JP2017007786A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device that can reduce cases of damaging baggage and reduce time required in clamping baggage.SOLUTION: A transfer device 100 comprises a pair of arms 110, 120, hooks 102, 103 at both ends of the pair of arms, a placement base 130, and a controller 108. The transfer device transfers baggage between a rack and the placement base by contacting the hooks being closed with an end part of the baggage and extending or contracting the pair of arms, where one arm is moved by a first predetermined distance D1 and the other arm is moved by a distance corresponding to a width dimension of the baggage. The controller, when taking in the baggage, clamps the baggage by moving the one arm by the first predetermined distance and moving the other arm according to the width dimension of the baggage, and moves the pair of arms in directions of separating from each other by the first predetermined distance and by the second predetermined distance D2 respectively, and contracts the pair of arms with the first hook being closed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer device that transfers a load to a rack or the like that holds the load.

  Conventionally, in order to transfer a load between a rack that holds the load and a transfer device that transfers the load, the transfer device is provided with a transfer device that transfers the load.

  In such a transfer device, as a method of transferring the load between the mounting table of the transfer device and the mounting place outside the mounting table, the baggage is pushed out and pulled in by a claw provided on an extendable arm. A push-pull type that transfers a load can be exemplified by performing (see, for example, Patent Document 1).

  In the technique of Patent Document 1, two arms are extended so that a pair of left and right arms are positioned on both sides in the left-right direction of the load for taking in the load, and the claws of the two arms are at the rear end of the load. The baggage is positioned by performing a clamp (operation) that closes the pair of left and right arms when positioned rearward of the position.

International Publication No. 2012/029339

  However, in the technique of Patent Document 1, positioning is performed by moving one of the pair of left and right arms during clamping. For this reason, when taking in the load placed on the rack, the pair of arms are contracted in a state where the load is in contact with the other arm that does not move. Thereby, there is a risk of damaging the load when the pair of arms contracts. Further, when clamping is performed with one arm fixed as in Patent Document 1, there is a possibility that the time required to clamp the load cannot be shortened sufficiently.

  Therefore, the present invention has been made in view of such a problem, and an object of the present invention is to provide a transfer device that can reduce damage to the load and can reduce the time required to clamp the load.

  In order to achieve the above object, a transfer device according to one aspect of the present invention is extendable in the front-rear direction, and includes a pair of arms arranged in a direction intersecting the front-rear direction, and the front-rear direction of each of the pair of arms. A transfer device that is disposed at both ends and includes a hook that can be opened and closed, a mounting table on which a load is placed, and a controller, wherein the transfer device is at one end of the load in the front-rear direction. In addition, the load is transferred between the rack and the mounting table by causing the hooks in the closed state to contact each other and extending or contracting the pair of arms, and one arm of the pair of arms is , The first arm is movable in the arrangement direction of the pair of arms, the other arm of the pair of arms is movable in the arrangement direction by a distance according to the width dimension of the luggage, Controller rack When taking the load at the first placement location into the placement table, the first hook provided on the first placement location side of the pair of arms is opened, and the first hook that is opened is The pair of arms are extended from the mounting table toward the first mounting position until the position exceeds the load, and the one arm of the extended pair of arms is directed toward the other arm. The first arm is moved by the first predetermined distance, and the other arm is moved toward the one arm according to the width dimension of the baggage to clamp the baggage. The first hook is moved in a direction away from the other arm by a first predetermined distance, the other arm is moved in a direction away from the one arm by a second predetermined distance, and the first hook is moved. It said pair of arms that state to contract.

  According to this, in the clamp of the load when the load is taken into the mounting table, one arm of the pair of arms is moved by the first predetermined distance, and the width of the load is set while the other arm is directed toward the one arm. Move according to dimensions. Thus, since one arm is moved by the first predetermined distance, the load can be positioned at the position of one arm by clamping, and both arms are moved at the time of clamping. Can be shortened.

  In the transfer device, after clamping, one arm is moved in a direction away from the other arm by a first predetermined distance, and the other arm is moved in a direction away from one arm by a second predetermined distance. The baggage is taken into the mounting table by contracting the pair of arms. For this reason, when taking in a load to a mounting base, a pair of arms can be shrunk in a state where a gap is provided between the load and each of the pair of arms. Thereby, when taking a load into a mounting base, it can control that a pair of arms contracts in the state where a load contacted one of a pair of arms, and it can reduce hurting a load.

  When the controller lowers the load on the mounting table to the second mounting position of the rack, the controller holds the transfer device in the state where the load on the mounting table is clamped by the pair of arms. After moving the transfer device to a position corresponding to the second placement location, the one arm is moved away from the other arm by the first predetermined distance, and the other arm is moved. The second hook is moved in a direction away from the one arm by the second predetermined distance, and the second hook is closed with the second hook provided on the side opposite to the second mounting place. The pair of arms may be contracted by extending from the mounting table toward the second mounting position until reaching the second mounting position.

  According to this, when unloading the load to the second placement location, one arm is moved away from the other arm by the first predetermined distance, and the other arm is moved from the one arm by the second predetermined distance. The baggage is lowered to the second placement place by moving in the direction of leaving and extending the pair of arms. For this reason, when the luggage is lowered to the second placement location, the pair of arms can be extended with a gap provided between the luggage and each of the pair of arms. Accordingly, when the load is lowered to the second placement location, it is possible to suppress the pair of arms from being extended while the load is in contact with any one of the pair of arms, so that damage to the load can be reduced.

  The speed at which the other arm moves in the arrangement direction may be slower than the speed at which the one arm moves in the arrangement direction.

  According to this, the position of one arm can be made into the standard position of a load by putting one arm which can move only the 1st predetermined distance on a load first. Also, in the clamp, the other arm tends to move longer than the one arm. For this reason, the other arm hits the load later than the one arm, and hits the load that is already stationary at the reference position when moving at the time of clamping. In this way, since the other arm is applied to the load located at the reference position at a timing later than one arm, for example, the contact with the load is detected only on the other arm side. If so, it can be detected that the load has been clamped. That is, since it is possible to determine whether or not the load has been clamped by detecting that the load has come into contact with only the other arm, the determination process for detecting the clamp can be simplified. Further, since it is not necessary to provide a detection unit such as a sensor for detecting that the load is in contact with one arm, the manufacturing cost can be reduced.

  In addition, this invention can also be implement | achieved as a transfer method including the characteristic process which the transfer apparatus which concerns on one of the said aspects performs. Moreover, it is also realizable as a program which makes a computer perform each process which the said transfer method contains. Such a program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM (Compact Disc-Read Only Memory) or a communication network such as the Internet. .

  The transfer device of the present invention can reduce the damage to the load and can reduce the time required to clamp the load.

It is a figure which shows the structure outline | summary of the transfer apparatus in embodiment. It is a block diagram regarding the control system of the operation | movement of the transfer apparatus in embodiment. It is a flowchart which shows the procedure of the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure for demonstrating the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure for demonstrating the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure for demonstrating the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure for demonstrating the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a flowchart which shows the procedure of the operation | movement when the transfer apparatus in embodiment unloads a load. It is a figure for demonstrating the operation | movement when the transfer apparatus in embodiment unloads a load. It is a figure for demonstrating the operation | movement when the transfer apparatus in embodiment unloads a load. It is a figure for demonstrating the operation | movement when the transfer apparatus in embodiment unloads a load. It is a figure for demonstrating the operation | movement when the transfer apparatus in embodiment unloads a load.

  Hereinafter, a transfer device according to one embodiment of the present invention will be specifically described with reference to the drawings.

  Note that each of the embodiments described below shows a specific example of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions and connecting forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment)
FIG. 1 is a diagram illustrating a configuration outline of a transfer apparatus according to an embodiment.

  As shown in FIG. 1, the transfer device 100 includes a mounting table 130, detection sensors 104 and 105 provided on the mounting table 130, a pair of arms 110 and 120 provided on the mounting table 130, and a pair of arms. Hooks 102 and 103 provided at both ends of 110 and 120 and a controller 108 that controls the operation of the pair of arms 110 and 120 are provided.

  In the present embodiment, the transfer device 100 is installed in a transport vehicle 150 that travels on a travel path 160 that is configured by two rails installed in parallel. In other words, the transfer device 100 moves among the plurality of shelves included in a rack (not shown in FIG. 1) arranged in front of or behind the transport vehicle 150 as the transport vehicle 150 moves along the traveling path 160. It is possible to move to a position corresponding to the predetermined shelf, and it is possible to transfer the luggage on the predetermined shelf. Furthermore, in other words, the transport vehicle 150 includes the transfer device 100.

  The pair of arms 110 and 120 can expand and contract in the front-rear direction. In addition, the pair of arms 110 and 120 are arranged at a predetermined interval in the left-right direction (X-axis direction) intersecting the front-rear direction (Y-axis direction). That is, the pair of arms 110 and 120 are arranged side by side in the X-axis direction.

  The hooks 102 and 103 are provided to be openable and closable at both ends of the pair of arms 110 and 120 in the front-rear direction, respectively. Specifically, each of the hooks 102 and 103 can move in and out of the space inside the pair of arms 110 and 120 by rotating around a rotation axis parallel to the Y-axis direction. . The hooks 102 and 103 project into the inner space in the closed state, and do not project from the pair of arms 110 and 120 in the opened state.

  Each of the pair of arms 110 and 120 includes a top portion 111 and 121, a middle portion 112 and 122, and a base portion 113 and 123, and a telescopic structure is configured by these. That is, when the middle portions 112 and 122 are slid so as to protrude with respect to the base portions 113 and 123 by a driving device (not shown), the top portions 111 and 121 are moved to the middle portions 112 and 122 in conjunction with the operation. Slide so that it protrudes. Thereby, a pair of arms 110 and 120 extend as a whole.

  Further, when the pair of extended arms 110 and 120 are contracted, when the drive unit is slid so as to store the middle parts 112 and 122 with respect to the base parts 113 and 123, the top part 111 and 121 also slides so as to fit in the middle parts 112 and 122. Thereby, the extended pair of arms 110 and 120 is contracted.

  Note that the pair of arms 110 and 120 perform the same operation with respect to the expansion and contraction. That is, the pair of arms 110 and 120 extend and contract in the same direction at the same timing and at the same speed.

  In addition, the pair of arms 110 and 120 holds the baggage so that the end on the negative side in the X axis direction of the baggage is always positioned at a fixed position in order to align the position of the baggage 200 in the X axis direction. Clamping from both sides in the X-axis direction is possible.

  In the present embodiment, the first arm 110, which is one of the pair of arms, can move the base portion 113 on the mounting table 130 in the X-axis direction, which is the arrangement direction of the pair of arms 110, 120. It is. Specifically, the first arm 110 moves between the first position P1 and the second position P2 that is separated from the first position P1 by the first predetermined distance D1 toward the other second arm 120 ( (See FIGS. 1 and 4B). The first predetermined distance D1 is shorter than the protruding amount of the hooks 102 and 103 from the pair of arms 110 and 120 when the hooks 102 and 103 are closed.

  Further, the second arm 120, which is the other of the pair of arms 110 and 120, can move its base portion 123 on the mounting table 130 in the X-axis direction. Specifically, the second arm 120 moves in the X axis direction by a distance corresponding to the width dimension of the load. That is, the second arm 120 moves toward the first arm 110 to a position where the width of the first arm 110 stopped at the second position P2 becomes equal to the width of the load.

  The first predetermined distance D1 in which the first arm 110 is movable is a distance shorter than the maximum distance in which the second arm 120 is movable. The first predetermined distance D1 is a predetermined fixed distance. That is, the first arm 110 is located at either the first position P1 or the second position P2 when not moving. Further, the movement of the first arm 110 in the X-axis direction is one of movement from the first position P1 to the second position P2 and movement from the second position P2 to the first position P1.

  Thus, the distance that the first arm 110 moves is a predetermined fixed distance, and the distance that the second arm 120 moves varies according to the width of the luggage. Therefore, the speed at which the first arm 110 moves in the arrangement direction (X-axis direction) of the pair of arms 110 and 120 is faster than the speed at which the second arm 120 moves in the arrangement direction (X-axis direction). Can be set.

  In short, the speed at which the first arm 110 moves in the arrangement direction (X-axis direction) of the pair of arms 110 and 120 is faster than the speed at which the second arm 120 moves in the arrangement direction. It can be applied to the luggage 200 before the arm 120. In addition, since the first arm 110 moves to a predetermined second position P2, in the state where the luggage 200 is in contact with the first arm 110 located at the second position P2, the luggage 200 is predetermined. Can be positioned at the reference position.

  Further, at the time of clamping, the second arm 120 hits the load later than the first arm 110, and hits the load 200 that is already stationary at the reference position when moving at the time of clamping. As described above, since the second arm 120 is applied to the luggage 200 positioned at the reference position at a timing later than the first arm 110, the luggage 200 is in contact with only the second arm 120. Can be detected that the luggage 200 is clamped. That is, since it is possible to determine whether or not the load 200 has been clamped by detecting that the load 200 is in contact only with the second arm 120, the determination process for detecting the clamp can be simplified. In addition, since it is not necessary to provide a sensor for detecting that the load 200 is in contact with the first arm 110, the manufacturing cost can be reduced.

  The pair of arms 110 and 120 includes an actuator (not shown) such as a motor for performing an expansion / contraction operation, an actuator (not shown) such as a motor for an operation of moving in the X-axis direction, and a hook 102. , 103 is provided with an actuator (not shown) such as a motor for performing an operation of opening and closing. The actuator for performing the operation of the pair of arms 110 and 120 is controlled by the controller 108. The controller 108 is realized by, for example, a computer including an interface for inputting and outputting information, a CPU (Central Processing Unit) for executing a control program, a memory, and the like.

  The controller 108 may be provided in the transport vehicle 150 together with the pair of arms 110 and 120. The controller 108 may include a communication device that is connected to the transport vehicle 150 via a wired or wireless network and can perform communication using the network, for example.

  The detection sensors 104 and 105 are devices that can detect a load transferred by the transfer device 100, and are realized by, for example, a photoelectric sensor. Specifically, the detection sensor 104 is provided in the vicinity of the distal end portions of the pair of arms 110 and 120, and the detection sensor 105 is provided in the vicinity of the rear end portions of the pair of arms 110 and 120. Note that the vicinity of the front end portion is a position including the front end portion, and the vicinity of the rear end portion is a position including the rear end portion.

  The controller 108 controls the operation of the pair of arms 110 and 120 based on the detection results of the detection sensors 104 and 105.

  Specifically, when the controller 108 takes in the luggage 200 on the shelf (first placement location) of the rack 300 to the placement table 130, the controller 108 is provided on the first placement location side of the pair of arms 110 and 120. One hook is opened, and the pair of arms 110 and 120 are extended from the mounting table 130 toward the first mounting position until the first hook in the opened state exceeds the load 200. Then, the controller 108 moves one first arm 110 of the extended pair of arms 110, 120 toward the other second arm 120 by a first predetermined distance D1, and moves the second arm 120 to the first arm 110. The luggage 200 is clamped by moving it toward the one arm 110 according to the width dimension of the luggage 200. After clamping, the controller 108 moves the first arm 110 away from the second arm 120 by the first predetermined distance D1 and moves the second arm 120 away from the first arm 110 by the second predetermined distance D2. The pair of arms 110 and 120 which are moved and the first hook is closed are contracted.

  In addition, when the controller 108 drops the luggage 200 on the mounting table 130 onto the shelf (second mounting place) of the rack 300, the controller 108 transfers the luggage 200 on the mounting table 130 while being clamped by the pair of arms 110 and 120. The apparatus 100 is moved to a position corresponding to the second placement location. The controller 108 moves the first arm 110 in the direction away from the second arm 120 by the first predetermined distance D1 at the position corresponding to the second placement location, and moves the second arm 120 by the second predetermined distance D2. The second hook reaches the second mounting location by moving the pair of arms 110 and 120 that are moved away from the one arm 110 and the second hook provided on the side opposite to the second mounting location is closed. Until then, it is extended from the mounting table 130 toward the second mounting place. Then, the controller 108 contracts the pair of arms 110 and 120.

  The first hook or the second hook is either the hook 102 or the hook 103.

  FIG. 2 is a block diagram relating to a control system of the operation of the transfer apparatus 100 in the embodiment.

  In the transfer apparatus 100, the detection sensor 104 detects the presence / absence of a load to be taken in and notifies the controller 108 of the detection result. Specifically, the detection sensor 104 always detects whether or not there is a load in the operation of expanding and contracting the arm 110, and notifies the controller 108 of the detection result. The detection sensor 104 detects, for example, whether or not there is a load between the tip portions of the pair of arms 110 and 120 at a plurality of different timings according to a predetermined sampling frequency. Is detected, the controller 108 is notified of the first detection result indicating that the package is being detected, and if it is not detected that the package is present, The controller 108 is notified of a second detection result indicating that the package is in a non-detection state where no package is detected.

  Specifically, each of the detection sensors 104 and 105 includes a light projector that emits light and a light receiver that detects light emitted from the light projector. That is, one projector and one light receiver are paired. The projector emits light parallel to the X-axis direction. That is, when the light receiver does not receive the light emitted from the corresponding projector, it indicates that an object exists between the projector and the light receiver. An electrical signal “Hi” is notified as the first detection result. In addition, when the light receiver receives light emitted from the corresponding projector, it indicates that there is no object between the projector and the light receiver. An electric signal “Lo” is notified as the second detection result.

  The controller 108 can determine whether the state of the detection sensors 104 and 105 is a detection state or a non-detection state based on the detection result notified from the detection sensors 104 and 105, and based on the determination result, a pair of The operation of the arms 110 and 120 is controlled.

  Next, the operation of the transfer apparatus 100 will be described. The operation of the transfer apparatus 100 mainly includes two types of operations, that is, an operation of taking the luggage 200 from the rack 300 and an operation of unloading the luggage 200 onto the rack 300 shelf.

  First, an operation of taking the luggage 200 from the first placement location 301 of the rack 300 will be described with reference to FIGS. 3 and 4A to 4D.

  FIG. 3 is a flowchart showing an operation procedure when the transfer device 100 in the embodiment takes in the luggage 200. 4A to 4D are diagrams for explaining an operation when the transfer device 100 in the embodiment takes in the luggage 200. FIG.

  First, the controller 108 opens the first hook provided on the first placement location 301 side of the pair of arms 110 and 120 (S101). Specifically, as shown in FIG. 4A, the controller 108 is configured so that the hooks 102 provided on the minus side in the Y-axis direction, which is the first placement location 301 side of the transfer device 100, are inside each other (the luggage 200 exists). Direction (closed state), it is rotated so as not to protrude into the space inside the pair of arms 110 and 120 (open state). If the hook 102 is in the open state, the process proceeds to the next step S102.

  Here, the first hook is a hook disposed on the placement location side of the rack on which the load to be taken is placed with respect to the transfer device 100. Therefore, when a load to be taken in is placed on the loading place on the plus side in the Y-axis direction of the transfer device 100, the hook 103 is opened.

  Next, the controller 108 extends the pair of arms 110 and 120 from the placement table 130 toward the first placement location 301 until the hook 102 in the opened state exceeds the luggage 200 (S102). Specifically, as shown in FIG. 4A, the controller 108 determines that the hook 102 is in the Y-axis direction from the end of the load 200 on the minus side in the Y-axis direction (that is, the first loading place 301 side of the transfer device 100). The pair of arms 110 and 120 are extended until they are located on the minus side. Here, the controller 108 detects that the state of the detection sensor 104 has changed from the detection state to the non-detection state, so that the hook 102 is negative in the Y-axis direction from the negative end of the luggage 200 in the Y-axis direction. Judged to be located on the side

  Next, the controller 108 moves one first arm 110 of the extended pair of arms 110 and 120 toward the other second arm 120 by a first predetermined distance D1, and moves the second arm 120. The luggage 200 is clamped by moving it toward the first arm 110 according to the width dimension of the luggage 200 (S103). Specifically, as shown in FIG. 4B, the controller 108 moves the first arm 110 from the first position P1 toward the plus side in the X-axis direction to a second position P2 that is separated by a first predetermined distance D1. At the same time, the controller 108 increases the width dimension of the load 200 from the top portion 111 of the first arm 110 when the controller 108 is positioned at the second position P2 according to the width dimension of the load 200 toward the minus side in the X-axis direction. The second arm 120 is moved until the top portion 121 of the second arm 120 is located at a position away from the plus side. That is, the controller 108 adjusts the second arm 120 so that the distance between the top portion 111 of the first arm 110 and the top portion 121 of the second arm 120 becomes the width dimension of the luggage 200 when the controller 108 is located at the second position P2. Is moved to the minus side in the X-axis direction.

  At this time, the position where the second arm 120 is stopped is a position where the second arm 120 is positioned at a timing when the controller 108 determines that the luggage 200 is clamped by the pair of arms 110 and 120. Specifically, it is determined that the luggage 200 has been clamped by detecting that the luggage sensor (not shown) has come into contact with the second arm 120. The fact that the load 200 is clamped may be determined by detecting that the load sensor provided on both the pair of arms 110 and 120 detects that the load is in contact with both the pair of arms 110 and 120. However, even if it is attempted to move the second arm 120 with a predetermined load, it may be determined that the second arm 120 has stopped moving.

  The position where the second arm 120 is stopped is not limited to the above, and may be a position where the second arm 120 should be stopped calculated based on the width dimension of the luggage 200 stored in the memory included in the controller 108. . The position where the second arm 120 should stop in this case is the X axis direction plus side by the width dimension of the luggage 200 from the top portion 111 of the first arm 110 when the first arm 110 is positioned at the second position P2. This is the position of the second arm 120 when the top portion 121 of the second arm 120 is located at a position away from the second arm 120.

  By performing step S103, the position of the luggage 200 in the X-axis direction and the posture of the luggage 200 are adjusted so that the end on the minus side in the X-axis direction of the luggage 200 is positioned at a predetermined position in the X-axis direction. be able to.

  As shown in FIG. 4B, the controller 108 closes the hook 102 as the first hook when clamping (S104).

  Next, after clamping, the controller 108 moves the first arm 110 in the direction away from the second arm 120 by the first predetermined distance D1, and moves the second arm 120 from the first arm 110 by the second predetermined distance D2. Move away (S105). Specifically, as shown in FIG. 4C, the controller 108 has gaps of a first predetermined distance D1 and a second predetermined distance D2 between the both ends in the X-axis direction of the luggage 200 and the pair of arms 110, 120, respectively. The space between the pair of arms 110 and 120 is increased so as to be free. For example, the controller 108 moves the first arm 110 from the second position P2 to the first position P1, and moves the second arm 120 from the third position P3 to the fourth position P4. By performing Step S104, it is possible to make a state in which no force is applied to the luggage 200 from the pair of arms 110 and 120.

  The first predetermined distance D1 and the second predetermined distance D2 may be the same distance or different distances.

  Next, the controller 108 contracts the pair of arms 110 and 120 as shown in FIG. 4D (S106).

  Next, an operation for unloading the luggage 200 to the shelf (second mounting place 302) of the rack 300 will be described with reference to FIGS. 5 and 6A to 6D.

  FIG. 5 is a flowchart showing an operation procedure when the transfer device 100 in the embodiment unloads the luggage 200. 6A to 6D are diagrams for explaining an operation when the transfer device 100 in the embodiment unloads the luggage 200. FIG.

  First, the controller 108 moves the transfer device 100 to the position L1 corresponding to the second placement location 302 in a state where the luggage 200 on the placement table 130 is clamped by the pair of arms 110 and 120 (S201). That is, as shown in FIG. 6A, the controller 108 clamps the load 200 by the pair of arms 110 and 120 in order to lower the load 200 held by the transfer device 100 to the second setting place 302 of the rack 300. In this state, the carriage 150 is moved to a position L1 where the mounting table 130 faces the second mounting place 302 of the rack 300.

  Next, the controller 108 moves the first arm 110 in the direction away from the second arm 120 by the first predetermined distance D1 at the position L1 corresponding to the second placement location 302, and moves the second arm 120 to the second position. It is moved in a direction away from the first arm 110 by a predetermined distance D2 (S202). Specifically, as shown in FIG. 6B, the controller 108 has gaps of a first predetermined distance D1 and a second predetermined distance D2 between both ends of the luggage 200 in the X-axis direction and the pair of arms 110, 120, respectively. The space between the pair of arms 110 and 120 is increased so as to be free. For example, the controller 108 moves the first arm 110 from the second position P2 to the first position P1, and moves the second arm 120 from the third position P3 to the fourth position P4. By performing step S202, it is possible to make a state in which no force is applied to the luggage 200 from the pair of arms 110 and 120.

  Next, the controller 108 closes the hook 103 as the second hook provided on the side opposite to the second placement place 302 of the pair of arms 110 and 120 (S203), and the hook 103 that has been closed. The pair of arms 110 and 120 are extended from the mounting table 130 toward the second mounting location 302 until they reach the second mounting location 302 (S204). Thereby, the luggage 200 placed on the placing table 130 of the transport vehicle 150 is pushed out to a shelf (second placing place 302) provided in the rack 300.

  Here, the second hook is a hook that is disposed on the second placement location 302 side of the rack 300 that attempts to unload the luggage 200 on the placement table 130 of the transfer device 100. Therefore, when there is a second loading place for unloading the load on the Y axis direction plus side of the transfer device 100, the hook 102 is closed. That is, the first hook and the second hook may be the same hook or different hooks. Further, the first placement location 301 and the second placement location 302 may be the same location or different locations.

  Then, as shown in FIG. 6D, the controller 108 opens the hook 103 as the second hook (S205), and contracts the pair of arms 110 and 120 (S206).

  Note that, as described above, the method of hooking the hook to the rear end, which is the rear end in the moving direction of the luggage 200, or taking it down is also called a rear hook method.

  As described above, according to the transfer apparatus 100 of the present embodiment, the first arm 110 of the pair of arms 110 and 120 is set to the first predetermined in the clamp of the luggage 200 when the luggage 200 is taken into the placing table 130. While moving the distance D1, the second arm 120 is moved toward the first arm 110 according to the width dimension of the luggage 200. Thus, in order to move the first arm 110 by the first predetermined distance D1, it is possible to position the load at the position of the first arm 110 by clamping, and to move both arms 110, 120 during clamping, The time required for clamping the luggage 200 can be shortened.

  After clamping, the first arm 110 is moved away from the second arm 120 by the first predetermined distance D1, and the second arm 120 is moved away from the first arm 110 by the second predetermined distance D2. The luggage 200 is taken into the mounting table 130 by contracting the pair of arms 110 and 120. For this reason, when taking the load 200 into the mounting table 130, the pair of arms 110 and 120 can be contracted in a state where a gap is provided between the load 200 and each of the pair of arms 110 and 120. Accordingly, when the luggage 200 is taken into the mounting table 130, it is possible to suppress the pair of arms 110 and 120 from contracting while the luggage 200 is in contact with either of the pair of arms 110 and 120. Can be reduced.

  Further, according to the transfer device 100 of the present embodiment, when the luggage 200 is lowered to the second placement location 302, the first arm 110 is moved in a direction away from the second arm 120 by the first predetermined distance D1. At the same time, the second arm 120 is moved in a direction away from the first arm 110 by a second predetermined distance D2, and the pair of arms 110 and 120 are extended to lower the luggage 200 to the second placement location 302. For this reason, when the luggage 200 is lowered to the second placement location 302, the pair of arms 110, 120 can be extended with a gap provided between the luggage 200 and each of the pair of arms 110, 120. Accordingly, when the luggage 200 is lowered to the second placement location 302, it is possible to suppress the pair of arms 110 and 120 from being extended while the luggage 200 is in contact with either of the pair of arms 110 and 120. Damage to 200 can be reduced.

(Other embodiments)
The transfer apparatus of the present invention has been described based on the embodiments. However, the present invention is not limited to the above embodiment. Unless it deviates from the gist of the present invention, various modifications conceived by those skilled in the art have been made in the present embodiment, or forms constructed by combining a plurality of the above-described constituent elements are within the scope of the present invention. include.

  In the above embodiment, in FIG. 3, the timing for closing the first hook in step S104 is when the clamping in step S103 is performed, but is not limited to this, and the pair of arms 110 in step S102, It may be between after the 120 is extended and before the pair of arms 110 and 120 in step S106 is contracted. The operation of closing the first hook may be performed at the same timing as the operation of clamping the load or the operation of expanding the pair of arms 110 and 120.

  In the above embodiment, in FIG. 5, the timing for closing the second hook in step S203 is after the pair of arms 110 and 120 in step S202 are expanded. The timing may be any time before extending the pair of arms 110 and 120 in S204. The operation of closing the second hook may be performed at the same timing as the operation of moving the transfer device 100 to the second placement location 302 or the operation of expanding the pair of arms 110 and 120.

  In the above embodiment, in FIG. 5, the timing for opening the second hook in step S205 is after the pair of arms 110 and 120 in step S204 are extended, but the pair of arms in step S206. You may carry out after shrinking. The operation of opening the second hook may be performed at the same timing as the operation of contracting the pair of arms, or may not be performed in the operation of unloading the load.

  In the above embodiment, the controller 108 controls the expansion and contraction of the pair of arms 110 and 120 based on the detection result notified from the detection sensors 104 and 105. The result may not be used. That is, when extending the pair of arms 110 and 120, the controller 108 may extend the pair of arms 110 and 120 until the maximum length is reached. In this case, the transfer device 100 may not include the detection sensors 104 and 105.

  Moreover, in the said embodiment, although the transfer apparatus 100 is the structure assumed that the shelf of the rack 300 is provided in the both sides of the Y-axis direction of the transfer apparatus 100, it is not restricted to this, The transfer apparatus It is good also as a structure assumed that the shelf of a rack is provided in the one side of 100 Y-axis directions. That is, the pair of arms 110 and 120 has a telescopic structure that can project from the transfer device 100 both in the Y-axis direction plus side and in the Y-axis direction minus side, but only one of them in the Y-axis direction. It is good also as an expansion-contraction structure which can protrude in this.

  In the above embodiment, the photoelectric sensors constituting the detection sensors 104 and 105 are transmissive photoelectric sensors in which the projector and the light receiver are separate bodies. However, the present invention is not limited to this, and the light projector and the light receiver are integrated. A diffuse reflection type photoelectric sensor may be employed, or a retroreflective photoelectric sensor using a regressive reflection plate in which a projector and a light receiver are integrated.

  INDUSTRIAL APPLICABILITY The present invention is useful as a transfer device that can reduce damage to a load and can reduce the time required for clamping the load.

DESCRIPTION OF SYMBOLS 100 Transfer apparatus 102, 103 Hook 104, 105 Detection sensor 108 Controller 110 1st arm 111, 121 Top part 112, 122 Middle part 113, 123 Base part 120 Second arm 130 Mounting stand 150 Conveying vehicle 160 Traveling path 200 Luggage 300 Rack 301 First mounting location 302 Second mounting location D1 First predetermined distance D2 Second predetermined distance

Claims (3)

A pair of arms that are extendable in the front-rear direction and arranged in a direction crossing the front-rear direction; hooks that are disposed at both ends in the front-rear direction of each of the pair of arms and that can be freely opened and closed; A transfer device comprising a controller,
The transfer device is configured such that the hook in contact with the closed hook is brought into contact with an end portion in the front-rear direction of the luggage to extend or contract the pair of arms, so that the rack is placed between the rack and the mounting table. To transfer the package,
One arm of the pair of arms is movable by a first predetermined distance in an alignment direction of the pair of arms,
The other arm of the pair of arms is movable in the arrangement direction by a distance corresponding to the width dimension of the load,
The controller is
When taking the luggage at the first mounting location of the rack into the mounting table,
Open the first hook provided on the first mounting location side of the pair of arms,
Extending the pair of arms from the mounting table toward the first mounting position until the first hook in the open state exceeds the load,
The one arm of the extended pair of arms is moved toward the other arm by the first predetermined distance, and the other arm is moved toward the one arm to the width dimension of the load. The load is clamped by moving it accordingly.
After clamping, the one arm is moved in a direction away from the other arm by the first predetermined distance, and the other arm is moved in a direction away from the one arm by a second predetermined distance,
A transfer device for contracting the pair of arms with the first hook closed. When the controller lowers the load on the mounting table to the second mounting position of the rack,
In a state where the luggage on the mounting table is clamped by the pair of arms, the transfer device is moved to a position corresponding to the second mounting place,
After moving the transfer device, the one arm is moved away from the other arm by the first predetermined distance, and the other arm is moved away from the one arm by the second predetermined distance. Move in the direction,
The pair of arms with the second hook provided on the side opposite to the second mounting place in the closed state are moved from the mounting table until the second hook reaches the second mounting place. Extend towards the placement location,
The transfer device according to claim 1, wherein the pair of arms are contracted. The transfer device according to claim 1 or 2, wherein a speed at which the other arm moves in the arrangement direction is slower than a speed at which the one arm moves in the arrangement direction.

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