JP2012153482A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve transfer efficiency when a plurality of articles are transferred between a transfer device and transfer locations.SOLUTION: The transfer device 29 includes: a load placement part 31a on which a load W is placed; a movement part 32; and a transfer control part 81c. The movement part 32 has a first telescopic part 33a, a second telescopic part 33b, a front hook 34a and a back hook 34b. Each of the first telescopic part 33a and the second telescopic part 33b is telescopic in the front and back X direction of the load placement part 31a along the transfer direction. The front hook 34a and the back hook 34b are arranged in the first telescopic part 33a and the second telescopic part 33b respectively at a distance in the front and back X direction. The front hook 34a and the back hook 34b have a first contact surface 35a which can be brought into contact with the first end face W1 of the load W in the front and back X direction, and a second contact surface 35b which can be brought into contact with a second end face W2 on the opposite side of the first end face W1, respectively.

Description

  The present invention relates to a transfer device, and more particularly to a transfer device that transfers an article to or from a transfer location.

  2. Description of the Related Art A transfer device for transferring an article to and from a shelf (an example of a transfer place) where the article is hooked by an expansion / contraction unit and stored therein is known (for example, see Patent Document 1). The transfer device of Patent Literature 1 includes an article placement section, a pair of stretch sections extending from the article placement section, and hooks respectively disposed opposite to both ends of the pair of stretch sections. . The pair of expansion / contraction parts can move in the transfer direction, and can move to an open position that is separated from each other and a close position that is close to each other.

In the transfer device having such a configuration, when an article is transferred from the transfer device to the shelf, hooks are arranged opposite to both end faces in the transfer direction of the article in the article placement unit. And a pair of expansion-contraction part is moved from an open position to a closed position, and a hook is arrange | positioned so that an article | item can be pressed. In this state, when the telescopic part is moved in any of the transfer directions, the hooks hook the articles and transfer the articles from the transfer device to the shelf.
When transferring an article from a shelf to a transfer device, the article is moved to a shelf in which the article to be transferred is stored with the pair of expansion and contracting portions in the open position, and hooks are opposed to both end faces in the transfer direction of the article. Arrange. And a pair of expansion-contraction part is moved to a closed position, and a hook is arrange | positioned so that an article | item can be pressed. In this state, the telescopic part is moved toward the transfer device, whereby the hook hooks the article and the article is transferred from the shelf to the article placement unit of the transfer apparatus.

JP-A-11-278607

  In the conventional transfer device, the articles are transferred one by one between the article placement unit and the shelf. For this reason, when a plurality of articles are arranged side by side in the transfer direction on the shelf, the transfer time of the articles becomes long, and transfer efficiency deteriorates.

  The subject of this invention is enabling it to improve the transfer efficiency at the time of transferring several articles | goods between transfer places.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
The transfer device according to the present invention is a device for transferring an article to and from a transfer location. The transfer device includes an article placement unit for placing an article, a moving unit, and a transfer control unit. The moving part has an elastic part and at least two hooks. The expansion / contraction part is extendable in a first direction along the transfer direction with respect to the article placement part. The at least two hooks are disposed on the stretchable part with an interval in the first direction. Each hook has a first contact surface that can contact the first end surface in the first direction of the article, and a second contact surface that can contact the second end surface opposite to the first end surface. The transfer control unit controls the moving unit.
In this transfer device, at least two hooks provided in the extension / contraction part are arranged at an interval in a first direction along the transfer direction. By bringing the first contact surfaces of the at least two hooks into contact with the first end surfaces of the at least two articles, for example, at least two articles can be pushed in and unloaded from the article placement section to the transfer place. In addition, by bringing the second contact surfaces of the at least two hooks into contact with the second end surface of the article, at least two articles can be pulled together and loaded onto the article placement portion from the transfer location.
Thereby, the transfer efficiency at the time of transferring at least 2 articles | goods between transfer locations can be improved. In addition, since it is only necessary to push and pull the first end face and the second end face of the article, a special structure for pushing and pulling on the article is unnecessary.

  The stretchable part can extend along the first direction for a distance of two or more articles, the article placing part can place two articles, and there are two hooks. The interval in the first direction may be a length of one or more articles. Thereby, the transfer apparatus can transfer two articles | goods collectively between transfer locations.

The transfer location may be a shelf that can store two articles spaced in the first direction. When an article is stored on the side of the shelf that approaches the article placement unit in the first direction, the transfer control unit controls the moving unit as follows. Of the two hooks, an article is pushed into the back side of the shelf by a hook close to the shelf, and an article placed on the article placement unit is pushed into the shelf by a hook far from the shelf.
As a result, the articles stored on the front side of the shelf can be pushed into the rear side, so that the articles are transferred from the article placement unit to the shelf with a single transfer operation with respect to the shelf where the articles are stored on the front side. Can be posted.

The transfer location may be a first shelf and a second shelf arranged on both sides in the first direction across the article placement unit. Each shelf can store two articles at intervals in the first direction. When two articles are stored in the first shelf, the transfer control unit controls the moving unit as follows. Two hooks are respectively hooked on two articles, an article on the back side far from the article placement section is drawn into the article placement section, and an article on the near side near the article placement section is drawn into the second shelf.
As a result, the articles stored on the front side of the shelf can be transferred to the opposite shelf, so that only the articles placed on the back side of the shelf can be transferred from the shelf to the article placement unit in a single transfer operation. it can.

  The expansion / contraction part can be moved toward and away from the article, and the transfer control unit may control the expansion / contraction part. Thereby, the expansion / contraction part moves in the first direction and approaches and separates from the article in a direction intersecting the first direction. For this reason, the first contact surface and the second contact surface of the hook can come into contact with the first end surface and the second end surface of the article, respectively. As a result, there is no need to move the hook with respect to the extendable portion, and the hook structure is simplified.

  The hook may be provided in the expansion / contraction section so as to be movable between a contact position that contacts the article and a separation position that separates from the article, and the transfer control section may control the expansion / contraction section and the hook. This eliminates the need to move the stretchable part toward and away from the article, thereby simplifying the structure of the stretchable part.

  According to the present invention, for example, at least two articles can be pushed in by bringing the first contact surfaces of at least two hooks into contact with the first end faces of at least two articles. Further, by bringing the second contact surfaces of the at least two hooks into contact with the second end surfaces of the at least two items, at least two items can be pulled together. Thereby, the transfer efficiency at the time of transferring at least 2 articles | goods between transfer locations can be improved.

1 is a schematic plan view of an automatic warehouse in which a transfer device according to a first embodiment of the present invention is employed. 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 transfer apparatus. The block diagram of a claim control part. The top view which shows an example of the unloading operation | movement of a transfer apparatus. The top view which shows an example of the loading operation | movement of a transfer apparatus. The figure equivalent to FIG. 4 of the transfer apparatus of 2nd Embodiment which concerns on this invention. The figure equivalent to FIG. 5 of 2nd Embodiment. The figure equivalent to FIG. 6 of 2nd Embodiment. The figure equivalent to FIG. 7 of 2nd Embodiment. The figure equivalent to FIG. 8 of 2nd Embodiment.

<First Embodiment>
(1) Whole automatic warehouse Hereinafter, the automatic warehouse 1 by which 1st 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 (an example of the first direction that is the transfer direction), and the left-right direction in FIG. .

  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. It has a large number of luggage storage shelves 11 provided between the first support column 7 and the second support column 9. As clearly shown in FIG. 1, the stacker crane 3 has two luggage W (an example of an article) spaced apart in the front-rear X direction on the basis of the center and the rear end (end of the traveling path 5). Place them apart. The luggage storage shelf 11 is provided with a sensor (not shown) for detecting the luggage W.

  In the lowermost luggage storage shelf 11 on the left side of the front rack 2a, a storage station 17 for storing the luggage W is disposed. In the lowermost luggage storage shelf 11 on the left side of the rear rack 2b, a delivery station 19 for delivering the luggage W is disposed. 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 the large number of load storage shelves 11, the storage station 17, and the output station 19.

  As shown in FIGS. 2 and 3, the stacker crane 3 includes a traveling carriage 22, a lifting platform 27, and a transfer device 29 provided on the lifting platform 27. The traveling carriage 22 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 traveling carriage 22 and travel on the lower guide rail 21b. The traveling carriage 22 is guided to the lower guide rail 21b by a front guide roller 23c and a rear guide roller 23d disposed 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 25 a and a right mast 25 b are fixed inside the left traveling wheel 23 a and the right traveling wheel 23 b of the traveling carriage 22. 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 traveling carriage 22 so as to be movable up and down. A control panel 80 that houses a crane control unit 81 (see FIG. 4) for controlling the stacker crane 3 is attached to the right mast 25b.

(4) Transfer Device The transfer device 29 is a device for transferring the cargo W between the stacker crane 3 and the warehousing station 17, the shipping station 19, and the luggage storage shelf 11. As shown in FIGS. 4 and 5, the transfer device 29 includes a device body 31 that also functions as the lifting platform 27, a moving unit 32 that moves the article W in the first direction, and a transfer that controls the moving unit 32. And a control unit 81c (FIG. 6).

(4-1) Apparatus Main Body The apparatus main body 31 has a luggage placement portion 31a on which the luggage W can be placed. Two loads W are placed on the load placement part 31a based on the center. In the first embodiment, the luggage W is arranged at a predetermined interval L in the front-rear X direction between the luggage storage shelves 11 and the luggage placing portions 31a of the front rack 2a and the rear rack 2b. That is, when six loads W are arranged in the front rack 2a, the rear rack 2b, and the load placement portion 31a, the six loads W are arranged at equal intervals.

(4-2) Moving Unit The configuration of the moving unit 32 will be described with reference to FIGS. 4 and 5. The moving part 32 is a mechanism for moving the load W by pushing or pulling in the first end surface (the side surface on the right side in FIG. 4) W1 or the second end surface (the end surface on the left side in FIG. 4) W2 in the front-rear X direction of the load W. The moving part 32 is spaced apart in the front-rear X direction by the first elastic part 33a and the second elastic part 33b and the first elastic part 33a and the second elastic part 33b, which are arranged opposite to each other in the left-right Y direction. A front hook 34a and a rear hook 34b.

  The 1st expansion-contraction part 33a and the 2nd expansion-contraction part 33b can be extended | stretched in the front-back X direction by the distance more than the two loads W in the front-back X direction. In the first embodiment, the two loads W placed on the load placement portion 31a are moved to the distance that can be transferred between the front rack 2a or the rear rack 2b and the load storage rack 11 at a predetermined interval L. The first elastic part 33a and the second elastic part 33b are extendable. The 1st expansion-contraction part 33a and the 2nd expansion-contraction part 33b have the 1st base member 51a and the 2nd base member 51b, and the 1st arm 53a and the 2nd arm 53b. The first telescopic part 33a and the second telescopic part 33b are an opening / closing drive part 60 for opening and closing the first arm 53a and the second arm 53b, and a moving drive for moving the first arm 53a and the second arm 53b forward and backward in synchronization. Part 61. 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.

(4-3) 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 openable and closable 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 luggage | load mounting part 31a. The first base member 51a and the second base member 51b support the first arm 53a and the second arm 53b movably in the front-rear X direction on the opposing inner surfaces. The first base member 51a and the second base member 51b are supported by the apparatus main body 31 so as to be movable in the left-right Y direction.

(4-4) 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 expansion-contraction is possible in the front-back X direction.
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. The first intermediate arm portion 54a and the second intermediate arm portion 54b are supported on the inner side surfaces of the first base member 51a and the second base member 51b so as to be movable in the front-rear X direction. The lengths of the first intermediate arm portion 54a and the second intermediate arm portion 54b in the front-rear X direction are longer than the lengths of the first tip arm portion 55a and the second tip arm portion 55b.

  The first tip arm portion 55a and the second tip arm portion 55b are supported on the inner side surfaces of the first intermediate arm portion 54a and the second intermediate arm portion 54b so as to be movable in the front-rear X direction. The first tip arm portion 55a and the second tip arm portion 55b are connected to the first intermediate arm portion 54a and the second intermediate arm portion 54b through an interlocking mechanism (not shown). The interlocking mechanism operates so that the first tip arm portion 55a and the second tip arm portion 55b move twice as much as the first intermediate arm portion 54a and the second intermediate arm portion 54b move. The lengths of the first tip arm portion 55a and the second tip arm portion 55b in the front-rear X direction are approximately the predetermined interval L plus the length of one load W.

(4-5) Front hook and rear hook In the first embodiment, the front hook 34a and the rear hook 34b are spaced from each other in the front-rear X direction at both ends of the first tip arm portion 55a and the second tip arm portion 55b. Is provided. The front hook 34a and the rear hook 34b are integrally formed so as to face each other at both ends of the first tip arm portion 55a and the second tip arm portion 55b. The distance between the front hook 34a and the rear hook 34b is longer than the length of the luggage W in the front-rear X direction. In the first embodiment, the distance between the front hook 34a and the rear hook 34b needs to be equal to or longer than the length of the load W1, and in this embodiment, a predetermined distance L is left between the load hook 11 and the load storage shelf 11. This is a length that allows the placed package W to be transferred while maintaining a predetermined interval L.
The front hook 34a and the rear hook 34b have a first contact surface 35a that can contact the first end surface W1 of the load W and a second contact surface 35b that can contact the second end surface W2 of the load W. The first contact surface 35a is disposed on the front side surface in the front-rear X direction of the front hook 34a and the rear hook 34b, and the second contact surface is disposed on the rear side surface. The front hook 34a and the rear hook 34b provided on the first tip arm portion 55a are disposed opposite to the front hook 34a and the rear hook 34b provided on the second tip arm portion 55b in the Y direction and approach each other. Protruding.
In this embodiment, the length between the first contact surface 35a and the second contact surface 35b in the front hook 34a and the rear hook 34b is a predetermined interval L added to the length of the load W1, and the front hook 34a or the rear hook 34b. The length is obtained by subtracting the thickness of one hook 34b.

  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. 4) or rear side (left side in FIG. 4) in the front-rear X direction, the first tip arm portion 55a. And the 2nd tip arm part 55b moves separately. The first tip arm portion 55a and the second tip arm portion 55b move in the same direction at twice the speed of the first intermediate arm portion 54a and the second intermediate arm portion 54b by the interlocking mechanism. 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.

(4-6) Open / Close Drive Unit As shown in FIG. 4, the open / close drive unit 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. By the opening / closing drive, the front hook 34a and the rear hook 34b move to a contact position where the front hook 34a and the rear hook 34b are in contact with the load W and a separation position where they are separated. The opening / closing drive unit 60 includes an arm opening / closing motor 93 and a ball screw shaft 62 connected to the arm opening / closing motor 93. Further, the opening / closing drive unit 60 has a nut member that is screwed onto the ball screw shaft 62. The nut members are provided separately for the first base member 51a and the second base member 51b. The screw direction of the ball screw shaft 62 is different at the intermediate portion. For example, the upper side in FIG. 4 is a right screw and the lower side in FIG. 4 is a left screw. Therefore, the nut member provided on the first base member 51a is a right-hand thread, and the nut member provided on the second base member 51b is a left-hand thread. Accordingly, when the ball screw shaft 62 is rotated in one direction, the first base member 51a and the second base member 51b approach the closing ratio in the same proportion, and are separated in the opening direction in the same proportion when rotated in the other direction.

(4-7) Movement Drive Unit As shown in FIG. 4, the movement drive unit 61 is configured to reciprocate the first arm 53a and the second arm 53b in the front-rear X direction. The movement drive unit 61 has an arm drive motor 91 and a spline shaft 69. The spline shaft 69 is coupled to a drive sprocket (not shown) so as to be integrally rotatable and axially movable. The drive sprocket is connected to the first base member 51a and the second base member 51b so as to be rotatable and axially impossible. A drive chain that drives the first intermediate arm portion 54a and the second intermediate arm portion 54b back and forth is wound around the drive sprocket. As a result, the first intermediate arm portion 54a and the second intermediate arm portion 54b expand and contract in the front-rear X direction in synchronization. Further, as described above, the first distal arm portion 55a and the second distal arm portion 55b expand and contract at a double speed in conjunction with the movement of the first intermediate arm portion 54a and the second intermediate arm portion 54b.

(5) Crane Control Unit In FIG. 6, the crane control unit 81 of the stacker crane 3 is mounted on the control panel 80 of the stacker crane 3. The crane control unit 81 can communicate with a controller 82 that controls the entire automatic warehouse 1. The crane control unit 81 includes computer hardware such as a CPU and a memory. In FIG. 6, 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 includes a traveling control unit 81 a that controls the traveling and stopping of the traveling carriage 22, a lifting control unit 81 b that performs lifting control of the lifting platform 27, and a transfer control that performs transfer control of the transfer device 29. Part 81c as a functional configuration. 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 controller 81 is connected to an arm drive motor 91, a rotary encoder 92 for detecting an arm movement amount, an arm opening / closing motor 93, and a rotary encoder 94 for detecting an arm opening / closing movement amount.

(6) Operation of stacker crane (6-1) Unloading operation An example of the unloading operation of the stacker crane 3 will be described with reference to an operation schematic diagram shown in FIG. In FIG. 7, the operation from when the stacker crane 3 picks up the package to the transport source and arrives at the transport destination until the transfer device 29 lowers the package to the load storage rack 11 will be described. At this time, the luggage storage shelf 11 on the front rack 2a side is the transport destination, and the luggage Wb is already stored on the front side of the luggage storage shelf 11 facing the traveling path 5. Moreover, the stacker crane 3 arrange | positions only one load Wa from the conveyance origin in the back | inner side separated from the conveyance origin of the package mounting part 31a.

  As shown in FIG. 7A, when the stacker crane 3 arrives at the cargo storage rack 11 as the transport destination, the transfer control unit 81c controls the movement drive unit 61 to control the first telescopic unit 33a and the second telescopic unit 33a. The part 33b is moved in the front-rear X direction away from the luggage storage shelf 11 as the transport destination. Specifically, the first telescopic portion 33a and the second telescopic portion 33b are moved away from the transport destination until the second contact surface 35b of the rear hook 34b can contact the second end surface W2a of the load Wa (FIG. 8). Move to the left. Subsequently, the opening / closing drive unit 60 is controlled to bring the first expansion / contraction part 33a and the second expansion / contraction part 33b close to a contact position where the second contact surface 35b of the rear hook 34b can contact the second end surface W2a of the luggage Wa. This state is shown in FIG. In FIG. 7B, the second contact surface 35b of the rear hook 34b is disposed at a position in the front-rear X direction such that a slight gap (for example, a gap of about 5 mm to 10 mm) is left between the second end face W2a. Has been. This gap is set in consideration of an error in the placement position of the load Wa.

In this state, the transfer control unit 81c controls the movement drive unit 61 so that the load Wa is transferred to the front side of the first storage unit 33a and the second expansion / contraction unit 33b. So as to move in the front-rear X direction. As a result, the second contact surface 35b comes into contact with the second end surface W2a of the load Wa to be transferred, and the load Wa is pushed into the load storage shelf 11. During the transfer operation, the second end face W2b of the luggage Wb stored on the front side of the luggage storage shelf 11 contacts the second contact surface 35b of the front hook 34a, and the stored luggage Wb is stored in the luggage storage shelf. 11 is pushed into the back side. This state is shown in FIG.
As a result, the luggage Wb stored on the front side of the luggage storage shelf 11 can be pushed inward. For this reason, with respect to the luggage storage shelf 11 in which the luggage Wb is stored on the front side, the luggage Wa can be stored on the front side of the luggage storage shelf 11 from the luggage placement portion 31a by a single transfer operation.

(6-2) Loading Operation An example of the loading operation of the stacker crane 3 will be described with reference to the operation schematic diagram shown in FIG. In FIG. 8, the operation from when the empty stacker crane 3 picks up the package to the transportation source and when the transfer device 29 loads from the package storage shelf 11 to the package placement unit 31 a will be described. At this time, the luggage storage shelf 11 on the front rack 2a side is the transfer source, and two luggage Wa and luggage Wb are stored. In addition, the back-side luggage Wb facing the traveling path 5 of the luggage storage shelf 11 is the luggage to be loaded, and the front-side luggage Wa is not to be loaded. Therefore, the luggage Wa is stored on the front side of the luggage storage shelf 11 of the rear rack 2b.

  As shown in FIG. 8A, when the stacker crane 3 arrives at the cargo storage rack 11 as the transfer source, the transfer control unit 81c controls the movement drive unit 61 to perform the first expansion / contraction unit 33a and the second expansion / contraction unit. The part 33b is moved in the front-rear X direction toward the luggage storage shelf 11 as a transfer source. Specifically, the first telescopic portion 33a and the second telescopic portion 33b are moved to the conveyance source (right side in FIG. 8) until the first contact surface 35a of the front hook 34a can come into contact with the first end surface W1 of the luggage Wb. Let Subsequently, the opening / closing drive unit 60 is controlled to bring the first expansion / contraction part 33a and the second expansion / contraction part 33b closer to a contact position at which the first contact surface 35a of the front hook 34a can contact the first end surface W1b of the luggage Wb. This state is shown in FIG. In FIG. 8B, the first contact surface 35a of the front hook 34a is arranged at a position in the front-rear X direction so that a slight gap (for example, a gap of about 5 mm to 10 mm) is opened. This gap is set in consideration of an error in the storage position of the luggage W.

In this state, the transfer control unit 81c controls the movement driving unit 61 so that the first expansion / contraction part 33a and the second expansion / contraction part 33b are moved to the rear rack 2b side of the load mounting part 31a of the transfer device 29. Is moved in the front-rear X direction so that is transferred. As a result, the first contact surface 35a of the front hook 34a contacts the first end surface W1b of the load Wb to be transferred. Further, the first contact surface 35a of the rear hook 34b contacts the first end surface Wa1 of the load Wa to be moved to the rear rack 2b. Then, the luggage Wa and the luggage Wb are collectively drawn into the front rack 2a and the luggage placement portion 31a. Thereafter, the baggage Wa is drawn into the baggage storage shelf 11 of the rear rack 2b, and the baggage Wb is drawn into the baggage placement unit 31a of the transfer device 29. This state is shown in FIG.
As a result, the luggage Wa stored on the front side of the luggage storage rack 11 can be transferred to the luggage storage rack 11 of the rear rack 2b on the reverse side. For this reason, only the luggage Wb in the back side of the luggage storage shelf 11 can be transferred from the luggage storage rack 11 to the luggage placement portion 31a by a single transfer operation.

Second Embodiment
(7) Moving Part In the first embodiment, in the moving part 32, the front hook 34a and the rear hook 34b are integrally formed on the first elastic part 33a and the second elastic part 33b. Further, the front and rear hooks 34a and 34b are opened and closed by opening and closing the first elastic part 33a and the second elastic part 33b by the opening and closing drive part 60.

  In the second embodiment, as shown in FIGS. 9 and 10, in the moving unit 132, the front and rear hooks 134a and 134b are openable and closable around the axis in the front-rear X direction. It is attached to. Therefore, in the second embodiment, the opening / closing drive unit 60 is not provided.

  The front hook 134a and the rear hook 134b are disposed at both ends of the first tip arm portion 155a and the second tip arm portion 155b, as shown by arrows in FIG. It is mounted so as to be swingable between the separated positions. The contact position is a position where the first contact surface 135a or the second contact surface 135b contacts the luggage W, and the separation position is a position where the first contact surface 135a or the second contact surface 135b is separated from the luggage W. Therefore, in the second embodiment, the configurations of the first embodiment, the first tip arm portion 155a and the second tip arm portion 155b, the front hook 134a and the rear hook 134b, and the first base member 151a and the second base member 151b. Is different. Other configurations are the same as those of the first embodiment.

As shown in FIG. 11, a first hook opening / closing motor 193 and a second hook opening / closing motor 194 are connected to the crane control unit 81 instead of the arm opening / closing motor 93 and the rotary encoder 94. The first hook opening / closing motor 193 is mounted on the first tip arm portion 155a, and the second hook opening / closing motor 194 is mounted on the second tip arm portion 155b.
In the second embodiment, the opening / closing drive unit 60 may be provided to drive the opening / closing of the first expansion / contraction unit 133a and the second expansion / contraction unit 133b according to the width of the luggage W in the left-right Y direction.

(8) Operation of Stacker Crane (8-1) Unloading Operation An example of the unloading operation of the stacker crane 3 of the second embodiment will be described using an operation schematic diagram shown in FIG. The unloading situation is the same as in the first embodiment.

  As shown in FIG. 12 (a), when the stacker crane 3 arrives at the cargo storage rack 11 as the transport destination, the transfer control unit 81c controls the movement drive unit 61 as follows, as in the first embodiment. To do. That is, the first expansion / contraction part 33a and the second expansion / contraction part 33b are moved in the front-rear X direction away from the cargo storage shelf 11 as the transport destination. Subsequently, the first hook opening / closing motor 193 and the second hook opening / closing motor 194 are controlled to swing the rear hook 134b to a contact position where the second contact surface 135b of the rear hook 134b can contact the second end surface W2a of the load Wa. Let In the second embodiment, since the rear hook 134b and the front hook 134a are driven by one first hook opening / closing motor 193 and second hook opening / closing motor 194, the front hook 134a simultaneously swings to the contact position. This state is shown in FIG. In FIG. 12B as well, the second contact surface 135b of the rear hook 134b has a front and rear X so that a slight gap (for example, a gap of about 5 mm to 10 mm) is left between the second contact surface 135b of the luggage Wa. It is arranged in the direction position.

In this state, the transfer control unit 81c controls the movement drive unit 61 to place the first expansion / contraction unit 133a and the second expansion / contraction unit 133b on the near side of the cargo storage shelf 11 as the transport destination, as in the first embodiment. It is moved in the front-back X direction so that the load Wa is transferred. Thereby, the second contact surface 135b comes into contact with the second end surface W2a of the load Wa to be transferred, and the load Wa is pushed into the load storage shelf 11. During the transfer operation, the second end surface W2b of the baggage Wb stored on the front side of the baggage storage shelf 11 contacts the second contact surface 135b of the front hook 134a, and the stored baggage Wb is stored in the baggage storage shelf. 11 is pushed into the back side. This state is shown in FIG.
As a result, the luggage Wb stored on the front side of the luggage storage shelf 11 can be pushed inward. For this reason, with respect to the luggage storage shelf 11 in which the luggage Wb is stored on the front side, the luggage Wa can be stored on the front side of the luggage storage shelf 11 from the luggage placement portion 31a by a single transfer operation.

(8-2) Loading Operation An example of the loading operation of the stacker crane 3 will be described with reference to the operation schematic diagram shown in FIG. The loading situation is the same as in the first embodiment.

  As shown in FIG. 13A, when the stacker crane 3 arrives at the cargo storage rack 11 as the transfer source, the transfer control unit 81c controls the movement drive unit 61 to perform the first expansion / contraction unit 133a and the second expansion / contraction unit. The part 133b is moved in the front-rear X direction toward the luggage storage shelf 11 as the transfer source. At this time, the front hook 134a and the rear hook 134b are disposed at the separation positions. Subsequently, the first hook opening / closing motor 193 and the second hook opening / closing motor 194 are controlled to swing the rear hook 134b to a contact position where the first contact surface 135a of the front hook 134a can contact the first end surface W1b of the luggage Wb. Let This state is shown in FIG. Also in the second embodiment, the front contact 134a in the front-rear X direction has a slight gap (for example, a gap of about 5 mm to 10 mm) between the first contact surface 135a of the front hook 134a and the first contact surface Wb2 of the luggage Wb. Placed in position.

  In this state, the transfer control unit 81c controls the movement drive unit 61 to move the first expansion / contraction unit 133a and the second expansion / contraction unit 133b to the rear rack 2b side of the load mounting unit 31a of the transfer device 29. Is moved in the front-rear X direction so that is transferred. As a result, the first contact surface 135a of the front hook 134a contacts the first end surface W1b of the load Wb to be transferred. Further, the first contact surface 135a of the rear hook 134b contacts the first end surface Wa1 of the load Wa to be moved to the rear rack 2b. Then, the luggage Wa and the luggage Wb are collectively pulled into the rear rack 2b and the luggage placement portion 31a. Then, the luggage Wa is drawn into the luggage storage shelf 11 of the rear rack 2b, and the luggage Wb is drawn into the luggage placement portion 31a of the transfer device 29. This state is shown in FIG.

  As a result, similarly to the first embodiment, the luggage Wa stored on the front side of the luggage storage shelf 11 can be transferred to the luggage storage shelf 11 of the rear rack 2b on the opposite side. For this reason, only the luggage Wb in the back side of the luggage storage shelf 11 can be transferred from the luggage storage rack 11 to the luggage placement portion 31a by a single transfer operation.

  In the second embodiment, the front hook 134a and the rear hook 134b mounted on each of the first extension part 133a and the second extension part 133b are swung together, but may be swung separately. . Thereby, since the front hook or the rear hook can be individually arranged at the contact position or the separation position, the degree of freedom of transfer is further increased.

(9) Features (A) The transfer device 29 is a device that transfers the load W to and from the load storage shelf 11. The transfer device 29 includes a load placement unit 31a for placing the load W, a moving unit 32 (or a moving unit 132), and a transfer control unit 81c. The moving part 32 (or the moving part 132) includes a first elastic part 33a and a second elastic part 33b (or a first elastic part 133a and a second elastic part 133b), a front hook 34a and a rear hook 34b (or a front hook 134a). And a rear hook 134b). The first expansion / contraction part 33a and the second expansion / contraction part 33b (or the first expansion / contraction part 133a and the second expansion / contraction part 133b) are extendable in the front-rear X direction along the transfer direction with respect to the luggage placement part 31a. The front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook 134b) are separated from each other in the front-rear X direction by the first elastic part 33a and the second elastic part 33b (or the first elastic part 133a and the second elastic part). 133b). The front hook 34a and the rear hook 34b have a first contact surface 35a (or a first contact surface 135a) that can contact the first end surface W1 in the front-rear X direction of the load W and a second end surface W2 opposite to the first end surface W1. The second contact surface 35b (or the first contact surface 135a) that can contact each other is provided. The transfer control unit 81 c controls the moving unit 32.

  In this transfer device 29, the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook) provided in the first elastic part 33a and the second elastic part 33b (or the first elastic part 133a and the second elastic part 133b). Hooks 134b) are arranged at intervals in the front-rear X direction along the transfer direction. When the first contact surface 35a (or the first contact surface 135a) of the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook 134b) is brought into contact with the first end surface W1 of the load W, the two loads W are pushed in. Thus, the cargo can be unloaded from the luggage placement portion 31a to the luggage storage shelf 11. When the second contact surface 35b (or the second contact surface 135b) of the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook 134b) is brought into contact with the second end surface W2 of the load W, the two loads W Can be loaded in a lump and loaded from the luggage storage shelf 11 onto the luggage placement portion 31a. Thereby, the transfer efficiency at the time of transferring the two loads W between the load storage shelves 11 can be improved. In addition, since it is only necessary to push and pull the first end surface W1 and the second end surface W2 of the luggage W, a special structure for pushing and pulling the luggage W is unnecessary.

  (B) The 1st expansion-contraction part 33a and the 2nd expansion-contraction part 33b (or the 1st expansion-contraction part 133a and the 2nd expansion-contraction part 133b) can be extended | stretched along the front-back X direction for the distance more than the load W2. The luggage placing portion 31a can place two pieces of luggage W. The distance between the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook 134b) in the front-rear X direction is equal to or longer than the load W1. Thereby, two packages W can be transferred to and from the package storage shelf 11 at a time.

(C) The luggage storage shelf 11 may be a shelf capable of storing two pieces of the luggage W at intervals in the front-rear X direction. When the baggage Wb is stored on the near side of the baggage storage shelf 11 in the front-rear X direction, the transfer control unit 81c moves the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook). Of the hooks 134 b), the luggage Wb stored in the luggage storage shelf 11 is pushed into the back side of the luggage storage shelf 11 by the front hook 34 a (or the front hook 134 a) close to the luggage storage shelf 11. Further, the moving unit 32 is controlled so that the luggage Wa placed on the luggage placement unit 31 a is pushed into the luggage storage shelf 11 by the rear hook 34 b (or the rear hook 134 b) far from the luggage storage shelf 11.
As a result, the luggage Wb stored on the front side of the shelf can be pushed inward, so that the luggage placement unit 31a can be transferred to the luggage storage shelf 11 in which the luggage Wb is stored on the front side by a single transfer operation. Can be transferred to the luggage storage shelf 11.

(D) The luggage storage rack 11 may be a rack of the front rack 2a and a rack of the rear rack 2b disposed on both sides in the front-rear X direction with the luggage placement portion 31a interposed therebetween. Each shelf is a shelf that can store two pieces of luggage W at intervals in the front-rear X direction. When the luggage Wa and the luggage Wb are stored in the luggage storage shelf 11 in the front-rear X direction, the transfer control unit 81c transfers the front hook 34a and the rear hook 34b (or the front hook 134a and the rear hook 134b) to the luggage Wa and the luggage. Hung on Wb separately, the far side load Wb far from the load placement unit 31a is drawn into the load placement unit 31a, and the near side load Wa close to the load placement unit 31a is drawn into the load storage shelf 11 of the rear rack 2b. Thus, the moving unit 32 is controlled.
As a result, the luggage Wa stored on the front side of the luggage storage shelf 11 of the front rack 2a can be transferred to the luggage storage shelf 11 of the rear rack 2b on the opposite side. Only Wb can be transferred from the shelf to the luggage placement unit 31a by a single transfer operation.

  (E) The 1st expansion-contraction part 33a and the 2nd expansion-contraction part 33b can approach and move apart with respect to the load W, and the transfer control part 81c controls the 1st expansion-contraction part 33a and the 2nd expansion-contraction part 33b. To do. As a result, the first elastic part 33a and the second elastic part 33b move in the front-rear X direction and approach and separate from the luggage W in the left-right Y direction intersecting the front-rear X direction. Therefore, the first contact surface 35a and the second contact surface 35b of the front hook 34a and the rear hook 34b can be brought into contact with the first end surface W1 and the second end surface W2, respectively. As a result, there is no need to move the front hook 34a and the rear hook 34b with respect to the first elastic part 33a and the second elastic part 33b, and the structure of the front hook 34a and the rear hook 34b is simplified.

  (F) The front hook 134a and the rear hook 134b are provided on the first elastic part 133a and the second elastic part 133b so as to be movable between a contact position where the front hook 134a and the rear hook 134b are in contact with and a separation position where the front hook 134a is separated from the luggage W. It has been. The transfer control unit 81c controls the first elastic part 133a and the second elastic part 133b, the front hook 134a, and the rear hook 134b. As a result, it is not necessary to cause the first elastic part 133a and the second elastic part 133b to move toward and away from the luggage W, and the structure of the first elastic part 133a and the second elastic part 133b is simplified.

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

  (A) In the above-described embodiment, two stretchable portions are provided at intervals in the left-right Y direction, but one stretchable portion may be provided. In this case, the expansion / contraction part may be arranged to expand and contract below the luggage. Moreover, it is preferable that the hook is configured to be swingable between a contact position where the hook comes into contact with the luggage and a separation position where the hook is separated. Further, in the case where the expansion / contraction part is arranged to extend / contract below the luggage, the expansion / contraction part itself may move up and down. The length of the hook in the left-right direction is preferably about 1/10 to 1/2 of the load.

  (B) In the above-described embodiment, no device is provided in the luggage placing portion 31a. However, a belt conveyor or a roller conveyor capable of conveying the luggage may be disposed in the luggage placing portion 31a.

  (C) In the above embodiment, the first arm 53a and the second arm 53b are each constituted by two arm portions, but may be constituted by one arm portion. In this case, the arm portion may be expanded and contracted with a scissor structure.

  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 storage shelf 17 Warehousing station 19 Unloading station 21a Upper guide rail 21b Lower guide rail 22 Traveling carriage 23a Left traveling wheel 23b Right Traveling wheel 23c Front guide roller 23d Rear guide roller 25a Left mast 25b Right mast 27 Lifting table 29 Transfer device 31 Device body 31a Luggage placement portion 32 Moving portion 33a First telescopic portion 33b Second telescopic portion 34a Front hook 34b Rear hook 35a First contact surface 35b Second contact surface 51a First base member 51b Second base member 53a First arm 53b Second arm 54a First intermediate arm portion 54b Second intermediate arm portion 55a First tip arm portion 55b Second tip Arm part 60 Opening and closing drive part DESCRIPTION OF SYMBOLS 1 Movement drive part 62 Ball screw shaft 69 Spline shaft 80 Control panel 81 Crane control part 81a Traveling control part 81b Elevation control part 81c Transfer control part 82 Controller 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 Rotary encoder 132 Moving portion 133a First telescopic portion 133b Second telescopic portion 134a Front hook 134b Rear hook 135a First contact surface 135b Second contact surface 151a First base member 151b Second base member 155a First tip arm portion 155b Second tip arm portion 193 First hook opening / closing motor 194 Second hook opening / closing motor

Claims (6)

A transfer device for transferring articles to and from a transfer location,
An article placement section for placing the article;
A stretchable part that is stretchable in a first direction along a transfer direction with respect to the article placement part, a first contact surface that can contact the first end face of the article in the first direction, and the first end face; A moving part having a second contact surface that can contact the second end surface on the opposite side, and having at least two hooks arranged in the telescopic part with a gap in the first direction;
A transfer control unit for controlling the moving unit;
A transfer apparatus comprising: The stretchable part can be extended along the first direction by a distance of two or more articles.
The article placement unit can place two of the articles,
2. The transfer device according to claim 1, wherein the number of the hooks is two, and the distance between the two hooks in the first direction is a length of one or more of the articles. The transfer location is a shelf that can store two articles in the first direction with an interval between them.
In the first direction, when the article is stored on a side of the shelf that approaches the article placement unit, the transfer control unit uses the hook close to the shelf among the two hooks. 3. The moving unit is controlled such that an article stored in the shelf is pushed into the back side of the shelf, and the article placed on the article placing unit is pushed into the shelf by a hook far from the shelf. The transfer apparatus described in 1. The transfer places are a first shelf and a second shelf that are arranged on both sides in the first direction across the article placement section, and can store two articles in the first direction with an interval therebetween. ,
When the two articles are stored in the first shelf in the first direction, the transfer control unit hooks the two hooks on the two articles separately, The transfer unit according to claim 2 or 3, wherein the moving unit is controlled so that the article on the far back side is drawn into the article placing unit, and the article on the near side near the article placing unit is drawn into the second shelf. Mounting device. The stretchable part can be moved toward and away from the article,
The transfer device according to claim 1, wherein the transfer control unit controls the expansion and contraction unit. The hook is provided in the stretchable part so as to be movable between a contact position that contacts the article and a separation position that is separated from the article.
The said transfer control part is a transfer apparatus of any one of Claim 1 to 5 which controls the said expansion-contraction part and the said hook.

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