JP2017052599A - Transfer device and control method of transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To relax positioning accuracy of a transfer member with respect to a load in a transfer device for sliding and transferring the load.SOLUTION: A transfer device comprises: a transfer member 122 inserted between an engaged part 201 and a first surface part 291 of a load 200; a rotation drive device 103 for rotating and swinging the transfer member 122; a transfer drive device 104 for reciprocating the transfer member 122 in a transfer direction; and a control device for controlling the transfer drive device 104 to dispose the transfer member 122 to the load 200 at a position away from the first surface part 291, controlling the rotation drive device 103 to project the transfer member 122 to a position not engaging with the engaged part 201, and controlling the transfer device 104 to bring the transfer member 122 into contact with the first surface part 291.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a transfer apparatus that slides and transfers a load between a first holding part and a second holding part arranged in the vicinity of the first holding part.

  Storage shelves in which luggage can be stored side by side in the vertical and horizontal directions, a transport device such as a stacker crane that holds and transports the goods to be transferred between the storage shelves, and a transfer provided in the transport device Automatic warehouses equipped with equipment are used in the logistics industry and the like.

  In such an automatic warehouse, for example, storage shelves may be arranged on both sides of the stacker crane, and the load is transferred to the transfer device by engaging with the end of the load stored in one storage shelf. An automatic warehouse has been proposed that includes a transfer device that changes the position of engagement with a load and transfers it to the other storage shelf (see Patent Document 1).

  In the automatic warehouse, since the storage shelves arranged on both sides can be accessed by one stacker crane, the storage efficiency of the automatic warehouse can be improved.

JP 2006-52064 A

  However, in the conventional technique, in order for the transfer device to engage with the load, accurate alignment is required. However, when moving a transfer device that holds a load in order to transport the load, the load may be slightly shifted. For accurate positioning, the displacement of the load is detected every time the transfer device is transferred. , Etc., leading to a decrease in transport efficiency.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a transfer device that can easily align a transfer member that engages with a load and the load.

  In order to achieve the above object, a transfer device according to the present invention is a transfer device having a second holding portion that holds a load that is slid and transferred to and from the first holding portion. Between the engaged portion provided on the luggage and the first surface portion with a predetermined distance from the first surface portion on the surface intersecting the transfer direction to the outside in the transfer direction. A transfer member inserted by rotating about a rotation axis along the direction, a rotation drive device for rotating and swinging the transfer member, and reciprocating the transfer member in the transfer direction When transferring the load held by the transfer driving device and the second holding portion to the first holding portion, the transfer driving device is controlled to move the load from the first surface portion to the load. The transfer member is arranged at a position away from the first holding portion, and the rotation drive device is controlled to engage the engaged member. And to a position not engaged by projecting said transfer member, and controls the transfer drive device, it is characterized in that a control device is brought into contact with the transfer member to the first surface portion.

  According to this, even if an unexpected shift occurs in the load, the transfer member is disposed at a position where it does not interfere with the load, and the first surface portion of the load does not interfere with the engaged portion. By rotating the transfer member to a position where it can interfere with the transfer member and bringing the transfer member and the first surface portion into contact with each other, the positional relationship between the transfer member and the engaged portion can be accurately matched. . Accordingly, by further rotating the transfer member in this state, the transfer member can be easily engaged with the engaged portion. As described above, the load can be smoothly transferred from the second holding unit to the first holding unit.

  Furthermore, you may provide the urging member which urges | biases the said transfer member toward the luggage | load side along the said rotating shaft.

  According to this, when the abutting member comes into contact with the load, the biasing member absorbs an unexpected shift of the load, and the transfer member is accurately engaged with the first surface portion without giving a strong impact to the load. It can be inserted into the gap with the part.

  The transfer member is disposed between the engaged portion and the first surface portion, the engagement member is disposed on the luggage side of the engagement member, and is centered on the rotation shaft. Abutment that rotates in conjunction with the movement of the transfer member and stops between a lower position of the load and a position where the engagement member is inserted between the engaged portion and the first surface portion. You may provide a member.

  According to this, by making the contact member whose rotation has stopped to contact the first surface portion, the engaged portion and the engaging member can be accurately positioned, and the first surface portion and the covered surface can be accurately positioned. Even when the gap with the engaging portion is narrow, the engaging member can be easily inserted into the gap. Further, the engaging member is rotated while maintaining the position of the abutting member, and the engaging member is inserted into the gap without rubbing against the load, so that dust generation and damage to the load can be suppressed.

  In order to achieve the above object, a method of controlling the transfer device according to the present invention includes a second holding unit that holds a load that is slid between the first holding unit and a transfer of the load. In the transfer direction between the engaged portion provided on the luggage and the first surface portion with a predetermined distance from the first surface portion on the surface intersecting the loading direction to the outside in the transfer direction. A transfer member that is inserted by rotating about a rotation axis along the axis, a rotation drive device that rotates and swings the transfer member, and a transfer that reciprocates the transfer member in the transfer direction. A transfer device control method comprising a drive device, wherein when transferring a load held by the second holding portion to the first hold portion, the transfer drive device is controlled to transfer the load to the load. On the other hand, the transfer member is disposed at a position away from the first surface portion on the side opposite to the first holding portion, and the rotating drive is arranged. The device is controlled so that the transfer member protrudes to a position where it does not engage with the engaged portion, and the transfer driving device is controlled to bring the transfer member into contact with the first surface portion. It is characterized by that.

  According to this, even if an unexpected shift occurs in the load, the transfer member is disposed at a position where it does not interfere with the load, and the first surface portion of the load does not interfere with the engaged portion. By rotating the transfer member to a position where it can interfere with the transfer member and bringing the transfer member and the first surface portion into contact with each other, the positional relationship between the transfer member and the engaged portion can be accurately matched. . Accordingly, by further rotating the transfer member in this state, the transfer member can be easily engaged with the engaged portion. As described above, the load can be smoothly transferred from the second holding unit to the first holding unit.

  In addition, implementing the program for making a computer perform each process which the control method of the said transfer apparatus contains also corresponds to implementation of this invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.

  According to the present invention, a transfer member can be quickly engaged with a load and transferred with a simple configuration.

FIG. 1 is a perspective view showing the transfer device together with a load, a first holding part, and a third holding part. FIG. 2 is a perspective view showing the luggage. FIG. 3 is a perspective view showing the first holding portion. FIG. 4 is a perspective view showing a transfer member, a rotation drive device, and the like. FIG. 5 is a plan view showing the relationship between the transfer member and the portion of the luggage suitable for the transfer device, with the engaged portion omitted. FIG. 6 is a block diagram illustrating functions of the control device. FIG. 7 is a diagram showing the operation of the transfer apparatus in stages. FIG. 8 is a diagram showing stepwise movement of the transfer member in the transfer direction.

  Next, an embodiment of a transfer apparatus according to the present invention will be described with reference to the drawings. The following embodiment is merely an example of the transfer device according to the present invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  Also, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

  FIG. 1 is a perspective view showing the transfer device together with a load, a first holding part, and a third holding part.

  FIG. 2 is a perspective view showing the luggage.

  First, the luggage 200 that is a transfer target of the transfer apparatus 100 will be described.

  The baggage 200 is a target that is held by the first holding unit 300 and the third holding unit 303 and is transferred to and from the transfer device 100, and includes a portion that is suitable for the transfer device 100. The portion suitable for the transfer device 100 is the engaged portion 201. In the case of the present embodiment, the luggage 200 includes a jaw portion 211, a wall portion 221, and a restriction portion 231 as portions that are suitable for the transfer device 100. Furthermore, the luggage 200 includes an engaged portion 201, a jaw portion 211, a wall portion 221, and a restricting portion 231 at a plurality of locations so as to be plane symmetric.

  The engaged portion 201 is directed from the first surface portion 291 on the surface intersecting the transfer direction (Y-axis direction in the drawing) of the load 200 toward the outside in the transfer direction (negative direction in the Y-axis direction in the drawing). This is a portion provided in the luggage 200 in a state of being separated by a predetermined distance, and is engaged with a transfer member 122 (to be described later) provided in the transfer device 100 in the transfer direction and has a force for transferring the luggage 200 from the transfer member 122. It is a part to be granted. In the case of the present embodiment, the engaged portion 201 is integrally attached to the first surface portion 291 of the luggage 200 via the jaw portion 211.

  The jaw portion 211 is a portion provided on the luggage 200 so as to protrude outward from the first surface portion 291 of the luggage 200, and a push-up portion 141 (described later) of the engagement member 121 and a vertical direction (Z-axis direction in the figure). ) And a force to push up the first surface portion 291 of the luggage 200 from the engagement member 121 is applied. The jaw portion 211 is a plate-like portion that protrudes perpendicularly to the first surface portion 291 and extends in the width direction of the luggage 200 (X-axis direction in the drawing). Moreover, the lower end part of the jaw part 211 is provided with the lower end surface which spreads along a horizontal surface.

  The wall portion 221 is a portion provided on the luggage 200 so as to protrude outward from the first surface portion 291 of the luggage 200, and a pressing portion 151 of an engagement member 121 described later is disposed in the width direction of the luggage 200 (X in the drawing). This is the part that is pressed in the axial direction. The wall portion 221 is a plate-like portion that protrudes perpendicularly to the first surface portion 291 and extends in the vertical direction (Z-axis direction in the figure). In addition, the side end portion of the wall portion 221 includes a side end surface that extends along a plane perpendicular to the first surface portion 291 and including the vertical axis.

  The luggage 200 according to the present embodiment includes two wall portions 221 arranged in plane symmetry on the first surface portion 291, and the side end surfaces of the two wall portions 221 face each other. The two wall portions 221 are portions to which the pressing portions 151 of the engaging members 121 are pressed, respectively, and the load 200 can be centered by receiving the force from the respective engaging members 121 by the respective wall portions 221. It is possible.

  The restricting portion 231 is a portion provided on the luggage 200 so as to protrude outward from the first surface portion 291, and is related to the restricted portion 161 of the engagement member 121 described later in the vertical direction (Z-axis direction in the drawing). It is a part to match. The restricting portion 231 is a plate-like portion that protrudes perpendicularly to the first surface portion 291 and extends in the width direction of the luggage 200 (X-axis direction in the drawing). Moreover, it is shorter in the width direction than the jaw portion 211. Moreover, the upper end part of the control part 231 is equipped with the upper end surface which spreads along a horizontal surface. The regulating unit 231 may be given a downward force from the regulated unit 161.

  FIG. 3 is a perspective view showing the first holding portion.

  As shown in the figure, the first holding unit 300 is a part that holds the luggage 200. In the case of the present embodiment, the first holding part 300 is a plate-like part that holds the luggage 200 in a loaded state, and holds both ends in the width direction of the luggage 200 from below. In addition, the first holding unit 300 is provided with a stopper 301 that protrudes upward at the edge on the transfer device 100 side to prevent the luggage 200 from dropping from the first holding unit 300 due to a vibration such as an earthquake. .

  The first holding unit 300 is a part of a storage shelf (not shown). The storage shelf includes a plurality of first holding units 300 in the vertical direction, and a plurality of rows in the width direction of the luggage 200. Are held side by side.

  The third holding unit 303 is disposed symmetrically with the first holding unit 300 with the transfer device 100 in between, and also includes a stopper 301.

  Next, the transfer apparatus 100 will be described.

  As illustrated in FIG. 1, the transfer device 100 is a device that transfers a load 200 while sliding the load 200 with respect to the first holding unit 300 or the third holding unit 303. For example, a loader such as a stacker crane or a traveling vehicle. It is a device attached to a transport device (not shown) that can transport 200. In addition, the transfer device 100 can be moved to a position corresponding to the first holding unit 300 or the third holding unit 303 by the transport device. The transfer apparatus 100 includes a second holding unit 101, a transfer member 122, and a stopping unit 106. In the case of the present embodiment, the transfer device 100 further includes a plurality of engagement members 121 and contact members 102, and further includes a rotation drive device 103, a transfer drive device 104, an urging member 107, An elastic member 108 and a control device 109 (described later) are provided.

  The second holding unit 101 is a part that holds the luggage 200. In the case of the present embodiment, the second holding portion 101 is attached to both ends of the base 105 in the width direction (X-axis direction in the drawing) above the base 105. The second holding portion 101 corresponds to the first holding portion 300 and is a plate-like portion that holds the load 200 in a loaded state, and holds both ends in the width direction of the load 200 from below. ing.

  FIG. 4 is a perspective view showing a transfer member and the like.

  FIG. 5 is a plan view showing the relationship between the transfer member and the portion of the luggage suitable for the transfer device, with the engaged portion omitted.

  As shown in these drawings, the transfer member 122 according to the present embodiment includes an engagement member 121 and a contact member 102.

  The engaging member 121 is inserted between the first surface portion 291 of the luggage 200 and the engaged portion 201 by rotating about a rotating shaft 131 along the transfer direction (Y-axis direction in the drawing). It is a member that applies a force for transferring the load 200 to the engaged portion 201. In the case of the present embodiment, the engaging member 121 further includes a push-up portion 141 that pushes up the jaw portion 211, a pressing portion 151, a regulated portion 161, and an inclined portion 171.

  The push-up portion 141 is a portion that applies an upward force to the jaw portion 211 provided on the luggage 200, and the luggage 200 is held by the first holding section 300, and the transfer device 100 is connected to the first holding section 300. And a rotation radius R longer than the distance H (see FIG. 7) between the lower end of the jaw portion 211 of the luggage 200 and the rotation shaft 131. It is a part provided in the position.

  In the case of the present embodiment, the push-up portion 141 is a flat surface so as to come into surface contact with the jaw portion 211. The push-up portion 141 is a part of the peripheral edge of the plate-like engagement member 121.

  The pressing portion 151 is a portion that is pressed in the width direction of the luggage 200 by the rotation of the engaging member 121 against the side end portion of the wall portion 221. The pressing portion 151 is a portion that contacts the side end surface of the wall portion 221 and applies a force in the width direction of the luggage 200 in a state in which the pushing portion 141 contacts the jaw portion 211 and lifts the first surface portion 291. . Therefore, when the luggage 200 is not arranged at a predetermined position in the width direction, the luggage 200 can be moved in the width direction by the force from the pressing portion 151.

  The restricted portion 161 is a portion that engages with the upper end portion of the restricting portion 231 and restricts the upward movement of the first surface portion 291. The regulated portion 161 is a portion inserted between the jaw portion 211 and the regulating portion 231 in a state where the push-up portion 141 contacts the jaw portion 211 and lifts the first surface portion 291. Therefore, when the engaging member 121 is going to be lifted more than the first surface portion 291 is lifted, the restricted portion 161 and the restricting portion 231 are engaged, and the first surface portion 291 is further restricted from being raised. The part 161 is suppressing. Further, by maintaining the state where the regulated portion 161 is in contact with the regulating portion 231, the engaging member 121 can hold the first surface portion 291 of the luggage 200 in a fixed state.

  The inclined portion 171 is a portion whose radius of rotation gradually decreases along the circumferential direction from the push-up portion 141, and the load 200 is held by the first holding portion 300, and the transfer device 100 is between the first holding portion 300 and In the state where the baggage 200 is placed at a position where the baggage 200 can be transferred, a portion having a turning radius shorter than the distance between the lower end portion of the jaw portion 211 of the baggage 200 and the rotation shaft 131 is provided.

  When the first surface portion 291 of the luggage 200 is lifted, the inclined portion 171 is a portion that the push-up portion 141 first contacts the jaw portion 211 and gradually lifts the first surface portion 291 as the engaging member 121 rotates. . Specifically, the inclined portion 171 has an arc shape having a center at a position different from the rotation shaft 131.

  The abutting member 102 is a member that is disposed on the luggage 200 side of the engaging member 121 and rotates in conjunction with the operation of the engaging member 121 around the rotating shaft 131. The abutting member 102 is a member that abuts on the first surface portion 291 of the luggage 200 in a state where the rotation is stopped by the stopping means 106, and the luggage 200 is moved from the second holding portion 101 to the first holding portion 300. It is a member which gives the force which pushes out the luggage | load 200 when transferring to. In the case of the present embodiment, the contact member 102 includes a horizontal portion 120 whose upper end edge is horizontal when the rotation is stopped by the stop means 106.

  The contact member 102 is attached to the same shaft body as the engagement member 121, but is not fixed to the shaft body, and is attached so as to be freely rotatable with respect to the shaft body. In the case of the present embodiment, the contact member 102 is interlocked with the engagement member 121 by the elastic member 108 with respect to the rotation in the protruding direction.

  The elastic member 108 is a stretchable member that connects the engagement member 121 and the contact member 102. In the case of the present embodiment, the elastic member 108 is a spring, and when the engagement member 121 rotates in the protruding direction, the rotational force is transmitted to the contact member 102 to rotate the contact member 102. When the contact member 102 is stopped by the stop means 106, the elastic member 108 is extended by the engagement member 121 until the engagement member 121 is stopped. The elastic member 108 causes the contact member 102 to rotate in conjunction with the engagement member 121 to a predetermined position, and only the engagement member 121 rotates after the contact member 102 stops at the predetermined position. It becomes possible. Further, when the engaging member 121 rotates in the immersing direction, the abutting member 102 may be rotated in conjunction with the immersing direction by the elastic member 108 pushing the abutting member 102.

  The interlocking between the engaging member 121 and the abutting member 102 is not limited to the case where the elastic member 108 is used, but may be realized by other methods such as those using friction such as a clutch.

  The stopping means 106 is a contact member between an immersion state that is a lower position of the luggage 200 and a protruding state that is a position where the engaging member 121 is inserted between the engaged portion 201 and the first surface portion 291. Means for stopping the rotation of 102. In the case of the present embodiment, the stopping means 106 is a rod-like member attached in a protruding state from the rotation driving device 103, and comes into contact with a stop portion 129 provided on the contact member 102, thereby causing the contact member 102 to come into contact. The rotation in the protruding direction is stopped. Further, the stopping means 106 stops the rotation of the contact member 102 at a position where the horizontal portion 120 arranged at the upper end edge of the contact member 102 is horizontal.

  The stopping means 106 is not limited to mechanically stopping the rotation of the abutting member 102, and other methods such as electromagnetic stopping may be adopted.

  Moreover, the stop means 106 may be provided on the luggage 200 side.

  The urging member 107 is a member that urges both the engaging member 121 and the abutting member 102 along the rotation shaft 131 from the transfer device 100 side toward the luggage 200 side. In the case of the present embodiment, the urging member 107 is a coiled spring and is arranged in a state in which a shaft body for rotating the engaging member 121 is inserted, and the engaging member 121, The contact member 102 is urged outward.

  In the case of the present embodiment, the transfer device 100 includes two engaging members 121, abutting members 102, and two aligned in the width direction orthogonal to the transfer direction, and two aligned in the transfer direction. I have. Thereby, the whole thickness (length in the Z-axis direction in the figure) of the transfer apparatus 100 can be reduced.

  The rotation driving device 103 is a device that can rotate and swing the engaging member 121 around the rotation shaft 131. In the case of the present embodiment, the rotation driving device 103 is capable of rotating and swinging a plurality of engagement members 121 around the rotation shaft 131 at the same time. Furthermore, the rotation drive device 103 drives the engagement member 121 so that the movement of the engagement member 121 is symmetrical on the surface extending in the center of the two rotation shafts 131 arranged in parallel. Further, the rotation driving device 103 does not directly drive the contact member 102 but drives the contact member 102 via the engagement member 121. Specifically, the rotation drive device 103 includes a rotation shaft 131, a motor in which the rotation shaft is disposed in a direction intersecting the rotation shaft 131, a shaft and a joint that transmits a driving force of the motor, and the motor. The symmetrical operation is realized by arranging between the two engaging members 121 arranged in a direction intersecting the transfer direction.

  The transfer driving device 104 is a device that reciprocates the engagement member 121 and the contact member 102 in the transfer direction, and the engagement member 121 that engages the engaged portion 201 or the first surface portion. It is a device that can reciprocate the load 200 in the transfer direction via the contact member 102 that engages with the H.291. In the case of the present embodiment, the transfer drive device 104 reciprocates the engagement member 121 and the contact member 102 in the transfer direction, and accordingly, the rotation drive device 103 also reciprocates. Specifically, for example, the transfer drive device 104 includes an engagement member 121, a contact member 102, a rail that guides the rotation drive device 103 in the transfer direction, and a linear motion unit that reciprocates these.

  FIG. 6 is a block diagram illustrating functions of the control device.

  As shown in the figure, the control device 109 is a device that controls the rotation drive device 103 and the transfer drive device 104, and includes a rotation drive control unit 191, a transfer drive control unit 192, and interlock management. Part 193. The control device 109 generally includes a CPU (Central Processing Unit) and a storage unit, and each functional unit is realized by the CPU executing a program stored in the storage unit.

  The rotation drive control unit 191 rotates the transfer member 122 around the rotation shaft 131 and interferes with the storage position that does not interfere with the luggage 200 and the first surface portion 291 but with the engaged portion 201. Is a processing unit that controls the rotation drive device 103 so that the transfer member 122 moves to at least three positions, ie, a contact position that does not interfere with the engagement portion 201 and an engagement position that engages with the engaged portion 201. . In the case of the present embodiment, a plurality (four) of transfer members 122 are connected to one rotation drive device 103, and the rotation drive control unit 191 is connected to all the rotation drives 103. The movement of the mounting member 122 is controlled simultaneously.

  The rotation drive control unit 191 may control the rotation drive device 103 based on rotation position information transmitted from rotation position detection means such as an encoder provided in the rotation drive device 103. .

  The transfer drive control unit 192 is a processing unit that controls the rotation drive device 103 so that the transfer member 122 moves linearly along the transfer direction and stops at a predetermined position. In the case of the present embodiment, for example, the position at which the transfer member 122 is engaged with the engaged portion 201 of the load 200 held by the first holding unit 300, and the load 200 transferred from the first holding unit 300. A position to be held by the second holding unit 101, a preparation position at which the transfer member 122 is arranged to transfer the luggage 200 held by the second holding unit 101 to the third holding unit 303, and held by the second holding unit 101 A position at which the transfer member 122 is engaged with the engaged portion 201 in order to transfer the load 200 to be transferred to the third holding portion 303, and the load 200 transferred from the second holding portion 101 to the third holding portion 303. The transfer drive control unit 192 controls the transfer drive device 104 so that the transfer member 122 can be stopped at each of the positions to be held.

  In the present embodiment, a plurality of (two) transfer members 122 are connected to the rotation drive device 103 while being separated from each other in the transfer direction, and these are integrally transferred together with the rotation drive device 103. In order to move by the apparatus 104, the transfer drive control unit 192 controls the stop position in consideration of the positional relationship of these transfer members 122.

  The transfer drive control unit 192 may control the transfer drive device 104 based on transfer position information transmitted from transfer position detection means such as an encoder provided in the transfer drive device 104. .

  The interlocking management unit 193 is a processing unit that manages the relationship between the rotation of the transfer member 122 and the movement in the transfer direction by adjusting the rotation drive control unit 191 and the transfer drive control unit 192. For example, when the transfer member 122 is in the storage position, the interlocking management unit 193 performs management such as moving the transfer member 122 from one end to the other end of the transfer device in the transfer direction.

  Next, the operation of the transfer device 100 when the luggage 200 in the third holding unit 303 is transferred to the second holding unit 101 and then transferred to the first holding unit 300 will be described.

  FIG. 7 is a view showing the rotation operation of the transfer member step by step.

  FIG. 8 is a diagram showing stepwise movement of the transfer member in the transfer direction.

  First, as shown in the uppermost stage of FIG. 8, the interlocking management unit 193 of the transfer device 100 for the load 200 held by the third holding unit 303 is transferred via the transfer drive control unit 192. 104, the transfer member 122 is disposed at a position where it can be inserted into the gap between the second surface portion 292 and the engaged portion 201, and the rotational drive device 103 is controlled via the rotational drive control portion 191. The transfer member 122 is rotated to insert the transfer member into the gap. In this state, the state is the same as the state shown in the lower part of FIG.

  In FIG. 8, since the description of the transfer member 122 is small, the transfer member 122 and the rotation drive device 103 are described with reference numerals 122.

  Next, as shown in the second row from the top in FIG. 8, the control device 109 moves the transfer member 122 to transfer the load 200 to the second holding unit 101.

  Next, as shown in the upper part of FIG. 7, the control device 109 rotates the transfer member 122 to the storage position. In this state, since the transfer member 122 and the luggage 200 do not interfere with each other, the transfer member 122 can pass under the luggage 200.

  Next, as shown in the third row in FIG. 8, the control device 109 causes the transfer member 122 in the stored state to pass through the space below the baggage 200, and with respect to the baggage 200 held by the second holding unit 101. The transfer member 122 is disposed at a preparation position that is a position away from the one surface portion 291.

  For example, at this stage, the transfer device 100 may be moved by a transfer device (not shown) or the like, and the position of the luggage 200 in the second holding unit 101 may be shifted due to vibration during the movement. A preparation position is set in the control device 109 in consideration of the deviation.

  Next, the control device 109 controls the rotation drive device 103 via the rotation drive control unit 191, and can be brought into contact with the first surface portion 291 as shown in the middle stage of FIG. The transfer member 122 is protruded to the contact position where it does not engage with. In the case of the present embodiment, the transfer member 122 includes an engagement member 121 and a contact member 102, and the stopping means 106 is a contact member in a protruding state in which the horizontal portion 120 of the contact member 102 is horizontal. The rotation of 102 is stopped. In this state, the contact member 102 is in a state where it can contact the first surface portion 291 of the luggage 200.

  Thereafter, as shown in the fourth stage of FIG. 8, the transfer driving device 104 is controlled to bring the transfer member 122 into contact with the first surface portion 291. In the case of the present embodiment, the contact member 102 of the transfer member 122 contacts the first surface portion 291.

  At this time, the control device 109 takes into account the displacement of the luggage 200 held by the first holding portion 300, and the contact member 102 moves to the first surface portion 291 even if the assumed maximum displacement occurs in the luggage 200. The amount of movement of the abutting member 102 that abuts is set. As a result, the contact member 102 reliably contacts the first surface portion 291. In addition, when the luggage 200 is not significantly displaced, the contact member 102 contacts the first surface portion 291 at an early stage, but the biasing member 107 absorbs the impact and drives the transfer driving device 104 after the contact. The urging member 107 absorbs.

  Thus, the positioning of the engaging member 121 and the engaged portion 201 of the luggage 200 can be reliably performed.

  Next, in a state in which the transfer member 122 is in contact with the first surface portion 291, the control device 109 controls the rotation driving device 103 to move the transfer member 122 to the first surface portion 291 and the engaged portion 201. Insert between them. In the case of the present embodiment, the control device 109 controls the rotation driving device 103 to rotate the engaging member 121 in the protruding direction. In this state, since the abutting member 102 exists between the engaging member 121 and the first surface portion 291, the engaging member 121 does not rub against the first surface portion 291, and dust generation and the first surface are not performed. Damage to the portion 291 can be prevented.

  Next, when the engaging member 121 is rotated in the protruding direction, the inclined portion 171 of the engaging member 121 contacts the jaw portion 211, and the inclined portion 171 gradually pushes up the jaw portion 211.

  Thus, the first surface portion 291 side of the luggage 200 is gradually lifted. Moreover, since the two engaging members 121 rub against the jaw 211 while rotating in the opposite directions, the first surface portion 291 side can be lifted without much shifting in the width direction.

  Next, as the rotation drive device 103 further rotates the engagement member 121 and the engagement member 121, the push-up portion 141 and the jaw portion 211 come into contact with each other as shown in the lower part of the figure.

  In this state, the first surface portion 291 side of the luggage 200 is lifted to a position higher than the stopper 301 (not shown in FIG. 8).

  In addition, the two pressing portions 151 press the respective wall portions 221 outward in the width direction of the luggage 200. As a result, the load 200 is centered, and the shift in the width direction is eliminated.

  In addition, since the restricted portion 161 is in contact with or substantially in contact with the restricting portion 231, the first surface portion 291 side of the luggage 200 does not rise any further, and the upper and lower sides when the luggage 200 is transferred Shaking of the direction can be suppressed.

  Further, since the engagement member 121 and the engagement member 121 hold the first surface portion 291 side of the luggage 200 in a fixed state, the luggage 200 can be prevented from falling off from the engagement member 121 and the engagement member 121.

  Note that the relationship between the engagement member 121 and the jaw portion 211, the wall portion 221, and the restricting portion 231 is similar to the load 200 held by the third holding portion 303.

  In the above state, the control device 109 controls the transfer driving device 104 to move the transfer member 122 in the direction of the first holding unit 300, so that the luggage 200 is shown in the lowermost stage of FIG. Is transferred from the second holding unit 101 to the first holding unit 300.

  As described above, by controlling the load 200 held by the second holding unit 101 so that the transfer member 122 is brought into contact with the first surface portion 291 after the transfer member 122 is arranged at the preparation position. Thus, the transfer member 122 can be reliably engaged with the engaged portion 201 without finely controlling the position control of the transfer drive device 104. Accordingly, it is possible to transfer the load 200 to the first holding unit 300 while suppressing the occurrence of the shake of the load 200. Further, when transferring the load 200 held by the second holding unit 101 to the third holding unit 303, the same operation and effect can be obtained by performing the same control.

  Further, when the luggage 200 is transferred, the first surface portion 291 side of the luggage 200 is maintained at a position higher than the stopper 301, so that the luggage 200 falls by the height of the stopper 301 immediately after passing through the stopper 301. Such a situation does not occur. Further, since the entire load 200 is inclined, the contact area between the first holding unit 300 and the load 200 is reduced, and the frictional resistance when the load 200 is transferred can be reduced.

  When transferring the load 200 from the second holding unit 101 to the first holding unit 300 or the third holding unit 303, the second holding unit is more than the first holding unit 300 or the third holding unit 303. By placing 101 on the height of the stopper 301, the luggage 200 can be transferred without being obstructed by the stopper 301.

  Next, after the movement of the luggage 200 is completed, the engagement member 121 and the contact member are rotated to the immersion position shown in the upper part of FIG. The two holding portions 101 can be lowered, and an unintentional impact on the luggage 200 can be avoided.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, although the transfer member 122 has been described as including the engagement member 121 and the contact member 102, the transfer member 122 may not include the contact member 102.

  In addition, although the two transfer members 122 that simultaneously contact the first surface portion 291 are illustrated, one transfer member 122 may be used.

  Further, the transfer member 122 may include the contact members 102 on both sides of one engagement member 121 in the transfer direction.

  Further, the luggage 200 can be applied to the luggage 200 in any holding state, such as being held in a suspended state as well as being held.

  Moreover, although the luggage | load 200 provided with the engaging member 121, the jaw part 211, etc. in the 1st surface part 291 was illustrated, the luggage | load 200 is a surface different from the 1st surface part 291 of the surface which cross | intersects a transfer direction. The surface portion may also include the engaging member 121, the jaw portion 211, and the like.

  The present invention can be applied to a transfer device that transfers packages at an automatic warehouse, a distribution base station, or the like.

DESCRIPTION OF SYMBOLS 100 Transfer device 101 2nd holding | maintenance part 102 Contact member 103 Rotation drive device 104 Transfer drive device 105 Base body 106 Stopping means 107 Energizing member 108 Elastic member 109 Control device 120 Horizontal part 121 Engagement member 122 Transfer member 129 Stop part 131 Rotating shaft 141 Pushing part 151 Pressing part 161 Restricted part 171 Inclined part 191 Rotating drive control part 192 Transfer drive control part 193 Interlocking management part 200 Luggage 201 Engaged part 211 Jaw part 221 Wall part 231 Restriction Part 291 First surface part 292 Second surface part 300 First holding part 301 Stopper 303 Third holding part

Claims (4)

A transfer device having a second holding unit for holding a load to be slid and transferred between the first holding unit,
Between the engaged portion provided on the load and the first surface portion with a predetermined distance away from the first surface portion on the surface intersecting the transfer direction of the load toward the outside in the transfer direction, A transfer member inserted by rotating around a rotation axis along the transfer direction; and
A rotation drive device that rotates and swings the transfer member;
A transfer drive device for reciprocating the transfer member in the transfer direction;
When transferring the load held by the second holding portion to the first holding portion, the transfer driving device is controlled to oppose the load from the first surface portion to the first holding portion. The transfer member is disposed at a position separated from the side, the rotation drive device is controlled, and the transfer member is projected to a position where the transfer member is not engaged with the engaged portion. And a control device that controls to bring the transfer member into contact with the first surface portion. further,
The transfer device according to claim 1, further comprising an urging member that urges the transfer member toward the luggage side along the rotation axis. The transfer member is
An engagement member inserted between the engaged portion and the first surface portion;
The engagement member is disposed on the luggage side of the engagement member, and rotates around the rotation shaft in conjunction with the movement of the transfer member. The transfer device according to claim 1, further comprising: an abutting member that stops between the first surface portion and a position where the first surface portion is inserted. A second holding portion that holds a load that is slid between the first holding portion and the first holding portion, and a predetermined distance from the first surface portion on the surface intersecting the transfer direction of the load toward the outside in the transfer direction. A transfer member inserted between the engaged portion provided in the luggage and the first surface portion in a separated state by rotating about a rotation axis along the transfer direction; and A transfer device control method comprising: a rotation drive device that rotates and swings a transfer member; and a transfer drive device that reciprocates the transfer member in a transfer direction,
When transferring the load held in the second holding unit to the first holding unit,
By controlling the transfer driving device, the transfer member is disposed at a position away from the first surface portion to the first holding portion with respect to the load,
Controlling the rotation driving device to project the transfer member to a position where it does not engage with the engaged portion;
A control method for a transfer device, wherein the transfer drive device is controlled to bring the transfer member into contact with the first surface portion.

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