direction at spaced intervals.Each travelling arm 110 possess base arm 111, in Between arm 112, top arm the 113, first hook 114 and the second hook 115.

Base arm 111 is fixed on lifting platform 316.Intermediate arm 112 is quilt in the way of can sliding in the first horizontal direction Base arm 111 supports, and so that top arm 113 can be supported in the way of sliding in the first horizontal direction.By make intermediate arm 112 and Top arm 113 slides mobile relative to base arm 111, it is possible to be inserted in the shelf 302 of both sides by top arm 113.

First hook 114 is installed in the end of top arm 113, it is possible to as shown in Fig. 4 (A), (B) to goods 200 Action (example of action) that side is prominent and not abutting with goods 200 as shown in Fig. 3 (A), (B) Keep out of the way and move between posture (keeping out of the way an example of posture).

Such as, the first hook 114 can be configured to be installed in the rotary shaft of the length direction setting along top arm 113, logical Cross and rotated by not shown driver element and move between posture at action and keeping out of the way.

As long as the first hook 114 is enough becomes the action appearance that can engage in end prominent and with goods 200 to goods 200 side Gesture and keeping out of the way between posture of not abutting with goods 200 are mobile, are not limited to illustrate such composition.

Second hook 115 is installed in the end of top arm 113, it is possible to the action prominent to goods 200 side and not with Keeping out of the way that goods 200 abuts is moved between posture.

Such as, the second hook 115 is in the same manner as the first hook 114, it is possible to be configured to be installed in the length side along top arm 113 To the rotary shaft arranged, move between posture at action and keeping out of the way by being rotated by not shown driver element.First Hook 114 and the rotary shaft of the second hook 115 and driver element can use general parts.

As long as the second hook 115 is enough becomes the action appearance that can engage in end prominent and with goods 200 to goods 200 side Gesture and keeping out of the way between posture of not abutting with goods 200 are mobile, are not limited to illustrate such composition.

Pair of sliding arm 110 can by the goods 200 of not shown driver element and mounting integratedly or synchronously Slide mobile.

At top arm 113, near the first hook 114, the first end being provided with the end for detecting goods 200 detects Sensor 116A, 116B.First end detection sensor 116A, 116B are that detection is on the slip moving direction of travelling arm 110 Whether the end position of goods 200 reaches the sensor of the position that the first hook 114 can engage.More specifically, if sliding Position on moving direction is consistent with the end position of goods 200 or is near it, first end detection sensor 116A, 116B then detects the end position of goods 200, therefore, is installed in and the first hook 114 adjoining position.

In the case of the optical pickocff using transmission-type as first end detection sensor 116A, 116B, make one Side is light-projecting component, and making the opposing party is photo detector.And, detect sensor as first end, it is also possible to use diffuse-reflectance The optical pickocff of type.

In the case of the optical pickocff using transmission-type, when making travelling arm 110 slide, first end detection sensing Device 116A, 116B detection photo detector is from being become the non-position by light state by light state and being become light from non-by light state The position of state is used as end or the end of shelf 302 side of lifting platform 316 side of goods 200.

Top arm 113 be provided with the second end detection sensor 117A, 117B, this second end detection sensor 117A, 117B is positioned at the vicinity of the second hook 115, for detecting the end of goods 200.

The second end detection sensor 117A, 117B are detection goods 200 on the slip moving direction of travelling arm 110 Whether end position reaches the sensor of the position that the second hook 115 can engage.More specifically, if on slip moving direction Position consistent with the end position of goods 200 or be near it, the second end detection sensor 117A, 117B then detect To the end position of goods 200, therefore, it is installed in the position adjacent with the second hook 115.

The second end detection sensor 117A, 117B are in the same manner as first end detection sensor 116A, 116B, it is possible to make With the optical pickocff of transmission-type.It addition, also be able to use the optical sensing of scattered reflection type as the second end detection sensor Device.

In the case of the optical pickocff using transmission-type, when making travelling arm 110 slide, the second end detection sensing Device 117A, 117B detection photo detector is from being become the non-position by light state by light state and being become light from non-by light state The position of state is as the end of lifting platform 316 side of goods 200 or the end of shelf 302 side.

Lifting platform 316 possesses can be defeated with what the moving direction of travelling arm 110 carried abreast by placed goods 200 Send machine 121.Goods 200 placed by upper surface can be supported by conveyer 121, and is driven by not shown conveyer Portion drives, parallel with the moving direction of travelling arm 110, in the direction released to shelf 302 side or enters from shelf 302 layback Conveying articles 200 on direction.

(2-2) control module

Fig. 5 is the control block diagram of the first embodiment.

Shifting apparatus 100 possesses the control portion 400 for controlling each portion.Control portion 400 can be by possessing CPU, ROM, RAM Deng microprocessor constitute.

Control portion 400 with for make travelling arm 110 relative to shelf 302 slide movement travelling arm drive division 402 be connected.

It addition, control portion 400 is connected with hook drive division 403, this hook drive division 403 makes to be installed in the of travelling arm 110 One hook the 114, second hook 115 moves between posture at action and keeping out of the way.

And, control portion 400 with drive the conveyer drive division 404 of conveyer 121 according to the direction of transfer goods 200 Connect.

It addition, control portion 400 is connected with first end detection sensor 116 and the second end detection sensor 117, quilt Input the detection signal from two sensors.

In the case of shifting apparatus 100 is configured to a part for stakcer crane 301, control portion 400 is to stacking Each portion of crane 301 is also carried out the parts controlled.In this case, such as, travel and lift drive division 401 and control portion 400 connect, and this traveling and lifting drive division 401 make to link bottom chassis 311 and the main part of top chassis 312 with post 313 Travel along running rail, make lifting platform 316 carry out being elevated to be formed as the position becoming transfer object of shelf 302 of multilamellar Put.

(2-3) control action

Fig. 6 is the control flow chart of the first embodiment.

Here, enter to action during shelf 302 by goods 200 transfer placed by the lifting platform 316 of shifting apparatus 100 Row explanation.

In step s 601, control portion 400 sends control signal to hook drive division 403, is used in goods 200 to shelf The hook that 302 sides are released is in action.As it is shown on figure 3, from lifting platform 316 by goods 200 transfer to the shelf being positioned at left side In the case of 302, make to be positioned at rearward second hook 115 in transfer side and be in action.Thus, the second hook 115 can be with goods The end position of thing 200 abuts.

In step S602, control portion 400 sends control signal to conveyer drive division 404, thus drives conveyer 121 So that goods 200 is carried to the direction, opposition side of conveying direction.Here, in order to by placed by the lifting platform 316 of shifting apparatus 100 Goods 200 be transported to shelf 302, direction from right to left is set to the conveying side of goods 200 by Fig. 3 (A), Fig. 4 (A) To, direction from left to right is set to the direction, opposition side of the conveying direction of goods 200 by Fig. 3 (A), Fig. 4 (A).

Such as, driving conveyer from the state being placed with goods 200 on the position shown in the chain-dotted line at Fig. 4 (A) 121, make goods 200 move to the end position in direction, opposition side of conveying direction of goods 200 and the second hook 115 abuts Position (position of the goods 200 of solid line based on figure).

In step S603, whether control portion 400 judges the end position in the direction, opposition side of the conveying direction of goods 200 Arrived the second hook 115 arranges position.

For example, it is assumed that the second end detection sensor 117A, 117B are made up of the optical pickocff of transmission-type, and it is set Near the second hook 115.If the photo detector of the second end detection sensor 117A, 117B changes to non-light from by light state State, then can interpolate that the end position in the direction, opposition side of the conveying direction for goods 200 has arrived the second end detection and passed The position of sensor 117A, 117B.Thereafter, make goods 200 move by conveyer 121 further, be allowed to mobile the second end inspection Survey the amount in the gap arranged between position and the second hook 115 of sensor 117A, 117B, it is possible to make the end position of goods 200 Abut with the second hook 115.

It addition, also be able to detect the position being placed with goods 200 in advance, conveyer 121 is driven the stipulated time so that goods The end position in the direction, opposition side of the conveying direction of thing 200 arrives the second hook 115.

Control portion 400 maintains the driving condition of conveyer 121 until the end position of goods 200 abuts with hook, In the case of being judged as that the end position of goods 200 abuts with hook, move to step S604.

In step s 604, control portion 400 stops the driving of conveyer 121, makes the mobile beginning of travelling arm 110.

Control portion 400 sends control signal to conveyer drive division 404, stops contrary to conveying direction of goods 200 Side to conveying.It addition, control portion 400 sends control signal to travelling arm drive division 402, start the second hook 115 and goods The movement to shelf 302 side of the travelling arm 110 under the state that the end position of 200 has abutted.

It addition, for control portion 400, it is possible to while the mobile beginning of travelling arm 110, or the most lingeringly start Conveyer 121 is to the movement of conveying direction.

In step s 605, control portion 400 judges that the transfer of goods 200 based on travelling arm 110 completes the most.Sliding In the case of swing arm drive division 402 is made up of the motor possessing servo control mechanism, control portion 400 judges according to number of drive pulses Complete to the transfer of shelf 302 for goods 200.It addition, be configured to: pre-set the front position of detection travelling arm 110 Sensor, control portion 400 is based on the detection signal from this sensor, it is judged that travelling arm 110 has arrived the rule of shelf 302 the most Location is put.

Control portion 400 maintains the mobile status of travelling arm 110 until the transfer of goods 200 completes, is being judged as In the case of the transfer of goods 200 is completed, move to step S606.

In step S606, control portion 400 makes travelling arm 110 stop.Control portion 400 sends to travelling arm drive division 402 Control signal, makes the slip mobile end of travelling arm 110.In the case of driving conveyer 121 at the same time, control portion 400 is to defeated Send machine drive division 404 to send control signal, make the driving of conveyer 121 stop.

In step S607, control portion 400 sends control signal to hook drive division 403 makes the second hook 115 move to keep out of the way Posture, sends control signal to travelling arm drive division 402 and makes travelling arm 110 reset into initial position.

In the shifting apparatus 100 involved by such first embodiment, by goods placed on lifting platform 316 When 200 transfers are to shelf 302, make goods 200 move to the direction, opposition side of conveying direction beforehand through conveyer 121, make After the end position of goods 200 and the second hook 115 abut, start the travelling arm 110 movement to conveying direction.Thus, start to slide During swing arm 110 mobile, the second hook 115 abuts with the end position in the direction, conveying direction opposition side of goods 200, and travelling arm drives Dynamic portion 402 can be with high-speed driving from the initial motion of travelling arm 110.Thereby, it is possible to shorten from lifting platform 316 to shelf The time that the transfer of 302 transfer goods 200 processes.

(3) second embodiments

(3-1) constitute

Fig. 7 is the explanatory diagram of the shifting apparatus 100 of the second embodiment.

In this second embodiment, representing can continuous 2 loaded on the moving direction of travelling arm 110 of transfer simultaneously The shifting apparatus 100 of goods 200A, 200B, the reference identical to the part mark identical with the first embodiment.

Shifting apparatus 100 is for the device of transfer goods 200 between lifting platform 316 and shelf 302, possesses a pair cunning Swing arm 110.

Pair of sliding arm 110 configures in the second horizontal direction at spaced intervals.Each travelling arm 110 possess base arm 111, in Between arm 112, top arm the 113, first hook the 114, second hook 115 and the 3rd hook 118.

Base arm 111 is fixed on lifting platform 316.Intermediate arm 112 by base arm 111 can slide in the first horizontal direction Mode support, and so that top arm 113 can be supported in the way of sliding in the first horizontal direction.By make intermediate arm 112 and Top arm 113 slides mobile relative to base arm 111 such that it is able to be inserted in the shelf 302 of both sides by top arm 113.

First hook 114 is installed in the end of top arm 113, it is possible to the action prominent to goods 200 side and not with Keeping out of the way that goods 200 abuts is moved between posture.

Such as, the first hook 114 can be configured to be installed in the rotary shaft of the length direction setting along top arm 113, passes through Rotated by not shown driver element and move between posture at action and keeping out of the way.

As long as the first hook 114 is configured to the action appearance engaged in end prominent and with goods 200 to goods 200 side Gesture and keeping out of the way between posture of not abutting with goods 200 are mobile, are not limited to illustrate such composition.

Second hook 115 is installed in the first horizontal direction pars intermedia of top arm 113, it is possible to prominent to goods 200 side Action and keeping out of the way of not abutting with goods 200 move between posture.

Such as, the second hook 115 is in the same manner as the first hook 114, it is possible to be configured to be installed in the length direction along top arm 113 The rotary shaft arranged, moves between posture at action and keeping out of the way by being rotated by not shown driver element.First hook 114 and second hook 115 rotary shaft and driver element can use general parts.

As long as the second hook 115 is configured to the action appearance engaged in end prominent and with goods 200 to goods 200 side Gesture and keeping out of the way between posture of not abutting with goods 200 are mobile, are not limited to illustrate such composition.

3rd hook 118 is installed in the end of top arm 113, it is possible to the action prominent to goods 200 side and not with Keeping out of the way that goods 200 abuts is moved between posture.

Such as, the second hook 115 is as the first hook 114, it is possible to is configured to be installed in the length direction along top arm 113 and sets The rotary shaft put, moves between posture at action and keeping out of the way by being rotated by not shown driver element.First hook 114, the second hook 115 and the rotary shaft of the 3rd hook 118 and driver element can use general parts.

As long as the 3rd hook 118 is configured to the action appearance engaged in end prominent and with goods 200 to goods 200 side Gesture and keeping out of the way between posture of not abutting with goods 200 are mobile, are not limited to illustrate such composition.

Pair of sliding arm 110 can by not shown driver element with placed goods 200 one or Tong Bu Ground slides mobile.

At top arm 113, being positioned at the vicinity of the first hook 114, the first end with the end for detecting goods 200 detects Sensor 116A, 116B (example of end detection sensor).First end detection sensor 116A, 116B are to detect On the slip moving direction of travelling arm 110, the end position of goods 200 has arrived the position that can be engaged by the first hook 114 the most The sensor put.More specifically, if the position on slip moving direction is consistent with the end position of goods 200 or be in it Near, first end detection sensor 116A, 116B then detect the end position of goods 200, therefore, are installed in and first The position that hook 114 is adjacent.

Detect sensor 116A, 116B as first end, in the case of the optical pickocff using transmission-type, make one Side is light-projecting component, and making the opposing party is photo detector.And, detect sensor as first end, it is also possible to use diffuse-reflectance The optical pickocff of type.

In the case of the optical pickocff using transmission-type, when making travelling arm 110 slide, first end detection sensor 116A, 116B detection photo detector is from being become the non-position by light state by light state and being become light shape from non-by light state The position of state, respectively as the end position of goods 200.

At top arm 113, being positioned at the vicinity of the second hook 115, the second end being provided with the end for detecting goods 200 is examined Survey sensor 117A, 117B and the detection of the 3rd end sensor 119A, 119B.

The second end detection sensor 117A, 117B and the 3rd end detection sensor 119A, 119B are that detection is being slided On the slip moving direction of swing arm 110, the end position of goods 200 has arrived the position that can be engaged by the second hook 115 the most Sensor.More specifically, if the position on slip moving direction is consistent with the end position of goods 200 or to be in it attached Closely, the second end detection sensor 117A, 117B and the 3rd end detection sensor 119A, 119B then detect goods 200 End position, therefore, be installed in the position adjacent with the second hook 115.

In the figure 7, the second end detection sensor 117A, 117B are in order to detect the goods in the left side being positioned at the second hook 115 The end position of 200, and it is arranged on the side close to first end detection sensor 116A, 116B.It addition, in the figure 7, the 3rd End detection sensor 119A, 119B are in order to detect the end position of the goods 200 on the right side being positioned at the second hook 115, and are pacified It is contained in the side away from first end detection sensor 116A, 116B.

The second end detection sensor 117A, 117B and the 3rd end detection sensor 119A, 119B and first end Detection sensor 116A, 116B are similarly, it is possible to use the optical pickocff of transmission-type.It addition, pass as the second end detection Sensor and the 3rd end detection sensor, it is also possible to use the optical pickocff of scattered reflection type.

In the case of the optical pickocff using transmission-type, when making travelling arm 110 slide, the second end detection sensing Device 117A, 117B and the 3rd end detection sensor 119A, 119B detection photo detector become non-light shape from by light state The position of state and become the position by light state by light state, respectively as the end position of goods 200 from non-.

At top arm 113, being positioned at the vicinity of the 3rd hook 118, the 4th end being provided with the end for detecting goods 200 is examined Survey sensor 120A, 120B.

4th end detection sensor 120A, 120B is detection goods 200 on the slip moving direction of travelling arm 110 End position has arrived the sensor of the position that can be engaged by the 3rd hook 118 the most.More specifically, the 4th end detection If to be the position on slip moving direction consistent with the end position of goods 200 or is near it for sensor 120A, 120B, The end position of goods 200 then detected, therefore, be installed in the position adjacent with the 3rd hook 118.

4th end detection sensor 120A, 120B is in the same manner as first end detection sensor 116A, 116B, it is possible to make With the optical pickocff of transmission-type.It addition, as the 4th end detection sensor, it is also possible to use the optical sensing of scattered reflection type Device.

In the case of the optical pickocff using transmission-type, when making travelling arm 110 slide, the 4th end detection sensor 120A, 120B detection photo detector is from being become the non-position by light state by light state and being become light shape from non-by light state The position of state, respectively as the end position of goods 200.

At lifting platform 316, the moving direction of travelling arm 110 is provided with 2 the first conveyers 121 in a continuous manner And second conveyor 122.First conveyer 121 and second conveyor 122 are able to load goods 200, by by not Diagram drive unit drives and can reciprocally join goods 200.

(3-2) control module

Fig. 8 is the control block diagram in the second embodiment.

Shifting apparatus 100 possesses the control portion 400 for controlling each portion.Control portion 400 can be by possessing CPU, ROM, RAM Deng microprocessor constitute.

Control portion 400 with for make travelling arm 110 relative to shelf 302 slide movement travelling arm drive division 402 be connected.

It addition, control portion 400 exists with making first hook the 114, second hook the 115, the 3rd hook 118 being installed in travelling arm 110 Action is connected with the hook drive division 403 keeping out of the way movement between posture.

And, control portion 400 carries with driving the first conveyer 121 and second according to the direction of transfer goods 200 The conveyer drive division 404 of machine 122 connects.

It addition, control portion 400 and first end detection sensor 116, the second end detection sensor the 117, the 3rd end Detection sensor 120 in detection sensor the 119, the 4th end connects, and is enter to the detection signal from each sensor.

In the case of shifting apparatus 100 is configured to a part for stakcer crane 301, control portion 400 is to stacking Each portion of crane 301 is also carried out the parts controlled.In this case, such as, travel and lift drive division 401 and control portion 400 connect, and this traveling and lifting drive division 401 make to link bottom chassis 311 and the main part of top chassis 312 with post 313 Travel along running rail, make lifting platform 316 carry out being elevated to be formed as the position becoming transfer object of shelf 302 of multilamellar.

(3-3) control action

Fig. 9 is the control flow chart of the second embodiment.

In this, it is assumed that illustrate to the situation of the shelf 302 in the left side being positioned at lifting platform 316 by goods 200 transfer, Direction from right to left by Fig. 7 is set to the conveying direction of goods, and the direction from left to right of Fig. 7 is set to the conveying side of goods To direction, opposition side.

In step S901, control portion 400 holds the carrying state of the goods on lifting platform 316.For detection first In the case of the sensor of the carrying state on conveyer 121 and second conveyor 122 is arranged on lifting platform 316, control Portion 400 detection based on corresponding sensor signal, obtains and the mounting on the first conveyer 121 and second conveyor 122 The data that state is relevant.

The carrying state of the goods on lifting platform 316 such as has at the first conveyer 121 or second conveyor 122 Any one is not all placed with the state of goods 200, the only side in the first conveyer 121 or second conveyor 122 and carries It is equipped with the state of goods 200, is placed with the shape of goods 200A, 200B at the first conveyer 121 and second conveyor 122 respectively State, is placed with the state of large cargo across the first conveyer 121 and second conveyor 122 ground.

Multiple optical pickocffs of transparent type or scattered reflection type it are provided with, it is possible to detect in the side of lifting platform 316 Whether it is placed with goods on first conveyer 121 and second conveyor 122.

In this case, control portion 400 can be based on the detection signal of the sensor being arranged at lifting platform 316, it is judged that on Any one in the carrying state stated.

It addition, the data that conventional transfer processes are prestored to the memory area of regulation by control portion 400, based on this shifting The data that load processes, it is possible to hold the carrying state on lifting platform 316.Such as, if moved from work station 303 or shelf 302 It is up-to-date for carrying the transfer of 2 goods 200A, 200B and processing, then control portion 400 can interpolate that as at the first conveyer 121 and Second conveyor 122 is placed with goods 200A, 200B respectively.

In step S902, control portion 400 differentiates whether goods 200 is across the first conveyer 121 and second conveyor The large cargo that 122 ground are loaded.

Figure 11 is across the first conveyer 121 and second conveyor 122 ground is placed with the saying of lifting platform 316 of goods 200 Bright figure.

Control portion 400 detection signal based on the sensor (not shown) being arranged at lifting platform 316, it determines goods 200 is No loaded across the first conveyer 121 and second conveyor 122 ground.

It addition, the second end detection sensor 117A, 117B and the interval quilt of the detection of the 3rd end sensor 119A, 119B It is set to the feelings that the minimum interval than the goods 200A on the first conveyer 121 and goods 200B on second conveyor 122 is little Under condition, load large-scale goods 200, then the second end detection sensor across the first conveyer 121 and second conveyor 122 The detection signal of 117A, 117B and the detection of the 3rd end sensor 119A, 119B is all non-by light state.

Thus, in this case, for control portion 400, sensor 117A, 117B and the 3rd are detected at the second end End detection sensor 119A, 119B are non-by the case of light state, and it is horizontal that control portion 400 can interpolate that as goods 200 Across the large-scale goods that the first conveyer 121 and second conveyor 122 ground are loaded.

Control portion 400 moves to step S903 being judged as in the case of lifting platform 316 is placed with large-scale goods 200, Move to step S904 being judged as in the case of lifting platform 316 is not placed with large-scale goods 200.

In step S903, control portion 400 sends control signal to hook drive division 403, makes the conveying relative to goods 200 The 3rd hook 118 that direction is located behind is in action.Now, in order to prevent falling of goods 200, it is also possible to make the first hook 114 is action.

In step S904, the first conveyer 121 and this two side of second conveyor 122 whether control portion 400 judge It is placed with goods 200A, 200B.

At detection signal based on the sensor being arranged at the lifting platform 316 or conventional transfer in control portion 400 processes Data, it is judged that for moving in the case of only the side in the first conveyer 121 and second conveyor 122 is placed with goods 200 To step S905, it is placed with goods 200A, 200B at the first conveyer 121 and this two side of second conveyor 122 being judged as In the case of move to step S912.

In step S905, control portion 400 sends control signal to hook drive division 403, makes second hook in centrally located portion 115 and be positioned at goods 200 conveying direction direction, opposition side the 3rd hook 118 in a side be in action.

Such as, in the case of the first conveyer 121 is placed with goods 200, control portion 400 send control signal so that Hook drive division 403 makes the second centrally located hook 115 be in action.It addition, be placed with goods on second conveyor 122 In the case of 200, control portion 400 sends control signal so that hook drive division 403 makes to be positioned at the direction, opposition side of conveying direction 3rd hook 118 is in action.Now, in order to prevent falling of goods 200, it is possible to so that be positioned at the front of goods 200 First hook 114 and/or the second hook 115 are in action.

In step S906, control portion 400 sends control signal to conveyer drive division 404, drives the first conveyer 121, second conveyor 122 is to make goods 200 carry to the direction, opposition side of conveying direction.It is across first at goods 200 In the case of the large-scale goods of conveyer 121, second conveyor 122 ground mounting, control portion 400 is to conveyer drive division 404 Send control signal to drive the first conveyer 121,122 liang of sides of second conveyor.It addition, at the first conveyer 121, second In the case of any one party in conveyer 122 is placed with goods 200, control portion 400 sends to conveyer drive division 404 and controls Signal is to drive corresponding first conveyer 121 or second conveyor 122.

Thereafter, the operation of step S907～S911 as step S603 of the first embodiment～the operation of S607, This omits detailed description.

In step S912, control portion 400 sends control signal to hook drive division 403, makes to be positioned at the conveying of goods 200A Second hook 115 (center hook) in the direction, opposition side in direction and be positioned at goods 200B conveying direction direction, opposition side Three hooks 118 (rear hook) are in action.Now, in order to prevent falling of goods 200A, it is possible to so that the first hook 114 is Posture.

In step S913, control portion 400 sends control signal to conveyer drive division 404, drives the first conveyer 121, second conveyor 122 is to make goods 200A, 200B carry to the direction, opposition side of conveying direction.

In step S914, control portion 400 judges the opposition side of the conveying direction of the side's goods in goods 200A, 200B The end position in direction has arrived the second hook 115 or the 3rd hook 118 the most.

The explanatory diagram of the situation of 2 goods 200A, 200B placed on transfer lifting platform 316 while that Figure 10 being.

The first conveyer 121 and second conveyor 122 being arranged at lifting platform 316 be placed with respectively goods 200A and In the case of goods 200B, from mounting position to arriving the time of hook because of the mounting position of goods 200A, 200B and size thereof Different.

Such as, in the example shown in Figure 10, the distance ratio from the mounting position of goods 200A to the second hook 115 is from goods The mounting position of 200B is short to the distance of the 3rd hook 118.Therefore, if the first conveyer 121 and the conveying of second conveyor 122 Speed is identical, and the rear positions of goods 200A the most first arrives the second hook 115.

Near the second hook 115 of travelling arm 110, and on the conveying direction of goods than the second hook 115 more on the front, if It is equipped with the second end detection sensor 117A, 117B (the second end detection sensor 117 in fig. 8), if the inspection of this second end The detection signal of the light accepting part surveying sensor 117A, 117B becomes non-by light state from by light state, then control portion 400 can sentence The end position in direction, opposition side of the conveying direction for goods 200A of breaking has arrived the second end detection sensor 117A, 117B Position.Thereafter, further, goods 200A is made to move the second end detection sensor 117A, 117B by the first conveyer 121 The amount in the gap arranged between position and the second hook 115, and the end position of goods 200A can be made to arrive the second hook 115.

In addition it is possible to the position that loaded of detection goods 200A in advance, the first conveyer 121 is driven the stipulated time with The end position making the direction, opposition side of the conveying direction of goods 200A arrives the second hook 115.

Control portion 400 maintains the driving condition end until goods 200A of the first conveyer 121 and second conveyor 122 Till position, portion arrives hook, in the case of the end position being judged as goods 200A has arrived the second hook 115, move to step S915。

In step S915, control portion 400 sends control signal to conveyer drive division 404, make the first conveyer 121 with And the conveyer being placed with the goods that end position has arrived hook in second conveyor 122 stops.

In the example shown in Figure 10, the end position of the goods 200A on the first conveyer 121 arrives the second hook 115 Moment, control portion 400 to conveyer drive division 404 send make first conveyer 121 stop control signal.

In step S916, control portion 400 judges the opposition side of the conveying direction of another goods in goods 200A, 200B The end position in direction has arrived the second hook 115 or the 3rd hook 118 the most.

In the example shown in Figure 10, after the goods 200A on the first conveyer 121 has arrived the second hook 115, second Goods 200B on conveyer 122 arrives the 3rd hook 118.It is provided with the 4th end near the 3rd hook 118 of travelling arm 110 Detection sensor 120A, 120B (being the 4th end detection sensor 120 in Fig. 8), if the 4th end detection sensor 120A, The detection signal of the light accepting part of 120B becomes non-by light state from by light state, then control portion 400 can interpolate that as goods 200B The end position in direction, opposition side of conveying direction arrived the position of the 4th end detection sensor 120A, 120B.Thereafter, Further by second conveyor 122 make goods 200B move the 4th end detection sensor 120A, 120B arrange position with The amount in the gap between the 3rd hook 118, and the end position of goods 200B can be made to arrive the 3rd hook 118.

Alternatively, it is also possible to detection is placed with the position of goods 200B in advance, second conveyor 122 is driven the stipulated time with Just the end position making the direction, opposition side of the conveying direction of goods 200B arrives the 3rd hook 118.

Control portion 400 maintains the driving condition of second conveyor 122 until the end position of goods 200B arrives the 3rd hook Till 118, in the case of the end position being judged as goods 200B has arrived the 3rd hook 118, move to step S917.

In step S917, control portion 400 sends control signal to conveyer drive division 404, make the first conveyer 121 with And powered conveyer stops in second conveyor 122.

In the example shown in Figure 10, the end position of the goods 200B on second conveyor 122 has arrived the 3rd hook In the moment of 118, control portion 400 sends the control signal making second conveyor 122 stop to conveyer drive division 404.Thereafter, move To step 908.

In step S908, control portion 400 starts the movement of travelling arm 110.

Control portion 400 sends control signal to travelling arm drive division 402, makes the end position of the second hook 115 and goods 200 Travelling arm 110 under the state that abutting, the 3rd hook 118 abut with the end position of goods 200B is to shelf 302 side shifting.

It addition, control portion 400 can be while starting the movement of travelling arm 110, or it is defeated the most lingeringly to start first Send machine 121 and second conveyor 122 to the movement of conveying direction.

In step S909, control portion 400 judges that the transfer of goods 200 based on travelling arm 110 completes the most.Sliding In the case of swing arm drive division 402 is made up of the motor possessing servo control mechanism, control portion 400 is judged as according to driving pulse Number goods 200A, 200B complete to the transfer of shelf 302.It addition, pre-set the biography of the front position of detection travelling arm 110 Sensor, control portion 400 can be configured to based on the detection signal from this sensor, it is judged that travelling arm 110 has the most arrived and put The assigned position of frame 302.

Control portion 400 maintain travelling arm 110 mobile status until be judged as the transfer of goods 200A, 200B completed into Only, in the case of the transfer being judged as goods 200A, 200B is completed, step S910 is moved to.

In step S910, control portion 400 makes travelling arm 110 stop.Control portion 400 sends to travelling arm drive division 402 Control signal, makes the slip mobile end of travelling arm 110.Drive the first conveyer 121, the feelings of second conveyor 122 at the same time Under condition, control portion 400 sends control signal to conveyer drive division 404, makes the driving of the first conveyer 121 stop.

In step S911, control signal is sent to hook drive division 403 and makes first hook the 114, second hook by control portion 400 115 and the 3rd hook 118 move to keep out of the way posture, send control signal to travelling arm drive division 402 and make travelling arm 110 reset into Initial position.

In the shifting apparatus that such second embodiment relates to, use the first conveyer being arranged at lifting platform 316 121 and second conveyor 122, make the end position and in the direction, opposition side of the conveying direction of goods 200,200A, 200B Two hook the 115, the 3rd hooks 118 abut in advance, it is possible to make the movement of travelling arm 110 drive from initial motion superhigh speed.Thereby, it is possible to Shorten the time that transfer processes.

It addition, pass based on the first end detection being arranged near first hook the 114, second hook the 115, the 3rd hook 118 Sensor 116A, 116B, the second end detection sensor 117A, 117B, the 3rd end detection sensor 119A, 119B, the 4th end The detection signal of portion's detection sensor 120A, 120B, it is possible to detect the goods on the first conveyer 121 and second conveyor 122 The carrying state of thing 200A, 200B.Thus, based on goods placed on the first conveyer 121, second conveyor 122 Number, shape, it is possible to carry out rapid transfer process.

(4) other embodiments

Above, one embodiment of the present invention is illustrated, but the present invention is not limited to above-mentioned embodiment, Scope without departing from the purport of invention can carry out various change.Especially, the multiple embodiments described in this specification with And variation can combination in any as required.

As shown in Figure 1 and Figure 2, for possessing shelf 302 in two sides relative to the travel direction of stakcer crane 301 Automated warehouse 300, it is also possible to apply the composition of above-mentioned embodiment.

Such as, in the example shown in Fig. 3, Fig. 4, in the case of there is the shelf 302 being positioned on the right side of figure, shifting apparatus 100 make the first hook 114 abut with the end position of goods 200 and release to shelf side.Now, drive the first conveyer 121, make Goods 200 moves to the left side of figure, and end position and the first hook 114 abut.

(5) the general item of each embodiment

In above-mentioned arbitrary embodiment, control portion (such as, control portion 400) the most commonly performs following control and moves Make.

(A) contrary to conveying direction of goods is made by conveyer (such as, the first conveyer 121, second conveyor 122) Side to conveying (such as, step S602, step S902) until hook (such as, the second hook 115, the 3rd hook 118) and goods (example Such as, goods 200) end position abut till.

(B) make travelling arm (such as, travelling arm 110) mobile to the conveying direction (such as, shelf 302 side) of goods.

In this shifting apparatus, by being arranged at the hook of travelling arm and by goods transfer when shelf side, pass through conveyer The hook end position in advance with the direction, conveying direction opposition side of goods is made to abut, when transfer based on travelling arm processes, energy Enough from the initial motion of travelling arm with high-speed driving (such as, step S604, step S904).Thereby, it is possible to shorten transfer dress The time that transfer in putting processes.

Industrial utilizability

The shifting apparatus of the present invention can stakcer crane in automated warehouse etc., work station etc. without person conveying system Middle transfer goods.

Description of reference numerals

100 ... shifting apparatus；110 ... travelling arm；111 ... base arm；112 ... intermediate arm；113 ... top arm；114 ... first Hook；115 ... the second hook；116A ... first end detection sensor；116B ... first end detection sensor；117A ... the second end Portion's detection sensor；117B ... the second end detection sensor；118 ... the 3rd hook；119A ... the 3rd end detection sensor； 119B ... the 3rd end detection sensor；120A ... the 4th end detection sensor；120B ... the 4th end detection sensor； 121 ... the first conveyer；122 ... second conveyor；200 ... goods；200A ... goods；200B ... goods；300 ... automatic storehouse Storehouse；301 ... stakcer crane；302 ... shelf；303 ... work station；311 ... bottom chassis；312 ... top chassis；316 ... rise Fall platform；400 ... control portion；401 ... travel and lift drive division；402 ... travelling arm drive division；403 ... hook drive division； 404 ... conveyer drive division.

Claims (8)

1. a shifting apparatus, wherein, possesses:

Conveyer, it can be by the goods placed by upper surface along the direction conveying parallel with the conveying direction of described goods；

Travelling arm, it can slide mobile along the direction parallel with goods conveying direction；

Hook, it is installed in described travelling arm, it is possible on the direction that the slip moving direction with described travelling arm intersects and Action and keeping out of the way moves between posture, and described action is directed to the appearance that the goods side placed by described conveyer is prominent Gesture, described in keep out of the way posture and refer to avoid the posture of the abutting with the goods placed by described conveyer；

Control portion, make described goods carry to the direction contrary with described goods conveying direction by described conveyer so that with institute State the end position on direction, goods conveying direction opposition side and arrive the vicinity of described hook, then make described travelling arm to described goods Thing conveying direction moves.

Shifting apparatus the most according to claim 1, wherein,

After the end position of described hook with described goods abuts, described control portion is while the mobile beginning of described travelling arm Or move after starting, make described conveyer start described goods to the conveying of described goods conveying direction.

Shifting apparatus the most according to claim 1, wherein,

It is also equipped with being arranged on the end detection sensor of the vicinity of the described hook of described travelling arm,

Described control portion based on described end detection sensor detection signal, it is judged that described goods with conveying direction opposition side End position on direction has arrived the vicinity of described hook the most.

Shifting apparatus the most according to claim 2, wherein,

It is also equipped with being installed in the end detection sensor of the vicinity of the described hook of described travelling arm,

Described control portion detection signal based on described end detection sensor, it is judged that described hook the most with the end of described goods Position, portion abuts.

5. a shifting apparatus, wherein, possesses:

First conveyer and second conveyor, they configure on goods conveying direction continuously, it is possible to upper surface is contained The described goods put is along the direction conveying parallel with described goods conveying direction；

Travelling arm, it can slide mobile along the direction parallel with described goods conveying direction；

First hook and the second hook, they are installed in described travelling arm, it is possible at the slip moving direction with described travelling arm On the direction intersected, move between posture at action and keeping out of the way respectively；Described action is directed to described first conveying The posture that goods side placed by machine and described second conveyor is prominent, described in keep out of the way posture and refer to avoid first defeated with described Send the posture of the abutting of goods placed by machine and described second conveyor,

First end detection sensor and the second end detection sensor, they are installed in described travelling arm, detect respectively Described first conveyer and the position, end of the goods placed by described second conveyor on the moving direction of described travelling arm Put；

Control portion, it is based on described first end detection sensor and the testing result of described the second end detection sensor, Differentiate the state of the described goods of mounting, result based on described differentiation on described first conveyer and described second conveyor Contrary to the conveying direction of described goods of described goods is made by described first conveyer and/or described second conveyor Direction move so that described first conveyer and/or described second conveyor mounting goods with conveying direction opposition side End position on direction arrives described first hook and/or the vicinity of described second hook, then makes described travelling arm to institute The conveying direction stating goods moves.

Shifting apparatus the most according to claim 5, wherein,

The testing result of sensor detects based on described first end detection sensor and described the second end in described control portion, Differentiation is described first conveyer and described second conveyor all do not load goods state, at described first conveyer and Any one party in described second conveyor is placed with the state of goods, at described first conveyer and described second conveyor It is placed with the state of goods respectively or is placed with large cargo across described first conveyer and described second conveyor State in which.

Shifting apparatus the most according to claim 6, wherein,

Described control portion performs to process as follows:

It is being judged as YES in the case of described first conveyer and described second conveyor all do not load the state of goods, knot The transport process of Shu Suoshu goods,

The state of goods it is placed with in any one party being judged as YES in described first conveyer and described second conveyor In the case of, make the hook corresponding with the conveyer being placed with goods in described first conveyer and described second conveyor be Posture, make described goods carry so that one to the direction, opposition side of described goods conveying direction by described conveyer End position on the direction, opposition side of the described goods conveying direction of conveyer mounting arrives the vicinity of described hook,

It is being judged as YES in the case of described first conveyer and described second conveyor are placed with the state of goods respectively, Making described first hook and described second hook is action, makes institute by described first conveyer and described second conveyor State goods to the conveying of the direction, opposition side of described goods conveying direction until described first conveyer and described second conveyor The described goods of mounting arrive separately at described first hook and described the with the end position on direction, conveying direction opposition side Till the vicinity of two hooks,

It is placed with the feelings of state of large cargo across described first conveyer and described second conveyor being judged as YES Under condition, making the hook being positioned at the direction, side of the conveying direction of described goods in described first hook and described second hook is action appearance Gesture, makes described goods to the contrary side of described goods conveying direction by described first conveyer and described second conveyor To conveying so that the end position on the direction, opposition side of described goods conveying direction arrives near described hook.

Shifting apparatus the most according to claim 7, wherein,

Described first end detection sensor and described the second end detection sensor are respectively installed in described travelling arm Described first hook and the vicinity of described second hook,

The detection signal of sensor detects based on described first end detection sensor and described the second end in described control portion, Judge on the direction, opposition side of conveying direction of goods placed by described first conveyer and/or described second conveyor End position the most abut with described first hook and/or described second hook.