JP2012071931A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an article hard to collapse, in a transfer device configured to hold the article.SOLUTION: The transfer device 29 is mounted on a stacker crane to move a package into and out of a package storage shelf while holding both sides of the package. The transfer device 29 includes a device body 31 mountable on the stacker crane, a clamp unit 33, a front opening/closing drive unit 60a, a rear opening/closing drive unit 60b, and a moving drive unit 61. The clamp unit 33 is disposed on the device body 31 so as to be movable forward and backward relative to the device body 31 and also to be openable/closeable to a close position for holding the package and an open position separated from the package. The front opening/closing drive unit 60a and the rear opening/closing unit 60b are disposed on the device body 31 separately from each other in longitudinal X-direction that is a transfer direction, and drive the clamp unit 33 to be opened/closed. The moving drive unit 61 is disposed on the device body 31, and drives the clamp unit 33 to be moved forward and backward.

Description

  The present invention relates to a transfer device, and more particularly, to a transfer device that is mounted on a transfer device and puts an article in and out of a transfer position across both sides of the article.

A conventional automatic warehouse includes a pair of racks, a stacker crane, a warehouse station, and a warehouse station. The pair of racks are provided at a predetermined interval in the front-rear direction (transfer direction). The stacker crane travels in the left-right direction along a travel path between the front and rear racks. The warehousing station is arranged on the side of one rack. The delivery station is arranged on the side of the other rack. The rack has a luggage storage shelf that is an example of a large number of transfer positions arranged in the vertical and horizontal directions. The stacker crane includes a traveling carriage, a lifting platform that is mounted on a mast provided on the traveling carriage so as to be movable up and down, and a transfer device provided on the lifting platform.
2. Description of the Related Art As a conventional transfer device, there is known a device that can be transferred to a rack by sandwiching both sides of a load as an example of an article with a crank portion having a pair of arms (for example, see Patent Document 1).
A conventional transfer device has a clamp portion having a pair of arms that sandwich both sides of a load, and a conveyor portion that can transfer the load in the same direction as the direction of expansion and contraction of the arms. The conveyor part is arrange | positioned between a pair of arms. The pair of arms can move in the opening and closing direction to hold and release the load.
In the transfer apparatus having such a clamp part, the pair of arms are driven to open and close by an opening / closing drive part having a chain disposed in the middle part in the front-rear direction. The chain is rotationally driven by a pair of sprockets that rotate about a vertical axis at both ends of the transfer device.

JP 2006-52064 A

  In the conventional configuration, the pair of arms are driven to open and close with one chain. For this reason, when a load is sandwiched between the tips of the pair of arms, the pair of arms are driven to open and close at a position far from the article. As a result, the part driven by the opening / closing drive part of the arm is bent, and in an article having a low strength such as cardboard, the bent arm may crush the article.

  The subject of this invention is making it hard to crush an article | item in the transfer apparatus which clamps an article | item.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A transfer device according to an aspect of the present invention is a transfer device that is mounted on a transport device and takes an article in and out of a transfer position across both sides of the article. The transfer apparatus includes an apparatus main body that can be mounted on the transfer apparatus, a clamp unit, a first opening / closing drive unit, a second opening / closing drive unit, and a movement drive unit. The clamp part is disposed in the apparatus main body so that it can be moved back and forth with respect to the apparatus main body and can be opened and closed at a closed position for holding the article and an open position away from the article. The first opening / closing drive unit and the second opening / closing drive unit are disposed in the apparatus main body at an interval in the transfer direction, and open / close drive the clamp unit. The movement drive unit is disposed in the mounting body and drives the clamp unit to advance and retreat.
In this transfer device, when an article is loaded on the transfer device from the transfer position, the clamp portion is moved to the transfer position with the clamp portion being in the open position. Then, the article is sandwiched and pulled into the transfer device with the clamp portion in the closed position. At this time, the clamp part is moved from the open position to the closed position by the first opening / closing drive part and the second opening / closing drive part arranged at intervals in the transfer direction. Here, in the closing operation from the open position to the closed position, the clamp unit performs the closing operation by being driven by the first opening / closing driving unit and the second opening / closing driving unit arranged at intervals in the transfer direction. The clamp part can be driven on both sides in the loading direction. For this reason, a clamp part can be opened and closed near an article | item, and the clamp part arrange | positioned at the both sides of an article | item becomes difficult to bend. Accordingly, the article is not easily crushed.

  The first opening / closing drive unit and the second opening / closing drive unit may be driven by one drive member. In this case, since the two open / close drive units are driven in conjunction with one drive member, the two open / close drive units can be easily synchronized. For this reason, even if a clamp part is driven by two opening-and-closing drive parts, the precision of the opening / closing operation | movement of a clamp part can be raised, and also it becomes difficult to crush an article.

The clamp part may have a first base member and a second base member, and a first arm and a second arm. The first base member and the second base member are movably provided in the opening / closing direction of the apparatus main body. The 1st arm and the 2nd arm are provided in the 1st base member and the 2nd base member so that advance and retreat are respectively possible. The transfer device further includes a first difference detection unit and a second difference detection unit. The first difference detection unit and the second difference detection unit are disposed on the first base member and the second base member at an interval in the transfer direction, and the movement amount of the first opening / closing drive unit and the movement amount of the first arm And the difference between the amount of movement of the second opening / closing drive unit and the amount of movement of the first arm are detected separately.
In this case, since it is possible to detect the difference between the movement amount of the first opening / closing drive unit and the second opening / closing drive unit arranged at intervals in the transfer direction and the movement amount of the first arm, The difference in movement amount can be detected on the near side. For this reason, the precision of the opening / closing operation | movement of a clamp part can be raised further, and also an article becomes difficult to be crushed.

  According to the present invention, in the closing operation from the open position to the closed position, the clamp unit is closed by being driven by the first opening / closing drive unit and the second opening / closing drive unit that are arranged at intervals in the transfer direction. Therefore, the clamp part can be driven on both sides in the transfer direction. For this reason, a clamp part can be opened and closed near an article | item, and the clamp part arrange | positioned at the both sides of an article | item becomes difficult to bend. Accordingly, the article is not easily crushed.

1 is a schematic plan view of an automatic warehouse in which an embodiment of the present invention is adopted. It is an II-II arrow line view of FIG. 1, and is a figure for demonstrating a rack and a stacker crane. FIG. 3 is a view taken along the line III-III in FIG. 1 for explaining a rack and a stacker crane. The schematic plan view of a transfer apparatus. The schematic side view of a conveyor part. The top view of a conveyor part and clamp part when a clamp part is arrange | positioned inside. The side view of a clamp part. The front view which shows the positional relationship with a conveyor part when a clamp part is arrange | positioned inside. The partial cross section top view of an arm closing detection part. The functional block diagram of a crane control part. The flowchart explaining the transfer operation | movement of a crane control part. The flowchart explaining arrangement | positioning operation | movement. The flowchart explaining a shifting operation. The mimetic diagram explaining transfer operation in case a conveyance source and a conveyance destination exist on the same side. The schematic diagram explaining the transfer operation in case a conveyance source and a conveyance destination exist in a different side. The schematic plan view of the transfer apparatus equivalent to FIG. 4 of other embodiment.

(1) Whole automatic warehouse Hereinafter, the automatic warehouse 1 by which one Embodiment which concerns on this invention was employ | adopted is demonstrated. In this embodiment, the vertical direction in FIG. 1 is the front-rear X direction of the automatic warehouse 1, and the horizontal direction in FIG. 1 is the left-right Y direction of the automatic warehouse 1.
In FIG. 1, an automatic warehouse 1 is mainly composed of a front rack 2a and a rear rack 2b, and a stacker crane 3 traveling between them.

(2) Rack The front rack 2a and the rear rack 2b are arranged at the front and back so as to sandwich the travel path 5 of the stacker crane 3 extending in the left-right Y direction. The front rack 2a and the rear rack 2b are adjacent to a plurality of first struts 7 arranged on the traveling path 5 side to the left and right at predetermined intervals, and second struts 9 arranged on the opposite side of the traveling path 5 with predetermined intervals. A plurality of luggage support portions 11 provided between the first support column 7 and the second support column 9 are provided. In this embodiment, one luggage support 11 has two luggage storage shelves 13. As apparent from FIG. 1, the stacker crane 3 places the load W on the load storage shelf 13 with reference to the center and the rear end (end of the travel path 5).

  In the lowermost stage on the left side of the front rack 2a, a storage station 17 for storing the luggage W is disposed. An exit station 19 for unloading the luggage W is disposed at the lowermost stage on the left side of the rear rack 2b. Accordingly, the two cargoes W can be entered / exited at the entry station 17 and the exit station 19.

(3) Stacker crane In FIGS. 1, 2 and 3, an upper guide rail 21a and a lower guide rail 21b are provided along the traveling path 5, and the stacker crane 3 is provided on the upper guide rail 21a and the lower guide rail 21b. Is guided so as to be movable in the left-right Y direction. The stacker crane 3 conveys the load W between a large number of load storage shelves 13, a storage station 17 and a discharge station 19.

  As shown in FIGS. 2 and 3, the stacker crane 3 includes a traveling carriage 22 having a carriage main body 23 and a lifting platform 27, and two transfer devices 29 provided on the traveling carriage 22. . The cart body 23 has a left traveling wheel 23a and a right traveling wheel 23b at both ends in the left-right Y direction. The left traveling wheel 23a and the right traveling wheel 23b are rotatably supported by bearings on the carriage body 23 and travel on the lower guide rail 21b. The cart body 23 is guided to the lower guide rail 21b by a front guide roller 23c and a rear guide roller 23d arranged at both ends with the lower guide rail 21b interposed therebetween. The right traveling wheel 23 b is driven by a traveling motor 87. A left mast 25a and a right mast 25b are fixed inside the left traveling wheel 23a and the right traveling wheel 23b of the carriage body 23. The left mast 25a and the right mast 25b extend in the vertical direction. The lifting platform 27 is mounted on a left mast 25a and a right mast 25b provided on the cart body 23 so as to be movable up and down. The two transfer devices 29 are provided on the lifting platform 27 side by side in the left-right Y direction.

(4) Transfer Device The transfer device 29 is a device for transferring the load W between the stacker crane 3, the storage station 17, the output station 19, and the load storage shelf 13. As shown in FIG. 4, the transfer device 29 includes an apparatus main body 31 that also functions as a lifting platform 27, a conveyor unit 32, a clamp unit 33, an opening / closing drive mechanism 60 that drives the clamp unit 33 to open / close, and a clamp unit. And a movement drive unit 61 that drives the movement 33 back and forth. In FIG. 4 and subsequent figures, one transfer device 29 is shown, but the lifting table 27 is provided with two transfer devices 29.
As shown in FIG. 4, a conveyor unit 32 is provided at the central portion of the apparatus main body 31 in the left-right Y direction to load the load W and move it toward the load storage shelf 13 along the front-rear X direction (transfer direction). It has been. On the outside of the conveyor unit 32 of the apparatus main body 31, there is provided a clamp unit 33 that holds the load W and moves it to the load storage shelf 13 side.

(4-1) Device Main Body The device main body 31 has a load placement area 31a on which the load W can be placed. The luggage W is placed on the luggage placement area 31a based on the rear end. Here, the rear end of the load W is the side that the clamp portion 33 grips, and is the end that is separated from the front rack 2a or the rear rack 2b to be transferred. Therefore, when the front rack 2a is a transfer target, the end on the right side in FIG. 4 is a rear end, and when the rear rack 2b is a transfer target, the end on the left side in FIG. 4 is a rear end. At both ends in the front-rear X direction of the baggage placement region 31a, a light projecting / receiving type first positioning sensor 98a and a second positioning sensor 98b attached to a bracket (not shown) are arranged. The first positioning sensor 98a and the second positioning sensor 98b are used for detecting the rear end of the luggage W and the like. On the outer side in the front-rear X direction of the first positioning sensor 98a and the second positioning sensor 98b, a light receiving / receiving type first load sensor 97a and a second load sensor 97b attached to a bracket (not shown) are arranged. . The first load sensor 97 a and the second load sensor 97 b are used for detecting that the load W protrudes from the lifting platform 27.

(4-2) Conveyor part The conveyor part 32 mounts and moves the load W. As shown in FIGS. 4, 5, and 6, the conveyor unit 32 includes a first conveyor unit 32 a and a second conveyor unit that are arranged symmetrically with respect to the center at the central portion in the left-right Y direction of the apparatus main body 31. 32b, and a conveyor driving unit 42 for driving them. The first conveyor unit 32a and the second conveyor unit 32b are, for example, belt conveyors. Since the first conveyor unit 32a and the second conveyor unit 32b have the same structure, the first conveyor unit 32a will be described below.

  The first conveyor unit 32 a includes a conveyor frame 35, a conveyor belt 37, a drive pulley 39 that drives the conveyor belt 37, and driven pulleys 41 disposed at both ends of the conveyor frame 35. The conveyor frame 35 is disposed along the front-rear X direction and is fixed to the upper surface of the apparatus main body 31. The driving pulley 39 and the driven pulley 41 are supported by the conveyor frame 35. The drive pulley 39 is connected to the conveyor drive unit 42. The conveyor drive unit 42 includes a conveyor drive motor 96 and a drive shaft 40 that transmits power from the conveyor drive motor 96 to the drive pulley 39. The conveyor belt 37 is suspended from a driven pulley 41 and a drive pulley 39. In addition, as a kind of conveyor, it may not be a belt conveyor but a roller conveyor, a chain conveyor, etc. may be sufficient.

(4-3) Clamp part The structure of the clamp part 33 is demonstrated with reference to FIG.4, FIG.6, FIG.7 and FIG. The clamp portion 33 is a mechanism that moves the load W while holding the side surface. The clamp part 33 has a first base member 51a and a second base member 51b, and a first arm 53a and a second arm 53b. The first base member 51a and the first arm 53a, and the second base member 51b and the second arm 53b have a mirror image structure. In FIG. 8, the first base member 51a and the first arm 53a are disclosed. Since the second base member 51b and the second arm 53b are mirror images of the first base member 51a and the first arm 53a shown in FIG.

(4-4) First Base Member and Second Base Member The first base member 51a and the second base member 51b are provided in the apparatus main body 31 so as to be able to open and close by approaching and separating from each other in the left-right Y direction. The 1st base member 51a and the 2nd base member 51b are arrange | positioned at the left-right Y direction both sides of the 1st conveyor unit 32a and the 2nd conveyor unit 32b.

  The first base member 51a and the second base member 51b are substantially rectangular plate-like members extending in the front-rear X direction. Both end portions of the first base member 51a and the second base member 51b are guided by a pair of linear guides 34a and 34b arranged along the left and right Y directions at both ends in the front-rear X direction of the apparatus main body 31, and the apparatus main body 31 is supported so as to be movable in the left-right Y direction. Each of the first base member 51a and the second base member 51b has a first bent portion 51c and a second bent portion 51d that are bent at right angles to the outer side (separated side) in the left-right Y direction at both lower portions in the front-rear X direction. Yes. A first linear bearing 63a and a second linear bearing 63b as guide portions guided by the linear guide 34a and the linear guide 34b are provided at both ends of the first bent portion 51c and the second bent portion 51d (see FIGS. 7 and 8). ) Are fixed separately by bolts.

  A first intermediate linear guide 65a and a second intermediate linear guide 65b that support the first arm 53a and the second arm 53b are provided along the front-rear X direction on the opposing inner surfaces of the first base member 51a and the second base member 51b. Are provided separately. The first moving belt 78a and the second moving belt 78b of the movement drive unit 61 are disposed on the outer surfaces of the first base member 51a and the second base member 51b.

As shown in FIG. 7 and FIG. 8, the first arm 53a is on the front side (first rack 2a side on the left side in FIG. 7) and rear side (second rack 2b side on the right side in FIG. 7). ) A rear-side rear-end reference sensor 84a and a rear-side rear-end reference sensor 84b that detect that the rear-side reference position is located at the rear-end reference position are arranged. Further, a detection projection 83 that is detected by the front rear end reference sensor 84a and the rear rear end reference sensor 84b is formed to protrude upward at a center position in the front-rear X direction of a first intermediate arm portion 54a described later. . The front rear end reference sensor 84a and the rear rear end reference sensor 84b are configured so that the load W is positioned by the first positioning sensor 98a or the second positioning sensor 98b on the front side or the rear side in a state where the load W is gripped, and the rear end reference. The first arm 53a and the second arm 53b are arranged on the first base member 51a so as to be arranged when positioned on the transfer device 29.
Instead of providing the front rear end reference sensor 84a and the rear rear end reference sensor 84b, the first arm 53a and the second arm 53b are connected to the rear end by the output of the rotary encoder 92 for arm movement detection shown in FIG. You may detect having arrange | positioned in the reference | standard position.

(4-5) 1st arm and 2nd arm The 1st arm 53a and the 2nd arm 53b are each provided in the 1st base member 51a and the 2nd base member 51b so that advancing and retreating is possible in the direction of order X.
The first arm 53a has a first intermediate arm portion 54a and a first tip arm portion 55a. The second arm 53b has a second intermediate arm portion 54b and a second tip arm portion 55b. In addition, the first arm 53a and the second arm 53b move the first tip arm portion 55a and the second tip arm portion 55b in conjunction with the movement of the first intermediate arm portion 54a and the second intermediate arm portion 54b. Each has an interlocking mechanism 56a and a second interlocking mechanism 56b.

  The first intermediate arm portion 54a and the second intermediate arm portion 54b are substantially rectangular plate-like members. The first intermediate arm portion 54a and the second intermediate arm portion 54b are individually supported by the first base member 51a and the second base member 51b so as to freely advance and retract. The first intermediate linear guide 65a and the second intermediate linear guide 65b guide the outer surfaces of the first intermediate arm portion 54a and the second intermediate arm portion 54b facing the first base member 51a and the second base member 51b. The first intermediate linear bearing 67a and the second intermediate linear bearing 67b are fixed separately. As a result, the first intermediate arm portion 54a and the second intermediate arm portion 54b are supported by the first base member 51a and the second base member 51b so as to be movable back and forth in the front-rear X direction.

  A first tip linear guide 66a and a second tip for guiding the first tip arm portion 55a and the second tip arm portion 55b in the front-rear X direction are provided on opposing inner surfaces of the first intermediate arm portion 54a and the second intermediate arm portion 54b. The tip linear guide 66b is fixed separately. The lengths of the first tip linear guide 66a and the second tip linear guide 66b in the front-rear X direction are longer than the lengths of the first intermediate arm portion 54a and the second intermediate arm portion 54b in the front-rear X direction. This is to make it easier to place the first tip arm portion 55a and the second tip arm portion 55b on the luggage storage shelf 13.

  A pair of rectangular first openings 54c and a pair of second openings 54d (see FIGS. 7 and 8) are formed separately at diagonal corners of the first intermediate arm part 54a and the second intermediate arm part 54b. ing. A first interlocking pulley 58a and a second interlocking pulley 58b constituting the first interlocking mechanism 56a and the second interlocking mechanism 56b are rotatably attached to the first opening 54c and the second opening 54d, respectively.

  The first tip arm portion 55a and the second tip arm portion 55b are substantially rectangular plate-like members, and are slightly shorter in length and width than the first intermediate arm portion 54a and the second intermediate arm portion 54b. On the outer surface of the first tip arm portion 55a and the second tip arm portion 55b facing the first intermediate arm portion 54a and the second intermediate arm portion 54b, the first tip linear guide 66a and the second tip linear guide 66b are guided. The first tip linear bearing 68a and the second tip linear bearing 68b are fixed separately. Accordingly, the first tip arm portion 55a and the second tip arm portion 55b are supported by the first intermediate arm portion 54a and the second intermediate arm portion 54b so as to be able to advance and retract in the front-rear X direction.

(4-6) First interlocking mechanism and second interlocking mechanism The first interlocking mechanism 56a and the second interlocking mechanism 56b include the first tip arm portion 55a and the second tip arm portion 55b as the first intermediate arm portion 54a and the second interlocking mechanism 56b. The intermediate arm 54b is moved separately in the front-rear X direction at a double speed in conjunction with the movement in the front-rear X direction. The first interlocking mechanism 56a and the second interlocking mechanism 56b include the pair of first interlocking pulleys 58a and the second interlocking pulley 58b and the pair of first interlocking pulleys that are spanned between the first interlocking pulley 58a and the second interlocking pulley 58b. Each has a belt 59a and a pair of second interlocking belts 59b. The first interlocking pulley 58a and the second interlocking pulley 58b are toothed pulleys, and the first interlocking belt 59a and the second interlocking belt 59b are toothed belts.

  The first ends of one of the first interlocking belt 59a and the second interlocking belt 59b disposed above indicated by the alternate long and short dash line in FIGS. 6 and 7 are the first base member 51a and the second base member 51b shown in FIGS. 7 is fixed to the left end portion. The second ends of the first interlocking belt 59a and the second interlocking belt 59b are fixed to the left ends of the first tip arm portion 55a and the second tip arm portion 55b. The first end of the other first interlocking belt 59a and the second interlocking belt 59b arranged below the broken line shown in FIGS. 6 and 7 is the same as that of the first base member 51a and the second base member 51b. It is fixed to the right end of the. The second ends of the other first linkage belt 59a and second linkage belt 59b are fixed to the right ends of the first tip arm portion 55a and the second tip arm portion 55b.

  With such a configuration, when the first intermediate arm portion 54a and the second intermediate arm portion 54b move to the front side (right side in FIG. 6) or the rear side (left side in FIG. 6) in the front-rear X direction, the first tip arm portion 55a. And the 2nd tip arm part 55b is pulled by one 1st interlocking belt 59a and the 2nd interlocking belt 59b, or the other 1st interlocking belt 59a and the 2nd interlocking belt 59b. As a result, the first tip arm portion 55a and the second tip arm portion 55b are moved at twice the speed of the first intermediate arm portion 54a and the second intermediate arm portion 54b. To move in the same direction. For this reason, the first tip arm portion 55a and the second tip arm portion 55b advance and retreat with respect to the first intermediate arm portion 54a and the second intermediate arm portion 54b.

(4-7) Open / Close Drive Mechanism The open / close drive mechanism 60 is a mechanism for opening and closing the first base member 51a and the second base member 51b in the left-right Y direction. The opening / closing drive mechanism 60 includes an arm opening / closing motor 93, a front opening / closing drive unit 60a that is an example of a first opening / closing drive unit, and a rear opening / closing drive unit 60b that is an example of a second opening / closing drive unit. The front opening / closing drive part 60a and the rear opening / closing drive part 60b are arranged at an interval in the front-rear X direction, which is the transfer direction. The front opening / closing drive unit 60 a and the rear opening / closing drive unit 60 b have a front ball screw shaft 62 a and a rear ball screw shaft 62 b respectively connected to the arm opening / closing motor 93. The front opening / closing drive unit 60a includes a front first nut member 64a and a front second nut member 64b that are screwed to the front ball screw shaft 62a, and the rear opening / closing drive unit 60b is screwed to the rear ball screw shaft 62b. The rear first nut member 64c and the rear second nut member 64d are provided.

  As shown in FIGS. 4, 6, and 7, the arm opening / closing motor 93 drives the front ball screw shaft 62a and the rear ball screw shaft 62b to rotate. The front ball screw shaft 62a and the rear ball screw shaft 62b are arranged along the left and right Y directions, respectively. The front ball screw shaft 62a and the rear ball screw shaft 62b are respectively formed with a right screw portion 62c and a left screw portion 62d with the center position in the left-right Y direction as a boundary. As shown in FIG. 7, the front first nut member 64a, the front second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d are opposed to the first base member 51a and the second base member 51b. Arranged separately on the inner surface. Here, the front first nut member 64a and the rear first nut member 64c are members of a right screw that are screwed into the right screw portion 62c, and the front second nut member 64b and the rear second nut member 64d are a left screw. This is a left-hand thread member that is screwed into the portion 62d. The front first nut member 64a, the front second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d are arranged on the right side, as shown in FIG. It has a nut main body 70a having a ball nut portion of a screw or a left-hand thread, and a mounting flange 70b provided on the nut main body 70a. As shown in FIG. 7, the mounting flange 70b has a generally rhombus shape.

  As shown in FIG. 9, the arm first close member 94 is provided in the front first nut member 64a, the front second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d. The arm close detection unit 94 is a detection unit for detecting that the load W has been clamped when the first arm 53a and the second arm 53b are moved in the closing direction, and stopping the closing operation. The arm close detection unit 94 includes a pair of guide shafts 71 fixed to both ends of the mounting flange 70 b, a pair of coil springs 72, and a gap detection sensor 73. The guide shaft 71 is disposed through the first base member 51a and the second base member 51b. The guide shaft 71 guides the nut main body 70a in a direction in which the nut main body 70a is in contact with or separated from the first base member 51a or the second base member 51b. The guide shaft 71 has a large-diameter head portion 71a, a small-diameter male screw portion 71b, and a shaft portion 71c having an outer diameter between the head portion 71a and the male screw portion 71b. The guide shaft 71 is fixed to the mounting flange 70 b by a nut 74. The coil spring 72 is disposed on the outer peripheral side of the guide shaft 71, and is disposed in a compressed state between the head 71a and the first base member 51a or the second base member 51b. As a result, the front first nut member 64a and the front second nut member 64b as well as the rear first nut member 64c and rear second nut member 64d are moved by the coil spring 72 to the first base member 51a and the second base member 51b. It is energized separately toward the inner surface. The gap detection sensor 73 is, for example, a light projecting / receiving photoelectric sensor having a portal section. The gap detection sensor 73 detects the detector 75 fixed to the mounting flange 70b. The gap detection sensor 73 detects a difference in the movement amount between the first nut member 64a or the second nut member 64b and the first base member 51a and the second base member 51b, and based on the difference, the first arm 53a and the second nut member 64a are detected. It is determined whether or not the arm b is in the closed position with the load W interposed therebetween.

When the front ball screw shaft 62a and the rear ball screw shaft 62b are rotated in one direction by the arm opening / closing motor 93, the first base member 51a and the second base member 51b are moved away from each other, and approached when rotated in the other direction. Move in the closing direction. Until the first tip arm portion 55a and the second tip arm portion 55b come into contact with both sides of the load W and pinch the load W, as shown in FIG. 9A, the front first nut member 64a and the front The second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d are biased by the coil spring 72 and are in contact with the first base member 51a and the second base member 51b. However, when the load W is clamped, the first base member 51a and the second base member 51b are prevented from moving in the closing direction by the load W, but the front first nut member 64a, the front second nut member 64b, and the rear second The first nut member 64 c and the rear second nut member 64 d are further movable in the closing direction against the biasing force of the coil spring 72. As a result, as shown in FIG. 9 (b), the first base member 51a and the second base member 51b, the front first nut member 64a and the front second nut member 64b, the rear first nut member 64c and the rear second nut. A gap is formed between the nut member 64d and the mounting flange 70b. This gap is the amount of movement of the first base member 51a and the second base member 51b and the amount of movement of the front first nut member 64a, the front second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d. Difference. When the gap becomes longer than a predetermined length, the detector 75 is detached from the facing portion of the gap detection sensor 73 and the gap detection sensor 73 is turned on. At this timing, the arm opening / closing motor 93 of the opening / closing drive mechanism 60 is stopped to stop the closing operation.
At this time, the front first nut member 64a, the front second nut member 64b, the rear first nut member 64c, and the rear second nut member 64d are at the front ball screw at two positions separated in the front-rear X direction, which is the transfer direction. The shaft 62a and the rear ball screw shaft 62b are screwed together. For this reason, the 1st front-end | tip arm part 55a and the 2nd front-end | tip arm part 55b which clamp the load W become difficult to bend, and the load W becomes difficult to be crushed.

(4-8) Movement Drive Unit As shown in FIGS. 4, 6, 7, and 8, the movement drive unit 61 includes an arm drive motor 91, a spline shaft 69, a first drive pulley 76a, and a second drive. A pulley 76b, a pair of first driven pulleys 77a and a pair of second driven pulleys 77b, and a first moving belt 78a and a second moving belt 78b are provided.

  The spline shaft 69 is disposed along the left and right Y directions, and is rotationally driven by an arm drive motor 91. The first drive pulley 76a and the second drive pulley 76b are engaged with the spline shaft so as to be integrally rotatable and axially movable. The first drive pulley 76a and the second drive pulley 76b are arranged on the outer surfaces of the first base member 51a and the second base member 51b on the outer surfaces of the first base member 51a and the second base member 51b in the opening / closing direction (left-right Y direction). It is arranged to be movable in conjunction with the movement of. The pair of first driven pulleys 77a and the pair of second driven pulleys 77b are rotatably supported at both ends of the first base member 51a and the second base member 51b. A pair of first tension pulleys 79a and a pair of second tension pulleys 79b are disposed above the first drive pulley 76a and the second drive pulley 76b. One (for example, the right side in FIG. 7) of the first first tension pulley 79a and the pair of second tension pulleys 79b are movable in directions in which tension is separately applied to the first moving belt 78a and the second moving belt 78b. The first drive pulley 76a and the second drive pulley 76b, and the pair of first driven pulleys 77a and the pair of second driven pulleys 77b are toothed pulleys.

  The first moving belt 78a and the second moving belt 78b are toothed belts. The first moving belt 78a and the second moving belt 78b are individually connected to the first intermediate arm portion 54a and the second intermediate arm portion 54b. As shown in FIG. 8, the first moving belt 78a and the second moving belt 78b include L-shaped first mounting brackets 80a attached to fixed portions of the first intermediate linear bearing 67a and the second intermediate linear bearing 67b. The second mounting bracket 80b is connected to the first intermediate arm portion 54a and the second intermediate arm portion 54b separately. The first mounting bracket 80a and the second mounting bracket 80b are moved through the first slit 51e and the second slit 51f formed in the first base member 51a and the second base member 51b along the front-rear X direction. It extends toward the belt 78a and the second moving belt 78b. The first moving belt 78a and the second moving belt 78b are fixed to the tip portion.

When the spline shaft 69 is rotated by the arm drive motor 91, the first moving belt 78a and the second moving belt 78b are driven to circulate. As a result, the first intermediate arm portion 54a and the second intermediate arm portion 54b move to the front rack 2a side or the rear rack 2b side in the front-rear X direction, and the first tip arm portion 55a and the second tip arm portion 55b further move to the front. It is arranged on the luggage storage shelf 13 of the rack 2a or the rear rack 2b.
In the transfer device 29 having such a configuration, the first moving belt 78a and the second moving belt 78b of the movement driving unit 61 are disposed outside the first base member 51a and the second base member 51b. For this reason, as shown in FIGS. 6 and 8, even if the clamp 33 is moved in the closing direction in order to grip the smallest luggage W, the conveyor is arranged on the approach side in the opening / closing direction (left and right Y direction). The part 32, the first moving belt 78a and the second moving belt 78b do not interfere with each other, and the pair of clamp parts 33 can be brought as close to the conveyor part 32 as possible. Specifically, in FIGS. 6 and 8, the first tip arm portion 55a of the first arm 53a and the second tip arm portion 55b of the second arm 53b are located above the first conveyor unit 32a and the second conveyor unit 32b. It is possible to move to a position that overlaps in the left-right Y direction. Here, the first moving belt 78a and the second moving belt 78b of the movement driving unit 61 are separately arranged on the outer side (separated side in the opening / closing direction) from the first base member 51a and the second base member 51b, thereby providing the first The arm 53a and the second arm 53b can be brought as close to the conveyor unit 32 as possible. For this reason, it becomes easy to clamp the luggage W with a small width.

(5) Crane Control Unit In FIG. 10, the crane control unit 81 of the stacker crane 3 is mounted on the stacker crane 3. The crane control unit 81 can communicate with a controller (not shown) that controls the entire automatic warehouse 1. The crane control unit 81 includes computer hardware such as a CPU and a memory. In FIG. 10, the crane control unit 81 is expressed as a functional block realized by cooperation of the computer hardware and software. The control signal is transmitted and received wirelessly (radio waves), but may be wired.

  The crane control unit 81 performs control of travel and stop of the carriage main body 23, elevation control of the lifting platform 27, and transfer control of the two transfer devices 29. A traveling motor 87, a traveling amount detecting rotary encoder 88, a lifting motor 89, and a lifting amount detecting rotary encoder 90 are connected to the crane control unit 81. The crane control unit 81 includes an arm drive motor 91, a rotary encoder 92 for detecting arm movement, an arm opening / closing motor 93, four gap detection sensors 73 for detecting arm closing, and an arm opening / closing movement. A rotary encoder 95 for detecting the amount, a conveyor drive motor 96, a first positioning sensor 98a, a second positioning sensor 98b, a first load sensor 97a, and a second load sensor 97b are connected. ing. In FIG. 10, the crane control unit 81 discloses sensors and motors for one transfer device 29, but the other sensors and motors are also included in the crane control unit 81. It is connected.

Here, the first positioning sensor 98 a and the second positioning sensor 98 b are sensors for positioning the load W with respect to the rear end in the transfer device 29. The rear end reference means that when the load W is transferred to the load storage shelf 13, the end opposite to the transfer side is the rear end, and the rear end is aligned and the load W is placed on the transfer device 29. To do. Thereby, when the load W is transferred to the load storage shelf 13, the rear end of the load W can be aligned with the traveling path 5 side of the load storage shelf 13. Therefore, when the load W is transferred to the load storage shelf 13 in the front rack 2a, the rear end of the load W is positioned by the second positioning sensor 98b. Conversely, when the load W is transferred to the load storage shelf 13 in the rear rack 2b, the rear end of the load W is positioned by the first positioning sensor 98a.
The first load sensor 97a and the second load sensor 97b are sensors that detect whether or not the load W protrudes from the transfer device 29 and the carriage main body 23 and the lifting platform 27 cannot move. While the first load sensor 97a and the second load sensor 97b detect the protrusion of the load W, the movement of the stacker crane 3 is prohibited.

The crane control unit 81 includes a positioning unit 81a, a predetermined distance moving unit 81b, a travel regulation unit 81c, a transfer direction grasping unit 81d, an arrangement operation unit 81e, a shifting operation unit 81f, which will be described later, as functional configurations. Stop determination means 81g. In the following description, the first arm 53a and the second arm 53b are simply referred to as the arm 53.
Here, the positioning means 81a is a means for arranging the luggage W on the basis of the rear end in accordance with the luggage storage shelf (an example of the next transfer position) as the transport destination. The predetermined distance moving means 81b is means for moving the arm 53 forward and backward by a predetermined distance. The predetermined distance is determined by the detection output of the rotary encoder 95. When the first load sensor 97a or the second load sensor 97b detects the load W in a state where the load W is placed on the load placement area 31a, the travel regulation means 81c 27 is a means for prohibiting the operation of 27. The travel regulation means 81c permits the operation of the carriage main body 23 and the lifting platform 27 when the first load sensor 97a or the second load sensor 97b detects the load W and no longer detects the load W. Means. The transfer direction grasping means 81d is a means for grasping whether the transfer direction of the transfer destination is the same side as the transfer source or a different side based on the load storage shelf 13 included in the transfer command. The placement operation means 81e is a means for placing the arm 53 and the luggage W at the rear end reference position corresponding to the transport destination before arriving at the transport destination. The shifting operation means 81f starts traveling of the traveling carriage 22 while the luggage W is being pulled from the transporting luggage storage shelf 13 while the stacker crane 3 is moved from the transporting luggage storage shelf 13, and later during traveling. This is a means for positioning and clamping the baggage W with reference to the end and moving the baggage W and the arm 53 to a position close to the baggage storage shelf 13 as a transport destination. The stop determining means 81g is either when the stacker crane 3 arrives at the transport destination and stops when performing the shifting operation, or when the shifting operation means 81f ends the shifting operation of the arm 53 and the load W and stops. It is a means to judge whether it was early.

(6) Operation of Stacker Crane Hereinafter, the transfer operation of the stacker crane 3 will be described using the flowcharts of FIGS. 11, 12 and 13 and the operation schematic diagrams of FIGS. 14 and 15. Although the flowchart shows the control operation by the crane control unit 81, the description of the operation of various motors is omitted for the sake of simplicity.

  The transfer operation from when the stacker crane 3 picks up the cargo W to the transport source, loads it, and unloads it to the next transport destination will be described with reference to FIG.

  In step S1, a transfer command including the transfer source information of the load storage shelf (an example of the transfer position) 13 with the load W of the transfer source and the transfer destination information of the load storage shelf 13 of the transfer destination of the load W is awaited. When the conveyance command is received, the process proceeds to step S2. In step S <b> 2, the movement of the carriage main body 23 and the lifting platform 27 to the luggage storage shelf 13 that is the transfer source is started. In step S <b> 3, it is determined whether the rear end reference position of the luggage storage shelf 13 that is the transport source is opposite to the rear end reference position where the arm 53 is currently positioned. If the rear end reference position of the cargo storage shelf 13 as the transport destination is on the side opposite to the rear end reference position where the arm 53 is currently positioned, the process proceeds to step S4 to execute the arm rear end reference operation. The process proceeds to S5. In the arm rear end reference operation, until the front rear end reference sensor 84a or the rear rear end reference sensor 84b for the rear end reference position of the load storage shelf 13 of the transfer source detects the arm 53 based on the transfer source information of the transfer command. The arm 53 is moved. As a result, the package W can be gripped on the basis of the rear end by the package storage shelf 13 of the transfer source. This operation is unnecessary when the arm 53 has already been arranged on the same side as the rear end reference position of the conveyance source, and the process proceeds to step S5.

  FIG. 14 shows a case where the transporting luggage storage shelf 13 is on the front rack 2a side and the transporting luggage storage shelf 13 is on the same front rack 2a side. Further, FIG. 15 shows a case where the transport source luggage storage shelf 13 is on the front rack 2a side and the transport destination luggage storage shelf 13 is on a different rear rack 2b side.

  Accordingly, in the example of FIGS. 14 and 15, when the front rear end reference sensor 84a detects the arm 53, in step S4, the arm 53 is moved until the rear rear end reference sensor 84b detects it. Accordingly, as shown in FIG. 14A, the arm 53 is disposed at the rear end reference position for the front rack 2a close to the rear rack 2b. In step S5, the process waits for arrival of the transfer device 29 at the load storage shelf 13 as a transfer source. When it reaches the luggage storage shelf 13 of the transfer source, the process proceeds to step S6. In step S6, as shown in FIGS. 14 (b) and 15 (a), the arm 53 is opened to advance into the cargo storage rack 13 of the transfer source by a predetermined distance. At this time, the conveyor unit 32 is not driven. In step S7, the arm 53 in the open state is closed to hold the load W. At this time, when it is confirmed by the gap detection sensor 73 that the arm 53 has held the load W, the closing operation is terminated. When the luggage W is clamped, the process proceeds to step S8. When the arm 53 is in the closed state, the opening / closing drive mechanism 60 includes the front opening / closing drive unit 60a and the rear opening / closing drive unit 60b that are spaced apart from each other in the front-rear X direction. . For this reason, the luggage W is difficult to be crushed.

  In step S8, the retraction of the arm 53 is started. At this time, the arm 53 is retracted by the same predetermined distance as when the arm is advanced. In step S <b> 9, the conveyor unit 32 is normally rotated in the direction in which it is pulled into the transfer device 29 immediately after the arm 53 starts to retract. Here, the forward rotation of the conveyor unit 32 is a rotation in a direction approaching the luggage storage shelf 13 as a transport destination, and the reverse rotation is a rotation in a direction away from the conveyor unit 32.

  In step S10, after the first load sensor 97a or the second load sensor 97b on the carry-in side detects the load W, the first load sensor 97a or the second load sensor 97b detects the load W. It is determined whether or not the load W has passed through the loading sensor on the carry-in side. In the example of FIGS. 14 and 15, it is determined whether or not the load W has passed through the first load sensor 97a. If it is determined that the load W has not passed through the first load sensor 97a or the second load sensor 97b, the process returns to step S10. Therefore, when the first load sensor 97a or the second load sensor 97b detects the load W (turned on), the movement of the stacker crane 3 is prohibited. When the first load sensor 97a or the second load sensor 97b detects the load W during the movement, the stacker crane 3 stops urgently.

If it is determined that the load W has passed through the first load sensor 97a or the second load sensor 97b, the process proceeds from step S10 to step S11. In step S11, after the first load sensor 97a or the second load sensor 97b on the carry-in side no longer detects the load W, the first positioning sensor 98a or the second position sensor 98b on the carry-in side also detects the load W. It is determined whether or not it has been detected. In the example of FIGS. 14 and 15, it is determined whether or not the first positioning sensor 98a stops detecting the load W. The process returns to step S11 until the package W is detected. When the package W is no longer detected, the process proceeds to step S12.
In step S12, the movement of the carriage main body 23 and the lifting platform 27 to the cargo storage rack 13 as the transport destination is started. As a result, the stacker crane 3 can be moved to the load storage rack as the transfer destination without waiting for the load W to be arranged on the rear end reference, and the transfer time can be shortened.

  In step S16, the arm 53 is retracted by a predetermined distance. Specifically, it waits for the front rear end reference sensor 84a or the rear rear end reference sensor 84b to turn on. In FIG. 14C and FIG. 15B, it is confirmed by the output of the rear side rear end reference sensor 84b shown in FIGS. 14 and 15 that the arm 53 has retracted a predetermined distance.

  If it is determined that the arm 53 is arranged at the rear end reference, the process proceeds to step S17, the arm 53 and the conveyor unit 32 are stopped, and the process proceeds to step S18. At this time, normally, the rear end of the load W is detected by the first positioning sensor 98a or the second positioning sensor 98b. However, if the first positioning sensor 98a or the second positioning sensor 98b does not detect the rear end of the load W due to some trouble, the arm 53 is opened and the conveyor unit 32 is operated. Then, the load W may be moved again until the first positioning sensor 98a or the second positioning sensor 98b detects the rear end of the load W, and the load W may be arranged with reference to the rear end. In step S18, it is determined whether or not the destination luggage storage shelf 13 is on the same side as the carry-in luggage storage shelf 13. If they are not on the same side as shown in FIG. 15, the process proceeds to step S19, the placement operation shown in FIG. 12 is performed, and the process proceeds to step S20. If the transport destination luggage storage rack 13 is on the same side as the carry-in luggage storage rack 13, the process proceeds from step S18 to step S20.

The arrangement operation shown in FIG. 12 is an operation for arranging the arm 53 and the load W at the rear end reference position corresponding to the transfer destination during transfer so that the arm 53 can grip the load W on the rear end reference. is there.
Specifically, in step S31 of FIG. 12, the arm 53 is opened. In step S32, the arm 53 starts to advance. In step S33, reverse rotation of the conveyor unit 32 is started, and the load W is moved to the transport destination rear end reference position. The reverse rotation is the transport direction of the conveyor unit 32 in the direction away from the transport destination luggage storage shelf 13 as described above. In step S34, the process waits until the load W is detected by the first positioning sensor 98a or the second positioning sensor 98b on the reverse rotation side and the load W is placed on the rear end reference. In FIG. 15, it waits for the load W to be detected by the first positioning sensor 98a. If the 1st positioning sensor 98a or the 2nd positioning sensor 98b detects the load W, it will transfer to step S35 and will stop the conveyor part 32. FIG. As a result, the luggage W is arranged with reference to the rear end. In step S36, it waits for the arm 53 to be arranged at the rear end reference position on the opposite side to the conveyance destination. Specifically, it waits for the front rear end reference sensor 84a or the rear rear end reference sensor 84b separated from the transport destination to detect the arm 53. As a result, the arm 53 retracts a predetermined distance. In FIG. 15, it waits for the front and rear end reference sensor 84a to turn on.

  When the front rear end reference sensor 84a or the rear rear end reference sensor 84b detects and turns on the arm 53, the process proceeds to step S37 to stop the arm 53. As a result, as shown in FIG. 15C, the arm 53 is disposed at the rear end reference position away from the transport destination, and the luggage W is disposed at the rear end reference with respect to the transport destination. In step S38, the arm 53 is closed, the load W is gripped, and the process returns to the main routine.

In step S18, the shifting operation shown in FIG. 13 is performed in which the load W and the arm 53 are moved closer to the transfer destination storage bin 13.
Specifically, the advancement of the arm 53 is started in a state where the load W is gripped in step S41 of FIG. In step S42, the forward rotation drive of the conveyor unit 32 is started simultaneously with the start of advancement of the arm 53, and the load W is moved in the direction approaching the load storage shelf 13 in synchronization with the arm 53. In step S43, it is determined whether or not the stacker crane 3 has arrived at the transport destination and has stopped. If it is determined that the conveyance destination is not stopped, the process proceeds to step S44. In step S44, it is determined whether the first positioning sensor 98a or the second positioning sensor 98b on the side approaching the transport destination has detected the load W. If the 1st positioning sensor 98a or the 2nd positioning sensor 98b which approached the package W detects the load W, it will transfer to step S45 and will stop the arm 53 and the conveyor part 32. FIG. This state is shown in FIGS. 14 (d) and 15 (d).

If the arm 53 and the conveyor part 32 are stopped in step S45, it will transfer to step S46 and will wait for the stop in the conveyance destination of the stacker crane 3. FIG. On the other hand, if the first positioning sensor 98a or the second positioning sensor 98b on the side where the load W approaches the transport destination does not detect the load W, the process returns to step S43. If it is determined in step S46 that the stacker crane 3 has stopped at the transport destination, the process proceeds to step S47, where the forward rotation of the conveyor unit 32 is resumed, and the arm 53 is advanced by the remaining distance of the predetermined distance. Return to the main routine.
On the other hand, if it is determined in step S43 that the stacker crane 3 has arrived at the transport destination and has stopped, the process proceeds from step S43 to step S50. In step S50, as in step S44, it is determined whether the first positioning sensor 98a or the second positioning sensor 98b on the side approaching the transport destination has detected the load W. When the package W is detected, the process proceeds from step S50 to step S45. In this case, since the arrival of the stacker crane 3 and the end of the load movement operation are simultaneous, the arm 53 and the conveyor unit 32 are temporarily stopped. However, since the determination in the next step S46 is “YES”, the process immediately proceeds to step S47.

  If the package W is not detected in step S50, the process proceeds to step S51. In this case, the stacker crane 3 arrives at the transport destination and stops before the load W arrives at the end of the load unloading side. Therefore, in step S51, without stopping the arm 53 and the conveyor unit 32 as in step S45, the stop is canceled and the arm 53 is advanced as it is for a predetermined distance and the conveyor unit 32 is continuously driven to rotate forward.

  In other words, in this shifting operation, it is determined whether the transfer end by the stacker crane 3 is early or whether the arrival at the position close to the transfer destination by the shifting operation is quick. If the transfer is completed quickly, the baggage W is transferred to the baggage storage shelf 13 at the transfer destination following the shifting operation without stopping the arm 53 and the conveyor unit 32 at a position close to the transfer destination of the transfer device. Yes. Further, when the end of conveyance is later than the closing operation, the conveyor unit 32 and the arm 53 are temporarily stopped. When the conveyance is completed, the arm 53 is advanced by the remaining distance of the predetermined distance, and the conveyor unit 32 starts to rotate normally.

  When the shifting operation ends, the process proceeds to step S21. In step S21, the arm 53 advances a predetermined distance and waits for the load W to be placed on the load storage shelf 13 as the transfer destination. As shown in FIGS. 14E and 15E, when the luggage W is placed on the luggage storage shelf 13, the process proceeds to step S22. In step S22, the conveyor unit 32 is stopped. In step S23, the arm 53 is opened. In step S24, the arm 53 is retracted a predetermined distance, and the transfer operation is completed. As a result, the arm 53 is disposed at the rear end reference position of the transport destination, and the stacker crane 3 performs an operation according to the next transport command.

(7) Features (A) The transfer device 29 is mounted on the stacker crane 3 as a transport device, and sandwiches both sides of the load W as an article between the load W and the load storage shelf 13 as a transfer position. It is a device that takes in and out. The transfer device 29 includes an apparatus main body 31 that can be mounted on the stacker crane 3, a clamp unit 33, a front opening / closing drive unit 60a as a first opening / closing drive unit, and a rear opening / closing drive unit 60b as a second opening / closing drive unit, And a movement drive unit 61. The clamp portion 33 is disposed in the apparatus main body 31 so as to be movable back and forth with respect to the apparatus main body 31 and to be opened and closed at a closed position for holding the load W and an open position away from the load W. The front opening / closing drive unit 60a and the rear opening / closing drive unit 60b are arranged in the apparatus main body 31 with an interval in the front-rear X direction, which is the transfer direction, to drive the clamp unit 33 to open and close. The movement drive unit 61 is disposed in the apparatus main body 31 and drives the clamp unit 33 forward and backward.
In the transfer device 29, when loading the load W from the load storage shelf 13 to the transfer device 29, the clamp portion is advanced to the load storage shelf 13 with the clamp portion 33 in the open position. Then, with the clamp 33 in the closed position, the load W is sandwiched and pulled into the transfer device 29. At this time, the clamp part 33 is moved from the open position to the closed position by the front opening / closing drive part 60a and the rear opening / closing drive part 60b arranged at intervals in the front-rear X direction. Here, in the closing operation from the open position to the closed position, the clamp unit 33 performs the closing operation by being driven by the front opening / closing driving unit 60a and the rear opening / closing driving unit 60b arranged at intervals in the front-rear X direction. The clamp portion 33 can be driven on both sides in the front-rear X direction. For this reason, the clamp part 33 can be opened and closed near the luggage W, and the first tip arm part 55a and the second tip arm part 55b and the first intermediate arm part 54a and the second intermediate arm part 54b of the clamp part 33 arranged on both sides of the luggage W. The intermediate arm portion 54b becomes difficult to bend. Accordingly, the luggage W is not easily crushed.

  (B) The front opening / closing drive unit 60a and the rear opening / closing drive unit 60b are driven by an arm opening / closing motor 93 as one drive member. In this case, since the front opening / closing drive part 60a and the rear opening / closing drive part 60b are driven in conjunction with one arm opening / closing motor 93, it becomes easy to synchronize the front opening / closing drive part 60a and the rear opening / closing drive part 60b. For this reason, even if the clamp part 33 is driven by the front opening / closing drive part 60a and the rear opening / closing drive part 60b, the accuracy of the opening / closing operation of the clamp part 33 can be improved, and the luggage W is not easily crushed.

(C) The clamp part 33 includes a first base member 51a and a second base member 51b, and a first arm 53a and a second arm 53b. The first base member 51a and the second base member 51b are provided so as to be movable in the opening / closing direction of the apparatus main body 31. The 1st arm 53a and the 2nd arm 53b are provided in the 1st base member 51a and the 2nd base member 52a so that advance and retreat are respectively possible. The transfer device further includes two gap detection sensors 73 serving as a first difference detection unit and a second difference detection unit. The two gap detection sensors 73 are arranged on the first base member 51a and the second base member 51b with an interval in the transfer direction, and the difference between the movement amount of the front opening / closing drive unit 60a and the movement amount of the first arm 53a. The difference between the movement amount of the rear opening / closing drive unit 60b and the movement amount of the first arm 53a is detected separately.
In this case, the difference between the amount of movement of each of the front opening / closing drive unit 60a and the rear opening / closing drive unit 60b arranged at an interval in the front-rear X direction and the movement amount of the first arm 53a can be detected. A difference in movement amount can be detected on the side closer to W. For this reason, the precision of the opening / closing operation | movement of the clamp part 33 can be raised further, and also the load W becomes difficult to be crushed.

(8) 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 the present specification can be arbitrarily combined as necessary.

(A) In the above-described embodiment, the first clamp portion 33 is driven to open and close by the front ball screw shaft 62a and the rear ball screw shaft 62b arranged at intervals in the transfer direction (front-rear X direction). Is not limited to this.
In FIG. 16, the opening / closing drive mechanism 160 of the transfer device 129 includes an arm opening / closing motor 193, a front opening / closing drive unit 160a, and a rear opening / closing drive unit 160b. The front opening / closing drive unit 160a and the rear opening / closing drive unit 160b are arranged at an interval in the front-rear X direction, which is the transfer direction. The front opening / closing drive unit 160a and the rear opening / closing drive unit 160b have a front driving pulley 162a and a rear driving pulley 162c connected to the arm opening / closing motor 193, and a front driven pulley 162b and a rear driven pulley 162d, respectively. . Further, the front opening / closing drive unit 160a has a front opening / closing belt 164a that spans between the front driving pulley 162a and the front driven pulley 162b. The rear opening / closing drive unit 160b has a rear opening / closing belt 164b that is stretched over the rear driving pulley 162c and the rear driven pulley 162d. The front drive pulley 162a and the front driven pulley 162b are arranged at both ends in the left and right Y directions on the front side of the apparatus main body 31, and the rear drive pulley 162c and the rear driven pulley 162d are arranged at both ends in the left and right Y directions on the rear side of the apparatus main body 31. Has been placed. These belts and pulleys are toothed. The first base member 151a of the clamp portion 133 is connected to one side (for example, one side in the left-right Y direction) of the front opening / closing belt 164a and the rear opening / closing belt 164b by a connecting bracket (not shown) and ) Is coupled to the second base member 151b.

In the opening / closing drive mechanism 160 having such a configuration, when the arm opening / closing motor 193 rotates in one direction (for example, clockwise in FIG. 16), the first base member 151a and the second base member 151b move in the opening direction away from each other. When rotating in the other direction (for example, counterclockwise in FIG. 16), they move in the closing direction approaching each other.
In this embodiment, belts are used to open and close the first base member 151a and the second base member 151b, but other endless circulation members such as chains and ropes may be used.

  (B) In the above-described embodiment, the present invention has been described by taking the stacker crane 3 in which the luggage storage shelves 13 are arranged two-dimensionally in front and rear as an example of the transport device. However, the present invention is not limited to this, and the present invention can be applied to all transfer devices that transfer and transfer articles to a transfer position on at least one side of the transfer path. For example, the present invention can be applied to a transfer apparatus in which transfer positions are arranged one-dimensionally.

  The transfer device according to the present invention is widely applicable to, for example, a stacker crane of an automatic warehouse.

DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2a Front rack 2b Rear rack 3 Stacker crane 5 Traveling passage 7 1st support | pillar 9 2nd support | pillar 11 Luggage support part 13 Luggage storage shelf 17 Warehousing station 19 Unloading station 21a Upper guide rail 21b Lower guide rail 22 Traveling carriage 23 Bogie Main body 23a Left traveling wheel 23b Right traveling wheel 23c Front guide roller 23d Rear guide roller 25a Left mast 25b Right mast 27 Lifting platform 29 Transfer device 31 Device body 31a Luggage placement area 32 Conveyor section 32a First conveyor unit 32b Second conveyor Unit 33 Clamp part 34a Linear guide 34b Linear guide 35 Conveyor frame 37 Conveyor belt 39 Drive pulley 40 Drive shaft 41 Driven pulley 42 Conveyor drive part 51a First base member 51b Second base member 5 c 1st bent part 51d 2nd bent part 51e 1st slit 51f 2nd slit 53 arm 53a 1st arm 53b 2nd arm 54a 1st intermediate arm part 54b 2nd intermediate arm part 54c 1st opening 54d 2nd opening 55a 2nd 1 tip arm portion 55b second tip arm portion 56a first interlocking mechanism 56b second interlocking mechanism 58a first interlocking pulley 58b second interlocking pulley 59a first interlocking belt 59b second interlocking belt 60 opening / closing drive mechanism 60a front opening / closing drive unit 60b Rear opening / closing drive part 61 Movement drive part 62a Front ball screw shaft 62b Rear ball screw shaft 62c Right screw part 62d Left screw part 63a First linear bearing 63b Second linear bearing 64a Front first nut member 64b Front second nut member 64c Rear First nut member 64d second nut member 65a first Intermediate linear guide 65b Second intermediate linear guide 66a First tip linear guide 66b Second tip linear guide 67a First intermediate linear bearing 67b Second intermediate linear bearing 68a First tip linear bearing 68b Second tip linear bearing 69 Spline shaft 70a Nut Main body 70b Mounting flange 71 Guide shaft 72 Coil spring 73 Gap detection sensor 74 Nut 75 Detector 76a First drive pulley 76b Second drive pulley 77a First driven pulley 77b Second driven pulley 78a First moving belt 78b Second moving belt 79a First tension pulley 79b Second tension pulley 80a First mounting bracket 80b Second mounting bracket 81 Crane control unit 81a Positioning means 81b Predetermined distance moving means 81c Travel restriction means 81d Transfer direction grasping means 81e Arrangement operation Means 81f Shifting operation means 81g Stop judgment means 83 Detection projection 84a Front rear end reference sensor 84b Rear rear end reference sensor 87 Traveling motor 88 Rotary encoder 89 Lifting motor 90 Rotary encoder 91 Arm drive motor 92 Rotary encoder 93 Arm open / close motor 94 Arm Close Detection Unit 95 Rotary Encoder 96 Conveyor Drive Motor 97a First Load Sensor 97b Second Load Sensor 98a First Position Sensor 98b Second Position Sensor 129 Transfer Device 133 Clamp Part 151a First Base Member 151b First 2 Base member 160 Open / close drive mechanism 160a Front open / close drive unit 160b Rear open / close drive unit 162a Front drive pulley 162b Front driven pulley 162c Rear drive pulley 162d Rear driven pulley 164a Front open / close belt 164b Closing belt 193 arm opening and closing motor

Claims (3)

A transfer device that is mounted on a transfer device and puts the article in and out of the transfer position across both sides of the article,
An apparatus main body which can be mounted on the transfer apparatus;
A clamp portion disposed in the apparatus main body so as to be movable back and forth with respect to the apparatus main body and capable of being opened and closed in a closed position for holding the article and an open position separated from the article;
A first opening / closing drive unit and a second opening / closing drive unit, which are disposed in the apparatus main body at intervals in the transfer direction, and which drive the clamp unit to open and close;
A movement drive unit disposed in the apparatus main body and configured to drive the clamp unit forward and backward;
A transfer apparatus comprising:   The transfer device according to claim 1, wherein the first opening / closing driving unit and the second opening / closing driving unit are driven by one driving member. The clamp part is
A first base member and a second base member provided in the apparatus main body so as to be movable in the opening and closing direction;
The first base member and the second base member have a first arm and a second arm that can be moved forward and backward separately,
The first base member and the second base member are arranged at an interval in the transfer direction, and the difference between the movement amount of the first opening / closing drive unit and the movement amount of the first arm and the second opening / closing drive unit The transfer apparatus according to claim 1, further comprising: a first difference detection unit and a second difference detection unit that individually detect a difference between the movement amount of the first arm and the movement amount of the first arm.

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