JP2020070143A - Transfer apparatus - Google Patents

Abstract

To provide a transfer apparatus which allows a safe and easy transfer of a load between containers to be performed either by using an automated device or manually, which is selected arbitrarily.SOLUTION: The whole of a load carry-out/-in unit 1 is inclined such that one end of a stationary rail member 15 becomes lower relative to the other end, in the load carry-out/-in unit, picking heads 23, 25 which are movable in a left-to-right direction and in a vertical direction being supported by two movable rail members 17, 18 which are supported by the stationary rail member 15 and are movable. Under the load carry-out/-in unit 1 is provided a load transfer work space 9 where load carry-out/-in container reception sites 7, 8 are arranged side by side in a left-to-right direction. The container reception sites 7, 8 in the load transfer work space 9 are inclined in a direction in which containers Cy, Cx carried into respective sites are inclined to become parallel to the totally inclined load carry-out/-in unit 1. A load transfer work area 27 for an operator is set on a floor to an inclined lower side of the load carry-out/-in unit 1 of front-to-rear outsides with respect to the load transfer work space 9.SELECTED DRAWING: Figure 1

Description

  TECHNICAL FIELD The present invention relates to a transfer device that transfers a load from a container that is a target of unloading to a container that is a target of loading.

  In this type of transfer device, both ends of two movable rail members that are parallel to each other are fixed by two fixed rail members in the Y direction that are orthogonal to the X direction that is the length direction of these movable rail members. A movable body is supported so as to be able to move in parallel and laterally, and a movable body is supported on each of the two movable rail members so as to be capable of reciprocating in the X direction, and a picking head capable of lifting a load can be lifted up and down on each movable body. The loading / unloading unit provided is used. In the prior art document cited as Patent Document 1, a processing unit for a work is used in place of the picking head required for the load carrying-in / carrying-out unit, but it is replaced with a picking head for picking a load. For example, it can be used as a load / unload unit for lifting loads and unloading them to other places. In this case, the container receiving area for unloading and the container receiving area for unloading are set in the movable area of the picking head in the plan view below the unloading / importing unit.

JP, 2003-305672, A

  As described above, by using the configuration described in Patent Document 1, it is possible to configure a transfer device that transfers the load hung by the picking head from the container to be unloaded into the container to be loaded. Even if it can be easily done by those skilled in the art, it is necessary to manually transfer the load from the container to be loaded into the container to be loaded without using the loading / unloading unit. Therefore, it is necessary to solve the problems necessary for practical use, such as a configuration for enabling safe and easy operation according to the requirements.

The present invention proposes a transfer device capable of solving the above problems, and the transfer device according to the present invention is for facilitating the understanding of the relationship with the examples described later, When the reference numerals used in the description of the embodiment are shown in parentheses, the two ends of the two movable rail members (17, 18) parallel to each other are the lengths of these movable rail members (17, 18). It is supported by two fixed rail members (15, 16) in the Y direction orthogonal to the X direction, which is the vertical direction, so as to be movable in parallel and laterally, and to each of the two movable rail members (17, 18), A movable body (19, 21) is supported so as to be reciprocally movable in the X direction, and a picking head (23, 25) capable of lifting a load is provided on each movable body (19, 21) so as to be vertically movable. In the transfer device equipped with the carry-in / carry-out unit (1),
The load carrying-in / carrying-out unit (1) is entirely inclined so that one end side of the fixed rail members (15, 16) is lower than the other end side, and the whole load-carry-in / carry-out unit (1) is inclined. On the lower side, in the movable area of the picking heads (23, 25) in a plan view, the container receiving area (7) for unloading and the container receiving area (8) for unloading are arranged in parallel in the X direction. A loading and unloading work space is provided, and the container receiving area (7) for unloading and the container receiving area (7) for unloading are respectively the container (Cy) to be unloaded and the object to be loaded. The container (Cx) is inclined so that it is parallel to the load / unload unit (1) that is entirely inclined when viewed in the X direction, and the two container receiving fields (X) are arranged in parallel in the X direction. The container (Cy, Cx) is inclined with respect to The load transfer work area (27) is configured.

  In the transfer device of the present invention having the above-described configuration, the container to be unloaded is loaded into the container receiving area to be loaded, and the container to be loaded is loaded into the container receiving area to be loaded, and if the work preparation is completed. The loading / unloading unit is operated so as to lift the lifting target load in the container of the loading / unloading target by the picking head. Specifically, the two movable rail members in the Y direction are laterally moved in the Y direction, and the movable body on each movable rail member is moved in the X direction on each movable rail member, so that the picking head included in each movable base is moved. It is positioned right above the lifting target load in the container to be unloaded, and then the picking head is lowered with respect to each movable body so that the lifting target load can be lifted. Next, the picking head is lifted to a predetermined height with respect to each movable body, the lifting target load is lifted by the picking head, and then the Y direction lateral movement of the two movable rail members and the movement on each movable rail member. By moving the movable body in the X direction, the load being lifted by the picking head is moved to a predetermined height above the container to be loaded, and then the picking head is lowered with respect to each movable body to lift the load. Are dropped into the container to be loaded and the picking heads are lifted after the picking heads are separated from the unloaded load.

  In the transfer apparatus of the present invention that can be used as described above, there are cases where the transfer operation must be performed manually for some reason such as a failure of the picking head. In such a case, the worker stands up in the load transfer work area that is set on one side in the front and rear in the Y direction with respect to the container receiving area for loading and unloading and the container receiving area for loading in parallel in the X direction. , The load is transferred manually from the unloading target containers that are adjacent to each other on the left and right in the X direction as viewed from the operator to the unloading target container. The container that has been loaded into the container receiving area for loading and unloading is inclined so that the load transfer work area side where the worker stands is low, so the operator bends his upper body forward and bends the inside of each container. You do not have to look in, or even if you look in, you can reduce the degree of forward bending of your upper body. In other words, the work of specifying and picking up the load to be carried out in the container to be carried out can be easily performed in a comfortable posture.

  Also, when the picked-up load is transferred into the load-carrying target container, since the load-carrying target container is also inclined as described above, not only can the work be performed while checking the storage position in the container. , If the container's inclination angle is set so that the load put in this container will slide down the slope naturally, and the load storage position in the container is not specified, Simply put the container in the proper place on the upper slope side of the container to be loaded and release your hand, and the load will be slid to the lower slope side in front of the container and packed sequentially, so that Loading work can be done efficiently. This effect is that even when the load carrying-in / carrying-out unit is operated and the load is automatically transferred, the load is not loaded into the container to be loaded, with respect to the fixed position on the inclined upper end side in the container. If done, each load slides toward the lower end of the slant of the container and is sequentially packed, so that it becomes easy to control the loading process of the load into the container to be loaded.

  In order to obtain the above effect, the containers carried in the container receiving place for unloading and the container receiving place for unloading are configured so as to be inclined so that the load transfer work area side where the worker stands is lowered. However, if the loading / unloading unit is laid horizontally horizontally as before, the distance between the picking head on the horizontal plane and the bottom surface of the container greatly differs between the upper and lower inclined sides of the container. Therefore, in order to safely and reliably lift and lower the load by the picking head, even if the height of the load to be handled is constant, the lifting stroke of the picking head according to the position of the picking head with respect to the inside of the container It has to be controlled to change, which is a big disadvantage. However, according to the configuration of the present invention, the entire loading / unloading unit itself is also tilted similarly to the container, and therefore the lifting / lowering control of the picking head is performed in the same manner as when the conventional loading / unloading unit is horizontal. Since it suffices, there is no fear of causing the above disadvantages.

  In the case of carrying out the present invention, the standby areas of the two movable rail members (17, 18) are set on both outer sides in the Y direction with respect to the load transfer work space (9). Of the two movable rail members (17, 18), one of the waiting areas on the side closer to the load transfer work area (27) for the worker is the lower end side of the slope of the load / unload unit (1). A narrow waiting area (Sa1) where only one movable rail member (17) can stand by, and the other waiting area on the opposite side is a state in which the two movable rail members (17, 18) are adjacent in the Y direction. It is desirable to use a wide waiting area (Sa2) where you can wait in.

  According to the above configuration, when the load carrying-in / carrying-out unit is operated to perform the above-mentioned load transfer work, as a preparatory step, two movable rail members in the Y direction are arranged in parallel with the container receiving place of the load carrying-out target in the X direction. With respect to the container receiving area for loading, the standby areas on both sides in the Y direction, that is, the narrow standby area and the wide standby area can be divided and made to stand by. At this time, it is desirable that the movable bodies on the movable rail members are moved to positions adjacent to both sides in the Y direction of the container receiving field where the work is to be started and which is the target of unloading. By thus keeping the two movable rail members on standby, the picking head of the movable body provided in each movable rail member can be moved forward and backward in the Y direction of the container to be unloaded that has been loaded into the container receiving area for loading and unloading. Since the load is distributed and arranged, the load on the front side in the Y direction of the load to be lifted in the container is lifted by the picking head waiting on the front side in the Y direction of the load target container, and the opposite side, that is, the Y direction. The load on the back side of can be lifted by a picking head that stands by on the back side of the container to be unloaded in the Y direction. Of course, various situations are conceivable, such as the case where the load to be hoisted in the container is biased to either the front and rear in the Y direction or the left and right in the X direction. The picking head can efficiently perform the lifting operation of the load, as compared with the case where the container to be carried out waits on either side before or after the Y direction.

  On the other hand, when the load transfer work must be performed manually as described above, a wide standby area where the two movable rail members can stand by in the Y direction adjacent to each other is the load transfer area. Since it is provided on the side (back side) opposite to the side where the load transfer work area is located with respect to the loading work space, both of the two movable rail members should be in standby for movement in this wide standby area. Can be done. Therefore, one of the two movable rail members is not positioned between the worker standing in the load transfer work area and the two containers arranged in parallel in the X direction so as not to interfere with the manual transfer work. Moreover, the movable rail member, which is moved to the back side and is on standby, does not cover the back side of the two containers arranged in parallel in the X direction, and does not interfere with the manual transfer work. That is, the manual load transfer work can be performed safely and easily. Of course, it is possible to suppress the Y-direction length of the entire moving region of the two movable rail members in the Y-direction to a necessary minimum, and to prevent the transfer apparatus from increasing in size.

  In the case of carrying out the present invention, the movable body provided with the picking head capable of moving up and down may be provided in each of the two movable rail members (17, 18). Two movable bodies (19, 20 and 21, 22) are provided on each of the two movable rail members (17, 18), and the two movable bodies provided on each movable rail member (17, 18). (19, 20 and 21, 22) are located between both ends of each movable rail member (17, 18) so that they can be positioned adjacent to each other on either side of the movable rail member (17, 18). It can be installed so that it can reciprocate. According to this configuration, a total of four picking heads can be made to correspond to the entire area inside the container carried into the container receiving area in a state where they are adjacent to each other in both XY directions. Therefore, if the load to be transferred is a small size load that can be hoisted and lowered by one picking head, four loads can be picked up at the same time, regardless of the position of each load, by two picking lines arranged in the X direction or the Y direction. Two loads at the same time for medium-sized loads that can be lifted and lowered by the head, and one load for large-sized loads that must be lifted and lowered by four picking heads. And it can be handled efficiently.

  In the transfer device of the present invention, it is possible to manually perform the work of loading and unloading the container to and from the container receiving site of the unloading target and the container receiving site of the unloading target. On the other hand, it is possible to carry out the operation by providing one conveyor for loading and unloading the container, but it is desirable to carry out as follows. That is, a conveyor (10) for loading and unloading the container (Cy) to and from the container receiving area (7) for the loading and unloading, and a loading and unloading container (Cx) for the container receiving area (8) for the loading and unloading. And a conveyor (11) for carrying out the above, and each of these conveyors (10, 11) includes a conveyor unit (12) for loading and unloading, a conveyor unit (13) for unloading, and an elevating transfer means (14A, 14B), and the container supporting and conveying means for moving up and down the transfer means (14A, 14B) for moving up and down the path between the conveyor units (12, 13) via the container receiving area (7, 8). When the containers (14a, 14b) are provided and the container supporting carriers (14a, 14b) are located at least in the both container receiving fields (7, 8), the container supporting carriers (14a, 14b) are Incline so that the supported containers (Cy, Cx) are in parallel with the loading / unloading unit (1). Can be configured as According to this configuration, while the carry-in conveyor unit and the carry-out conveyor unit are general ones that carry the container in a horizontal posture, the carry-in conveyor unit and the carry-out conveyor unit are provided in upper and lower two layers. As described above, it is possible to automatically incline the container received at the container receiving place for loading and unloading and the container loaded at the container receiving place for loading by using the container support carrier of the elevating transfer means. This eliminates the need for special means for tilting the container at both container receiving areas.

  When performing an automatic transfer operation or a manual transfer operation by the transfer apparatus according to the present invention, each container is not in a state where the load in a suspended state by the picking head or manually is completely separated from the inside of the container. It is not possible to safely carry in / out work of the container targeted for unloading or the container targeted for unloading into / from the receiving place. Therefore, the obstacle detection means (31) for detecting obstacles existing above the containers (Cy, Cx) carried in the container receiving place (7) for unloading and the container receiving place (8) for unloading ) Is desirable. According to this configuration, the loading / unloading work of the container in a situation where there is a load or manpower entering the obstacle detection area of the obstacle detection means is automatically performed based on the obstacle detection signal of the obstacle detection means. It can be avoided and the safety is improved. When this configuration is implemented, the obstacles existing above the two containers (Cy, Cx) carried in the two container receiving fields (7, 8) arranged in parallel in the X direction are monitored from the X direction. If the detecting means (31) is used, it is possible to secure the safety at the time of loading and unloading of the container by both the container receiving place of the unloading target and the container receiving place of the unloading target by one obstacle detecting means. ..

  Of course, the obstacle detection means is an obstacle detection means (33A) for detecting an obstacle existing on the upper side of the container (Cy) loaded into the container receiving area (7) for loading and unloading target, It is also possible to separately provide the obstacle detecting means (33B) for detecting an obstacle existing on the upper side of the container (Cx) carried into the container receiving place (8). According to this configuration, even if the loading / unloading time of the container to / from both container receiving areas is different, the obstacle can be reliably detected at the loading / unloading of the container to / from each container receiving area. Compared to the case where the loading and unloading timings must be the same, safety can be secured while improving work efficiency.

  As described above, the conveyors (10, 11) for loading and unloading containers (Cy, Cx) into and from the container receiving area (7) for loading and unloading and the container receiving area (8) for loading and unloading are respectively moved up and down. In the configuration including the means (14A, 14B), when the obstacle detecting means (33A) and the obstacle detecting means (33B) for the container receiving place (8) to be loaded are provided, Each of the three obstacle detection means (33A, 33B) is composed of a light emitter / receiver (38a) and a light ray reflection plate (38b), and the light ray reflection plate (38b) is the elevation transfer means (14A, 14B). ) Attached to each container support carrier (14a, 14b), the light emitting and receiving device (38a), the container (Cy, Cx) supported by each container support carrier (14a, 14b) is the container receiving unit When it is located at (7, 8), it can be provided at a fixed position corresponding to the light ray reflection plate (38b). According to this configuration, since it is not necessary to attach a device such as a light projector or a light receiver that needs to be energized to each container supporting and transporting body that is a moving body, not only can it be easily implemented, but it can also be used for obstacle detection. The effect of shortening the length of the light ray film can also be obtained.

FIG. 1 is a side view of a transfer device according to an embodiment of the present invention. FIG. 2 is a front view of the transfer device of the above. FIG. 3 is a plan view when the transfer device is in a state where the transfer work is performed manually. FIG. 4 is a plan view for explaining the movement range of the picking head in the X direction in the above transfer device. FIG. 5 is a plan view for explaining the movement range of the picking head in the Y direction in the above transfer device. FIG. 6A to FIG. 6D are schematic plan views for explaining each stage in the transfer operation when the four picking heads in the transfer device handle one small size load each. FIG. 7A to FIG. 7D are schematic plan views for explaining each stage in the transfer operation when the four picking heads in the transfer device handle one large size load. FIG. 8 is a side view showing another embodiment of safety measures. FIG. 9 is a front view of FIG. FIG. 10 is a side view showing a modification of the embodiment shown in FIG. FIG. 11 is a side view of a main part showing still another embodiment of the safety measure.

  As shown in FIGS. 1 to 3, the loading / unloading unit 1 included in the transfer device of the present invention according to the illustrated embodiment is installed on a pedestal 2 via an auxiliary pedestal 2a. The gantry 2 includes a pair of side frames 5a and 5b in the X direction (horizontal direction) formed by a pair of columns 3a and 3b in the Y direction (front and rear direction) and connecting members 4a and 4b in the Y direction, and the side frames 5a and 5b. Is composed of X-direction connecting members 5c and 5d which are connected and integrated with each other at a position where they do not interfere with a container to be handled or a worker who performs manual work. The auxiliary mount 2a supports the loading / unloading unit 1 by inclining it as shown in FIG.

  The gantry 2 is installed so that a container receiving area 7 for unloading and a container receiving area 8 for unloading are straddling a load transfer work space 9 adjacent in the X direction. A conveyor 10 for loading and unloading the container Cy to be loaded and unloaded is connected to the container receiving site 8 for loading and unloading, and a conveyor 11 for loading and unloading the container Cx to be loaded and unloaded is connected to. The loading / unloading conveyors 10 and 11 have the same structure and are arranged in parallel with each other and are installed so as to extend along the Y direction to the rear side of the load transfer work space 9 in the Y direction. The lower conveyor unit 12 and the upper conveyor unit 13 and the elevating and transferring means 14A / 14B.

  The elevating and transferring means 14A / 14B have the same structure, and the rotating shaft 14c is provided between three pairs of arms 14d in the circumferential direction which are rotationally driven around a rotating shaft 14c parallel to the Y direction. It is provided with three container supporting carriers 14a and 14b which are rotatably supported by a rotating shaft 14e which is parallel to. When these three container support carriers 14a / 14b are rotationally driven around the rotary shaft 14c, they are also rotationally driven around the rotary shaft 14e in the opposite direction to the rotary shaft 14c with respect to each arm 14d. It is configured to always maintain a posture inclined at a constant angle in which the side opposite to the side on which the carry-in / carry-out conveyor units 12, 13 are located is lowered. The three container support carriers 14a / 14b are composed of a pair of Y-direction supporting units 14f and 14g for separately supporting both sides in the X direction of one container Cy / Cx.

  At the end portions of the carry-in conveyor unit 12 and the carry-out conveyor unit 13 on the side of the elevating and transferring means 14A / 14B, a tilted conveyor 12a for receiving containers, which is tilted downward at the same angle as the container supporting / transporting bodies 14a / 14b. And a container-feeding inclined conveyor 13a are connected in series. Both of these inclined conveyors 12a and 13a are of a width capable of moving up and down relatively between the pair of supporting units 14f and 14g in the Y direction of the container supporting / conveying bodies 14a / 14b, and are empty container supporting / conveying bodies 14a / 14b. Is stopped in a state of overlapping with the container receiving inclined conveyor 12a at a slightly lower level, the container Cy / Cx is carried out from the carrying-in conveyor unit 12 onto the container receiving inclined conveyor 12a, so that the container Cy / Cx is fed into the container support carrier 14a / 14b. Further, when the container support carriers 14a / 14b supporting the containers Cy / Cx to be carried out are stopped in a state of overlapping with the container delivery inclined conveyor 13a at a slightly lower level, the container support carrier 14a. Since the container Cy / Cx supported by / 14b is supported by the container-feeding inclined conveyor 13a, by operating the container-feeding inclined conveyor 13a and the unloading conveyor unit 13 in such a state, The containers Cy / Cx supported by the supporting and transporting bodies 14a / 14b are unloaded onto the unloading conveyor unit 13.

  The elevating / transferring means 14A / 14B having the above-mentioned configuration has the container receiving area 7/8 in the load transfer work space 9 for supporting the containers Cy / Cx in the parallel rotation paths of the three container supporting / conveying bodies 14a / 14b. Since a total of three stop positions of the stop position to be located at and the respective stop positions for both the inclined conveyors 12a and 13a are set at 120 degree intervals, by rotating the rotating shaft 14c at every 120 degree at required time intervals, The container Cy / Cx in an inclined posture sent out from the carry-in conveyor unit 12 is received, and in that inclined posture, it is sent to the container receiving area 7/8 in the load transfer work space 9, and in this load transfer work space 9 Load / unload work for the inclined container Cy / Cx, and carry out the completed container Cy / Cx in the inclined posture. It can be fed into the Nbeyayunitto 13.

  In addition, the means for loading / unloading the containers Cy and Cx to / from the container receiving place 7 for loading / unloading and the container receiving place 8 for loading / unloading has been briefly described. The means for loading / unloading the containers Cy and Cx to / from the target container receiving area 8 may have any configuration. Depending on the case, it is also possible to manually carry in / out the containers Cy and Cx to / from the container receiving place 7 for carrying in and out and the container receiving place 8 for carrying in.

  The loading / unloading unit 1 includes a pair of fixed rail members 15 and 16 parallel to the Y direction and an X direction, a pair of movable rail members 17 and 18 parallel to the X direction and the Y direction, and the movable rail members 17 and 18, respectively. It is composed of a pair of movable members 19, 20 and 21, 22 supported in the X direction and picking heads 23 to 26 which are respectively supported by these four movable members 19 to 22 so as to be vertically movable in the Z direction. More specifically, on the upper side of the pair of fixed rail members 15 and 16 in the X direction, two movable support bases 15a, 15b and 16a, 16b in the Y direction are reciprocated between both ends of the fixed rail members 15 and 16 in the Y direction. It is movably supported. Both ends of the pair of movable rail members 17 and 18 in the Y direction in the X direction are fixed and supported on the movable support bases 15a and 15b and 16a and 16b. The movable bodies 19, 20 and 21, 22 are supported on the side portions of the movable rail members 17, 18 facing each other so as to be capable of reciprocating in the X direction between both ends of the movable rail members 17, 18 in the X direction. Has been done. To these movable bodies 19 to 22, the lower end vicinity portions of the elevation rail members 19a to 22a parallel to the Z direction (vertical up and down direction) are fixed, and these elevation rail members 19a to 22a are arranged in the Z direction. Elevating and lowering supports 19b to 22b supported so as to be able to move up and down between both ends are provided, and the respective elevating and lowering supports 19b to 22b are provided with the picking heads 23 to 26 at their lower ends and are in parallel with the elevating rod 23a to Z direction. The upper end of 26a is fixedly supported. The picking heads 23 to 26 are capable of adsorbing to the upper surface of a load by negative pressure, a load in which a magnetic plate is attached to the upper surface of the load, or a box type load formed from the magnetic plate. As a type, it is possible to use a type that magnetically attracts by energization. Of course, it is also possible to use a gripping part provided on the upper surface of the load and a picking head provided with a gripping tool that can grip and release the gripping part.

  In the loading / unloading unit 1 configured as described above, as shown in FIG. 1, the fixed rail members 15 and 16 parallel to the Y direction are arranged in the loading / unloading work space 9 in the side view to move up and down the moving means 14A. , 14B are installed on the auxiliary pedestal 2a on the pedestal 2 in a state in which the whole is inclined with respect to the Y direction so as to be inclined at an angle equal to the inclination angle of the containers Cy / Cx fed by the container support carriers 14a and 14b. There is. The auxiliary pedestal 2a includes four inclined columns 6a that support both ends of the fixed rail members 15 and 16 in the length direction and a pair of Y-direction connecting members 6b that connects the pair of inclined columns 6a in the Y-direction. And an X-direction connecting member 6c for connecting the upper end portions of the pair of X-direction inclined support columns 6a supporting the inclined upper end portions of the fixed rail members 15 and 16.

  As shown in FIG. 3 and the like, the elevating support bases 19b to 22b (elevating rods 23a to 26a) are arranged in the X direction of the elevating rail members 19a, 20a / 21a, 22a supported by the same movable rail member 17/18. Is located on the side facing. Further, as shown in FIG. 4, the two movable bodies 19 and 20 in the X direction supported by the movable rail member 17 and the two movable bodies 21 and 22 in the X direction supported by the movable rail member 18 are movable. The elevating supports 19b, 20b / 21b, 22b (elevating rods 23a, 24a / 25a, 26a) at both ends in the X direction of the rail member 17/18 are arranged so that the state where they are adjacent to each other in the X direction is the stroke end of the movement. It can reciprocate along the movable rail members 17/18 within the X-direction movement range Wx.

  As shown in FIG. 4, a narrow standby area Sa1 provided with a standby position Sp1 for waiting only the movable rail member 17 is provided on the front side in the Y direction of the load transfer work space 9 in a plan view. As shown in the plan view, on the rear side of the load transfer work space 9 in the Y direction, two standby positions Sp2 in the Y direction where the two movable rail members 17 and 18 can stand by in the state of being adjacent to each other in the Y direction. , Sp3 having a wide standby area Sa2 is provided. Therefore, as shown in FIG. 5, the movable rail member 17 is provided between the standby position Sp1 in the narrow standby area Sa1 and the standby position Sp2 in the wide standby area Sa2 adjacent to the load transfer work space 9. 5, the movable rail member 18 is movable with respect to the movable rail member 17 located at the standby position Sp1 in the narrow standby area Sa1 as shown in FIG. It is possible to reciprocate in the Y direction within the Y-direction movement range Wy between the stroke limit position p4 adjacent to the rear side in the Y direction and the standby position Sp3 on the side farther from the load transfer work space 9 in the wide standby area Sa2. Is.

  Driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b in the Y direction with respect to the fixed rail members 15, 16, and the movable bodies 19, 20 and 21, 22 with respect to the movable rail members 17, 18 in the X direction. Although a specific structure is not shown for the driving means for reciprocating the moving means and the driving means for vertically moving the lifting support bases 19b-22b with respect to the lifting rail members 19a-22a, any conventionally known driving means is used. I can. For example, the driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b and the movable bodies 19, 20 and 21, 22 extends substantially the entire length within the fixed rail members 15, 16 (movable rail members 17, 18). A fixed screw shaft having a length is installed in parallel with the Y direction (X direction), and the movable support bases 15a, 15b and 16a, 16b (movable bodies 19, 20 and 21, 22) are provided with the fixed screw shafts. A female screw body that supports a screwed female screw body so that it can rotate only, and that is equipped with a motor that drives the female screw body to rotate in the forward and reverse directions, is provided with a female screw body that each movable support base 15a to 16b (movable bodies 19 to 22) has. The picking heads 23-26 are moved in the X direction together with the lifting / lowering supports 19b-22b (lifting rods 23a-26a) by rotating the motors in the forward and reverse directions. It can be moved freely within the moving range Wx and the Y-direction moving range Wy.

  Further, as a driving means for vertically moving the lifting support bases 19b to 22b with respect to the lifting rail members 19a to 22a, one lifting support base 19b to 22b is vertically driven to each lifting rail member 19a to 22a. Therefore, for example, a self-rotatable screw shaft having a length extending over substantially the entire length thereof is supported in each of the elevating rail members 19a to 22a along the Z direction, and, for example, the upper ends of the elevating rail members 19a to 22a. A motor for driving the screw shaft to rotate forward and backward can be attached to each of the elevating and lowering supports 19b to 22b, and a fixed female screw body to be screwed into the screw shaft can be attached. According to this structure, by driving the screw shaft to rotate in the forward and reverse directions by the motor, it is possible to freely move up and down the lift support bases 19b to 22b.

  Further, as shown in FIGS. 1 to 3, on the floor surface side of the load transfer work space 9 in the front in the Y direction, in other words, on the floor surface side below the inclined lower end portion of the load / unload unit 1, An operator's load transfer work area 27 having a width capable of covering the entire width of the transfer work space 9 in the X direction is provided. Further, above the load transfer work space 9, at a certain height above the container receiving area 7 for unloading and at a certain height above the container receiving area 8 for unloading, the container receiving area 7 for unloading Image pickup device (camera) 28 that reads the position information of the load inside the container Cy to be loaded and unloaded from the image, and the loading inside the container Cx to be loaded that is located at the container receiving area 8 to be loaded. An image pickup device (camera) 29 for reading an image of a place where it can be placed is provided. These imaging devices 28 and 29 are attached to a horizontal upper end portion of a portal frame 30 in which legs on both sides in the Y direction are supported by a pair of X direction connecting members 2c of the auxiliary mount 2a.

  Hereinafter, a method of using the transfer device configured as described above will be described. The transfer device enables automatic operation of operating the load / unload unit 1 and manual work without using the load / unload unit 1. It is something. In either case, the container Cy to be unloaded is sent to the container receiving area 7 to be unloaded by the loading conveyor unit 12 of the loading / unloading conveyor 10 and the container support carrier 14a of the elevating and transferring means 14A in an inclined posture. .. Further, the container Cx to be loaded is sent to the container receiving area 8 to be loaded in an inclined posture by the loading conveyor unit 12 of the loading / unloading conveyor 11 and the container support carrier 14b of the elevating and transferring means 14B. Thus, in the case of automatic operation, the four picking heads 23 to 26 of the load / unload unit 1 as shown by the solid line in FIG. Is standing by at the positions adjacent to the outside of the four corners in the plan view and at the rising height limit. That is, the movable rail member 17 is located at the standby position Sp1 in the narrow standby area Sa1, and the movable rail member 18 is located at the standby position Sp2 in the wide standby area Sa2, so that the movable rail members 17, 18 are movable. The bodies 19, 20 and 21, 22 are at positions adjacent to the outside of the four corners in plan view of the container Cy to be unloaded, which has been loaded into the container receiving area 7 to be unloaded, and the lifting rods 23a to 26a provided therein, respectively. Stands by at the rising limit height of the lifting rail members 19a to 22a.

  As shown in FIG. 6A, for example, as shown in FIG. 6A, a plurality of small-sized loads Bs are stored in the container Cy to be unloaded to the container receiving area 7 to be loaded and unloaded. When four small-sized loads Bs have to be transferred to the container Cx to be loaded into the container 8 as shown in FIG. 8, as shown in FIG. 6A, they are outside the four corners of the container Cy to be unloaded and at the upper limit positions. As shown in FIG. 6B, the four picking heads 23 to 26 that are on standby at the moving positions of the movable rail members 17 and 18 in the Y direction and the movable bodies 19, 20 and 21 on the movable rail members 17 and 18 are moved. , 22 in the X direction are combined and moved to a position directly above the four small-sized loads Bs to be carried out, and subsequently, the elevating and lowering support bases 19b to 22b (the elevating and lowering support members 19a to 22a) Head 23A～26a) is lowered and is brought into contact adsorb four picking heads 23 to 26 on the upper surface of the four small sized cargo Bs unloading target. Of course, it is assumed that the picking heads 23 to 26 are of the negative pressure adsorption type or the magnetic adsorption type, but the gripped portion is provided on the upper portion of the load to be handled, and the picking heads 23 to 26 are the gripped portions. In the case of a gripping type having a gripping tool for gripping, the gripping tool of each of the picking heads 23 to 26 grips the gripped portion above the four small-sized loads Bs to be carried out. The above operation can be automatically performed on the basis of the image acquired by the imaging device 28 located right above the container receiving place 7 to be unloaded.

  When the picking heads 23 to 26 are in a state capable of lifting the four small-sized loads Bs to be carried out at predetermined positions in the container Cy to be carried out, the picking heads 23 to 26 are taken to the small-sized loads to be carried out. Lift with Bs to the maximum height. Specifically, the elevating support bases 19b to 22b (elevating rods 23a to 26a) are raised to the ascending height with respect to the elevating rail members 19a to 22a. After that, the small-sized load Bs that has been lifted is transferred to a predetermined position (for example, the position shown in FIG. 6B) in the container Cx to be loaded that has been loaded into the container receiving area 8 to be loaded. Specifically, as shown in FIG. 6C, movement of the movable rail members 17, 18 in the Y direction and movement of the movable bodies 19, 20 and 21, 22 on the movable rail members 17, 18 in the X direction are performed. In combination, the lifted small size load Bs is moved to a position right above a predetermined position in the container Cx to be loaded, and then the lifting rods 23a to 26a are lowered with respect to the respective lifting rail members 19a to 22a to perform picking. The small-sized loads Bs on which the heads 23 to 26 have been lifted can be unloaded to a predetermined position in the container Cx to be loaded (see FIG. 6D). The image picked up by the imaging device 29 located right above the container receiving area 8 of the loading target is used for selecting the unloading location of the small-sized load Bs in the loading target container Cx and confirming that the loading has been completed. It can be done automatically based on.

  If the entire small-sized load Bs that is lifted from the container Cy to be unloaded moves upward from within the container Cy to be unloaded, the container Cy to be unloaded at that time It can be carried out from 7. Specifically, after lowering the container support carrier 14a of the elevating and transferring means 14A supporting the container Cy to be unloaded and connecting it to the carry-out conveyor unit 13, it is carried out from the container support carrier 14a. The container Cy to be unloaded will be unloaded onto the conveyor unit 13 for use. As a result, the work of loading the next container Cy to be unloaded to the container receiving area 7 to be unloaded can be immediately started without waiting for the completion of transfer of the small-sized load Bs to the container Cx to be unloaded. ..

  On the other hand, when the transfer of the small-sized load Bs into the container Cx to be loaded is completed as described above, after all the picking heads 23 to 26 are lifted to the rising limit height, the standby position shown in FIG. Return to. Also in this case, if the elevating rods 23a to 26a and the picking heads 23 to 26 rising from the inside of the container Cx to be loaded move upward from inside the container Cx to be loaded, the container to be loaded at that time Cx can be unloaded from the container receiving area 8 for loading. Specifically, after lowering the container support carrier 14b of the elevating and transferring means 14B supporting the container Cx to be loaded and connecting it to the unloading conveyor unit 13, the container support carrier 14b is unloaded. The container Cx to be loaded is carried out onto the conveyor unit 13 for loading. As a result, the work of loading the next container Cx to be loaded into the container receiving area 8 to be loaded can be immediately started without waiting for the picking heads 23 to 26 to return to the standby position shown in FIG. 6A. ..

  It has been described that all the picking heads 23 to 26 transfer the four small size loads Bs at the same time when the small size loads Bs are transferred, but each of the picking heads 23 to 26 has a small size. This is because the load Bs can be hoisted and lowered, and the four small size loads Bs can be transferred at the same time. In one transfer operation, the small size load Bs is within the range of 1 to 4. Transfer work can be done at. If the number of small-sized loads Bs to be transferred is 3 or less, 1 to 3 of the picking heads 23 to 26 will not be used, but of the movable bodies 19 to 22, To prevent the movable body having the picking head to be unused from interfering with the movement of the other picking heads in the XY directions, for example, among the picking heads 23 to 26 in the standby position shown in FIG. The picking head can be selected to be used from the picking head at the position near the container Cx to be loaded in the container receiving area 8 to be loaded.

  Of course, the size of the load to be handled is a vertically long medium size load that is long in the Y direction and can be lifted by two picking heads 23, 25/24, 26 that can be adjacent in the Y direction among the picking heads 23 to 26. , 1 or 2 horizontally long medium-sized loads that can be lifted by two picking heads 23, 24/25, 26 that can be adjacent to each other in the X direction using two picking heads Can be handled. Further, it is possible to handle a large size load that must be lifted by all four picking heads 23 to 26. 7A to 7D describe the situation when one large-sized load Bb is transferred by all four picking heads 23 to 26. The procedure is basically the same as the transfer operation of the small size load Bs described with reference to FIG. 6, and the difference is that all four picking heads 23 to 26 always lift one large size load Bb and X- This is the point where conveyance in the Y direction and unloading are performed. In this case, it is desirable that the four picking heads 23 to 26 be positioned so as to lift the positions near the four corners of the upper surface of one large-sized load Bb.

As described above, the loading / unloading unit 1 is operated to load the loads of various sizes in the loading / unloading target container Cy into the loading / unloading target container receiving place 7 into the loading / unloading target container receiving position 8. It is possible to transfer it to the container Cx for loading
As described above, the entire loading / unloading unit 1 is inclined at a constant angle with respect to the Y direction, and the container supporting / conveying bodies 14a, 14b of the elevating / transferring means 14A, 14B are arranged in the respective container receiving fields 7, 8. The containers Cy and Cx carried in are also tilted at the same tilt angle as the tilt angle of the load / unload unit 1 in the Y direction, and the movable bodies 19, 20 and 21, 22 are also tilted at the above-mentioned constant angle X. While moving on the −Y two-dimensional plane, the picking heads 23 to 26 also move up and down in the Z direction perpendicular to the XY two-dimensional plane inclined at a constant angle. In other words, the picking heads 23 to 26 move on the XY two-dimensional plane inclined parallel to the inclined bottom surfaces of the containers Cy, Cx, and Z inclined perpendicular to the inclined bottom surfaces of the containers Cy, Cx. Since it can be moved up and down in the direction, the action of lifting a load from the container Cy to be unloaded at the container receiving place 7 and lowering the lifted load into the container Cx to be loaded at the container receiving place 8 is as follows. This can be carried out as in the case where the entire loading / unloading unit 1 and the containers Cy and Cx are horizontal.

  For example, when the picking heads 23 to 26 have a failure or the above work needs to be performed manually for some reason, as shown in FIGS. 1 and 3, the two movable rail members 17, 18 in the Y direction are widened. It is moved into the waiting area Sa2. That is, the movable rail member 18 is moved rearward in the Y direction to the limit position and stopped at the standby position Sp3, and the movable rail member 17 is moved rearward in the Y direction to a position adjacent to the movable rail member 18. Stop at the standby position Sp2. The standby of the two movable rail members 17 and 18 in the wide standby area Sa2 adjacent to each other in the Y direction is performed at each stage when a series of transfer operations using the load / unload unit 1 is completed. Is also good.

  When the preparation for the manual work is completed, the upper part of the load transfer work space 9 and the front side in the Y direction are released, and the worker stands on the floor surface of the load transfer work area 27 to move the movable rail members 17, 18 and inside the container Cy carried in the container receiving area 7 of the unloading target without being disturbed by the lifting rail members 19a to 22a supported by these, the lifting rods 23a to 26a, and the picking heads 23 to 26. It is possible to manually transfer loads of various sizes into the container Cx that has been loaded into the container receiving area 8 for loading. Even when the manual transfer work is performed, the work content can be managed based on the images acquired by the imaging devices 28 and 29.

  In the above-described embodiment, between the loading conveyor unit 12 and the loading conveyor unit 13 of the loading / unloading conveyor 11, the load unloading target container Cy and the load unloading target container Cx are passed through the respective container receiving stations 7 and 8. As the ascending / descending and moving means 14A, 14B for vertically ascending / descending and transferring, the container supporting / conveying bodies 14a, 14b capable of supporting the containers Cy, Cx in a tilted posture at a constant angle on the vertical rotation path are moved in parallel. A means configured to transfer the containers Cy and Cx from the end of the carry-in conveyor unit 12 to the start of the carry-out conveyor unit 13 via the container receiving fields 7 and 8 is used. May have any configuration. For example, the container supporting carriers 14a and 14b of the embodiment shown in FIGS. 8 to 10 are parallel to each other between the upper limit position and the lower limit position which are connected to the upper and lower two-layer carry-in conveyor unit 12 and the carry-out conveyor unit 13. Like the container supporting / conveying bodies 14a and 14b in the previous embodiment, it is vertically movable and is inclined at a constant angle in the Y direction so as to be parallel to the overall loading / unloading unit 1. On the support carriers 14a and 14b, the operation of pulling the container Cy / Cx sent from the carry-in conveyor unit 12 to a fixed position on the container support carriers 14a and 14b and the container Cy / Cx at the fixed position are carried out. Pulling-out / feeding-out means capable of selectively sending-out onto the carrying-out conveyor unit 13 (conveyor or controller whose rotation direction can be switched). It is those with a Na push pull for reciprocating movement and the like). The container supporting carriers 14a and 14b are stopped at the container receiving stations 7/8 located in the middle of the parallel ascending / descending paths so that the supporting containers Cy / Cx are carried into the container receiving stations 7/8. You can do it. When the loading / unloading conveyors 10 and 11 carry in / out the containers Cy / Cx to / from both container receiving areas 7 and 8 at the same time, the elevator transfer means 14A and 14B provided in both conveyors 10 and 11 are used. Is a container supporting carrier 14a, 14b provided integrally with each other, and one container supporting having a width substantially equal to the width in the X direction of the entire container receiving fields 7, 8 (load transfer work space 9). It can also be a carrier.

  When the loading / unloading process of the containers Cy, Cx to / from the load transfer work space 9 is executed by the container support carriers 14a, 14b as described above, the containers Cy, Cx supported by the container support carriers 14a, 14b are carried out. It is very dangerous to have a human hand or a load in the middle of hoisting or unloading during the manual work, and it is very dangerous. Even during the automatic work by the cargo carry-in / carry-out unit 1, the carry-in / carry-out process of the containers Cy, Cx If the elevating rods 23a to 26a provided with the picking heads 23 to 26 at the lower end enter the upper side of the containers Cy and Cx when the above-mentioned procedure is executed, a failure accompanied with breakage of the equipment will be induced. Although it is necessary to take safety measures so that such a situation does not occur, an example of this safety measure will be described below.

  As shown in FIG. 1 and FIG. 2, the container Cy to be unloaded in the container receiving area 7 to be unloaded in the loading and unloading work space 9 and the container receiving area 8 to be loaded in Obstacle detecting means 31 for generating a planar obstacle detecting light film 31a that crosses the upper side of the container Cx to be loaded into the load transfer work space 9 in the X direction from one outer side to the other outer side is provided. You can The obstacle detecting means 31 is attached such that the generated planar obstacle detecting light film 31a is inclined parallel to the containers Cy and Cx inclined in the Y direction in a side view from the X direction. ing. Thus, the obstacle detecting means 31 is a light beam consisting of a light projector 32a disposed outside one end of the load transfer work space 9 in the Y direction and a light receiver 32b disposed outside the other end of the load transfer work space 9 in the Y direction. Although a transmissive type can be used, a reflective type in which the light projecting device 32a is a light projecting / receiving device and a light beam reflecting plate is used in place of the light receiving device 32b may be used. The light emitter (light emitter / receiver) 32a and the light receiver 32b (light reflecting plate) can be attached to the side frames 5a, 5b on both sides of the pedestal 2 in the X direction. The obstacle detecting means 31 may be operated for a certain period of time immediately before the elevating and transferring means 14A and 14B are operated. When there is a human hand or the like that intersects with the light beam film 31a for detecting obstacles while the obstacle detecting means 31 is in operation, the obstacle detecting means 31 outputs an obstacle detecting signal. Based on the detection signal, the operations of the lifting / lowering transfer means 14A and 14B can be stopped urgently, and at the same time, an alarm or a lamp for notifying the urgent stop can be operated.

  In addition, as shown in FIG. 8, the obstacle detection light film 33a is loaded into the container receiving area 7 for unloading and the container receiving area 8 for unloading in the load transfer work space 9. It is also possible to use the obstacle detection means 33 which forms the upper side of Cy and Cx in a direction transverse to the front-back Y direction. In this case, the light emitter (or light emitter / receiver) 34a and the light receiver (or light reflection plate) 34b are provided between the pair of pillars 3a in the X direction on the front side in the Y direction of the side frames 5a, 5b forming the gantry 2 and on the rear pillar. It can be attached to the supporting frames 35a and 35b which are provided between the 3b and parallel to the X direction in parallel. In the figure, the light receiver (or the light beam reflection plate) 34b is arranged on the front side in the Y direction of the load transfer work space 9, but it may be arranged in the front-rear direction. However, the support frame 35a on the front side and the obstacle detection device (the light receiver (or the light reflection plate) 34b or the light projector (or the light receiver / receiver) 34a) attached to the front support frame 35a do not enter the work space of the operator. Need to be installed.

  When the obstacle detecting means 33 shown in FIG. 8 is used, as shown in FIG. 9, obstacle detection for monitoring the upper side of the container Cy to be unloaded, which has been carried into the container receiving area 7 to be unloaded. The means 33A and the obstacle detection means 33B for monitoring the upper side of the container Cx to be loaded into the container receiving area 8 to be loaded can be installed separately. In this case, if the carry-in / carry-out conveyor 10 and the carry-in / carry-out conveyor 11 including the elevating / transferring means 14A and 14B can be separately operated, the elevating / transferring means 14A on the carry-in side and the carrying-out / carrying-out side can be carried out. While operating the elevating and transferring means 14B on the side separately at arbitrary timings, the obstacle detecting means 33A and the obstacle detecting means 33B are activated at the time of each operation, and the unloading is carried out by the respective obstacle detecting light films 33a and 33b. The obstacles on the side of the target container Cy and the obstacles on the side of the container Cx to be loaded can be detected separately to always ensure safety.

  As shown in FIG. 10, when the table 36 that can be used for manual work is installed on the front side of the load transfer work space 9 in the Y direction, it is arranged on the front side of the load transfer work space 9 in the Y direction. The light receiver (or light-reflecting plate) 34b or the light projector (or light receiver / receiver) 34a can be attached to the edge of the table 36 on the load transfer work space 9 side or below it. In the figure, a light reflection plate 34b for the light emitter / receiver 34a is attached to the edge of the table 36 on the side of the load transfer work space 9 side.

  Further, as shown in FIG. 11, behind the respective container support carriers 14a and 14b of the lifting / lowering transfer means 14A and 14B in the Y direction, there is a gate-shaped support through which the containers Cy and Cx can move in the Y direction. A frame 37 is attached, and is attached to the front side support frame 35a (which may be the table 36) shown in FIG. 8 at the horizontal frame portion 37a along the X direction at the upper end of the gate-shaped support frame 37. Obstacle detecting means 33A and 33B can also be configured by attaching the light beam reflecting plate 38b to the light emitting and receiving device 38a. According to this configuration, when the container supporting / transporting bodies 14a and 14b start to move up and down from the fixed position in the load transfer work space 9, the light emitter / receiver 38a can be switched on to detect an obstacle. .. Obviously, also in this embodiment, it is possible to use the obstacle detecting means composed of the combination of the light emitter and the light receiver, and the light emitter / receiver 38a and the light beam reflector 38b shown in FIG. However, according to the embodiment shown in FIG. 11, it is not necessary to provide an energization path between the container supporting and conveying bodies 14a and 14b, which are moving bodies, and the fixed position, and an obstacle can be easily and easily provided. The detection means can be configured.

  When the obstacle detecting means 31, 33, 33A, 33B utilize the obstacle detecting light films 31a, 33a, 33b between the light emitting and receiving devices, the obstacle detecting light films 31a, 33a, 33b. Means a plane light beam film projected from a slit-shaped opening of a light projector, and a group of a large number of light beams projected individually from a large number of light projectors arranged in parallel at appropriate intervals. Of course, as the obstacle detecting means, a type that does not use the obstacle detecting light film between the light emitting and receiving devices, for example, a type that uses an imaging device (camera) can be used.

  With the transfer device of the present invention, the work of transferring the load in the container of the unloading target into the container of the unloading target can be switched between the automatic work performed by the automatic device and the manual work performed by the worker as necessary. It can be used as a transfer device.

1 Loading / unloading unit 2 Stand 2a Auxiliary stand 5a, 5b A pair of side frames in X direction (horizontal direction) 7 Container receiving area for loading / unloading 8 Container receiving area for loading / unloading 9 Loading / unloading work space 10, 11 Loading / unloading Conveyor 12 carry-in conveyor unit 13 carry-out conveyor unit 14A, 14B elevating and transferring means 14a, 14b container support carrier 15, 16 fixed rail members 15a to 16b movable support stand 17, 18 Y direction (front-back direction) pair of movable Rail member 19-22 Movable body 19a-22a Elevating rail member 19b-22b Elevating support base 23-26 Picking head 23a-26a Elevating rod 27 Load transfer work area 28,29 Imaging device 31,33,33A, 33B Obstacle Detecting means 31a, 33a, 33b Obstacle detecting light film 32a 34a, 38a Light emitter or light emitter / receiver 32b, 34b, 38b Light receiver or light reflector 35a, 35b Support frame 36 Table 37 Gate-shaped support frame Bs Small size load Bb Large size load Cy Container for discharge Cx Target of load Container Sp1 to Sp3 Standby position Sa1 Narrow standby area Sa2 Wide standby area Wx X direction movement range Wy Y direction movement range

Claims (7)

Both ends of two movable rail members parallel to each other are movably supported in parallel and laterally by two fixed rail members in the Y direction orthogonal to the X direction which is the length direction of the movable rail members. A movable body is supported on each of the two movable rail members so as to be capable of reciprocating in the X direction, and a picking-up / loading-in unit including a picking head capable of vertically lifting a load is provided on each movable body. In the transfer device,
The loading / unloading unit is entirely inclined such that one end side of the fixed rail member is lower than the other end side, and the picking head in plan view is below the overall loading / unloading unit. In the movable area of, there is provided a loading / unloading work space in which a container receiving place for unloading and a container receiving place for unloading are arranged in parallel in the X direction. The container receiving place is configured such that the container to be carried in and out of the container and the container to be carried in to each container are inclined in a direction parallel to the entire container to be carried in and out when viewed from the X direction. , A loading / unloading work area for a worker is set on the floor surface on the lower end side of the container inclined with respect to the two container receiving fields arranged in parallel in the X direction. Apparatus.   The waiting areas of the two movable rail members are set on both outer sides in the Y direction with respect to the two container receiving fields arranged in parallel in the X direction, and within this waiting area, the load transfer work of the worker is performed. One standby area on the side closer to the area is a narrow standby area in which only one movable rail member of the two movable rail members on the inclined lower end side of the loading / unloading unit can be on standby, and the other standby area on the other side. The transfer device according to claim 1, wherein the standby area is a wide standby area in which the two movable rail members can stand by in a state of being adjacent to each other in the Y direction.   The movable body provided with the picking head so as to be able to move up and down is provided two by two on each of the two movable rail members, and the two movable bodies provided on each movable rail member are the movable rail member of the movable rail member. The transfer device according to claim 2, wherein the transfer device is provided so as to be reciprocally movable between both ends of each movable rail member so that the movable rail members can be positioned adjacent to each other on both sides.   A conveyor for loading and unloading containers to and from the container receiving area for loading and unloading and a conveyor for loading and unloading containers to and from the container receiving area for loading and unloading are provided. It is provided with a layer carrying-in conveyor unit and a carrying-out conveyor unit, and an elevating and lowering transfer means, and the elevating and lowering transfer means includes a container support carrier that moves on an ascending / descending path between the two conveyor units passing through the container receiving area. When the container support carrier is located at least in both of the container receiving fields, the container support carrier is tilted, and the supported container is tilted in a direction parallel to the load / unload unit. The transfer device according to claim 1, wherein the transfer device is configured to perform.   5. An obstacle detection unit for detecting an obstacle existing above the loaded container is provided along with the container receiving place for unloading and the container receiving place for unloading. The transfer device according to item 1.   Obstacle detecting means for detecting an obstacle existing on the upper side of the carried-in container is provided in the container receiving area for the unloading object and the container receiving area for the unloading object, and the obstacle detecting means is an emitter / receiver. And a light reflecting plate, the light reflecting plate is attached to the container supporting carrier of the elevating and lowering means, and the light emitting and receiving device is a container supported and carried by the container supporting carrier. The transfer device according to claim 4, wherein the transfer device is provided at a fixed position corresponding to the light ray reflection plate when positioned at. The obstacle detecting means is an obstacle detecting means for detecting an obstacle existing on the upper side of the container carried into the container receiving place of the unloading target, and an upper side of the container carried into the container receiving place of the unloading target. 7. The transfer device according to claim 5 or 6, which is divided into two obstacle detecting means for detecting an obstacle existing in.

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