JP2020070152A - Article transfer facility - Google Patents

Abstract

To provide an article transfer facility capable of suppressing the installation cost.SOLUTION: The article transfer facility includes a first holding part 11, a second holding part 12, a drive unit 15, and a control unit. The drive unit 15 includes: a first Z-axis drive unit 21 that moves the first holding part 11 while guiding it in a Z direction Z; a second Z-axis drive unit 22 that moves the second holding part 12 while guiding it in the Z direction Z; a first X-axis drive unit 71 that moves the first holding part 11 while guiding it in an X direction X; a second X-axis drive unit 72 that moves the second holding part 12 while guiding it in the X direction X; a first Y-axis drive unit 46 that moves the first holding part 11 while guiding it in a Y direction Y; and a second Y-axis drive unit 47 that moves the second holding part 12 while guiding it in the Y direction Y. The control unit selectively executes independent transfer control and joint transfer control. In the independent transfer control, the first holding part 11 and the second holding part 12 hold different target articles WT; in the joint transfer control, the first holding part 11 and the second holding part 12 jointly hold one target article WT.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a first holding unit that holds an article, a second holding unit that holds an article, a driving unit that moves the first holding unit and the second holding unit, and a control unit that controls the driving unit. The present invention relates to an article transfer facility including:

  The background art will be described below. In the following description, the code or name in parentheses is the code or name in the prior art document. A conventional example of such an article transfer facility is described in Japanese Unexamined Patent Application Publication No. 2018-039613 (Patent Document 1). In the article transfer equipment of Patent Document 1, the transfer device 3 is configured by a vertical articulated robot including an articulated arm 16 and a suction pad 17 supported at the tip thereof.

JP, 2008-039613, A

  In the above-mentioned article transfer equipment, the transfer device is composed of a vertical articulated robot, but such a vertical articulated robot is expensive and complicated in control, and thus such a transfer device is used. The installation cost of the article transfer equipment equipped with is likely to be high. Further, in order to improve the transfer efficiency of articles or to enable transfer of various articles, it is necessary to install a plurality of vertical articulated robots or enhance the capacity of the vertical articulated robots. Therefore, the installation cost of the article transfer facility is likely to increase.

  Therefore, it is desired to realize an article transfer facility that can reduce the installation cost.

In view of the above, the characteristic configuration of the article transfer facility is as follows: a first holding section that holds an article, a second holding section that holds an article, and a drive section that moves the first holding section and the second holding section. And a control unit that controls the drive unit,
The driving unit guides the first holding unit in the Z direction with a predetermined reference direction as the Z direction, one of two directions orthogonal to each other when viewed in the Z direction as the X direction, and the other as the Y direction. A first Z-axis driving unit that moves while moving the second holding unit, a second Z-axis driving unit that moves the second holding unit while guiding the second holding unit in the Z direction, and a first X that moves the first holding unit while guiding the first holding unit in the X direction. An axis drive unit, a second X-axis drive unit that moves the second holding unit while guiding it in the X direction, a first Y-axis drive unit that moves the first holding unit while guiding it in the Y direction, and A second Y-axis drive unit that moves the second holding unit while guiding it in the Y direction, wherein the control unit is at least one of the size, shape, and material of the target article that is the transfer target article. Independent transfer control and joint transfer control are selectively executed according to In the independent transfer control, the first holding unit and the second holding unit hold different target articles, and the first holding section and the second holding section of the target article are independent of each other. The driving unit is controlled to perform a transfer operation, and in the joint transfer control, the first holding unit and the second holding unit jointly hold one target article, and The point is to control the drive unit so as to perform the transfer operation.

According to this characteristic configuration, each of the first Z-axis drive unit, the first X-axis drive unit, and the first Y-axis drive unit has a simple configuration that moves the first holding unit while guiding it in the linear direction. While the 1 holding unit can be moved in any of the Z direction, the X direction, and the Y direction, control by the control unit is easy and each drive unit can be configured at low cost.
In addition to the first holding unit, the first Z-axis driving unit, the first X-axis driving unit, and the first Y-axis driving unit, the second holding unit, the second Z-axis driving unit, the second X-axis driving unit, and the second Y-axis. It has a drive unit. Therefore, when the control unit executes the independent transfer control, the first holding unit and the second holding unit can hold different target articles and transfer a plurality of target articles at the same time. It can be transferred efficiently. Further, the control unit executes the joint transfer control, so that the first holding unit and the second holding unit jointly hold and transfer the target article that cannot be held by one holding unit due to its size, shape, or material. Therefore, various target articles can be transferred.
As described above, according to this characteristic configuration, it is possible to realize a configuration capable of performing efficient transfer of target articles and transfer of various target articles while keeping the installation cost of the article transfer equipment low. You can

Perspective view of article transfer equipment Top view of goods transfer facility Side view of transfer equipment Front view of goods transfer facility Partially enlarged perspective view of transfer device Control block diagram Transfer control flowchart Flow chart of selection control Flow chart of joint transfer control Flow chart of independent transfer control Plan view showing the suction operation of joint transfer control Plan view showing the suction release operation of joint transfer control Front view showing the suction operation of joint transfer control Plan view showing simultaneous suction operation of independent transfer control Plan view showing the simultaneous suction release operation of independent transfer control Plan view showing the sequential suction operation of independent transfer control Plan view showing the sequential suction operation of independent transfer control Plan view showing the sequential suction release operation of independent transfer control Plan view showing the sequential suction release operation of independent transfer control Side view showing a state in which the holding unit in the joint transfer control is in the suction position Side view showing the movement of the holding section from the adsorption position to the ejection position in the joint transfer control Side view showing a state in which the holding portion in the joint transfer control is in the suction release position A side view showing the movement of the holding section from the suction release position to the retreat position in the joint transfer control. A perspective view of article transfer equipment in another embodiment (7). Side view of the article transfer facility in another embodiment (9)

1. Embodiment An embodiment of the article transfer facility will be described with reference to the drawings.
As shown in FIG. 1, the article transfer facility includes a first transfer device 1 for transferring a first container C1, a second transfer device 2 for transferring a second container C2, and a first container C1 to a second container C2. And a transfer device 3 for transferring the article W to. Hereinafter, the configuration of the article transfer equipment will be described. A predetermined reference direction is a Z direction Z, one of two directions orthogonal to each other when viewed in the Z direction is an X direction X, and the other is a Y direction Y. explain. Further, one side of the X direction X will be described as an X direction first side X1, and the opposite side will be described as an X direction second side X2. Further, one side of the Y direction Y will be described as a Y-direction first side Y1, and the opposite side will be described as a Y-direction second side Y2. In this embodiment, the vertical direction is the Z direction Z (reference direction), and both the X direction X and the Y direction Y are orthogonal to the Z direction Z.

  As shown in FIGS. 1 and 2, the first transfer device 1 transfers the first container C1 in one direction along a specified transfer direction. In the present embodiment, the first transport device 1 is a conveyor device configured by a roller conveyor and transports the first container C1 along the X direction X to the X-direction first side X1. The first position P1 is set in the middle of the transport path of the first transport device 1. The 1st conveyance apparatus 1 conveys the 1st container C1 in the 1st position P1 from the 1st position P1, and conveys another 1st container C1 to the 1st position P1. One or more articles W are stored in the first container C1 that is transported to the first position P1 by the first transport device 1. In the present embodiment, the Z direction Z coincides with the direction orthogonal to the upper surface (the surface on which the housed articles W are placed) of the placing portion 5 in the first container C1 at the first position P1. There is. The first container C1 corresponds to a container that houses the article W. The first position P1 corresponds to a predetermined reference position. The X direction X corresponds to the carrying direction, and the X direction first side X1 corresponds to the carrying direction first side which is one side of the carrying direction intersecting the Z direction Z. The first transfer device 1 corresponds to a transfer device that transfers the container from the reference position toward the first side in the transfer direction.

  The second transfer device 2 transfers the second container C2 in one direction along the specified transfer direction. In the present embodiment, the second transport device 2 is a conveyor device configured by a roller conveyor, and transports the second container C2 along the X direction X to the X-direction second side X2. The second position P2 is set in the middle of the transport path of the second transport device 2. The 2nd conveyance apparatus 2 conveys the 2nd container C2 in the 2nd position P2 from the 2nd position P2, and conveys another 2nd container C2 to the 2nd position P2. The article W is not stored in the second container C2 transported to the second position P2 by the second transport device 2, but is stored by the transfer device 3 in the second container C2 transported from the second position P2. The stored article W is stored. The second position P2 is set to the same position as the first position P1 in the X direction X, and is set to the Y direction first side Y1 with respect to the first position P1.

  In the article transfer facility, the first container C1 containing the article W is transported to the first position P1 by the first transport device 1, and the empty second container C2 is transported to the second position P2 by the second transport device 2. It Then, the transfer device 3 holds and takes out the article W stored in the first container C1 at the first position P1, and stores the taken-out article W in the second container C2 at the second position P2. The article W is transferred from the first container C1 to the second container C2 so that the holding of the article W is released later. The first container C1 from which all the articles W to be taken out are conveyed from the first position P1 by the first conveying device 1. Further, the second container C2 in which all the articles W to be stored are stored is transported from the second position P2 by the second transport device 2.

  As shown in FIG. 5, each of the first container C <b> 1 and the second container C <b> 2 has a mounting part 5 on which the article W is mounted, and a side wall part 6 standing upright around the mounting part 5. The opening 7 is formed by the upper end of the side wall 6. As described above, each of the first container C1 and the second container C2 has the opening 7 that opens to the Z-direction first side Z1 (upper side) that is one side of the Z-direction Z. In the present embodiment, the shapes of the first container C1 and the second container C2 as viewed in the Z direction (the shape of the mounting portion 5) are rectangular. As shown in FIG. 1, the first container C1 is transported by the first transport device 1 in a posture in which the lateral direction of the first container C1 is along the X direction X. Further, the second container C2 is transported by the second transport device 2 in a posture in which the lateral direction of the second container C2 is along the X direction X.

  The articles W housed in the first container C1 are bag-shaped articles W and box-shaped articles W. In the present embodiment, the bag-shaped article W is a bag having a high flexibility, such as a synthetic resin or a paper, which contains the contained items. The box-shaped article W is, for example, a box-shaped package made of synthetic resin, paper, or the like in which the contents are contained. This package is wrapped with a sheet-shaped packaging material such as a synthetic resin film, if necessary.

  As shown in FIG. 5, the article transfer facility includes a first holding section 11 that holds the article W, a second holding section 12 that holds the article W, a third holding section 13 that holds the article W, and an article. A fourth holding unit 14 that holds W, a driving unit 15 that moves the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 are provided. The first holding unit 11, the second holding unit 12, the third holding unit 13, the fourth holding unit 14, and the driving unit 15 are provided in the transfer device 3.

  The first holding portion 11 is connected to the lower end portion of the first support body 16. The first holding unit 11 includes one or a plurality of suction pads 20. In the present embodiment, the first holding unit 11 includes three suction pads 20 that suction the article W from the Z-direction first side Z1, and some or all of the three suction pads 20 are articles. By being adsorbed on W, the article W is held by being adsorbed on the surface of the article W facing the Z-direction first side Z1. In this way, the first holding unit 11 is configured to approach the article W from the Z-direction first side Z1 and hold the article W. The suction pad 20 corresponds to a suction portion that holds the article W by suction.

  The second holding portion 12 is connected to the lower end portion of the second support body 17. The third holding portion 13 is connected to the lower end portion of the third support body 18. The fourth holding portion 14 is connected to the lower end portion of the fourth support body 19. Each of the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 is provided with one or a plurality of suction pads 20 similarly to the first holding unit 11, and the second holding unit 12, The third holding unit 13 and the fourth holding unit 14 are both configured to approach the article W from the Z-direction first side Z1 and hold the article W.

  As shown in FIGS. 1 to 4, the driving unit 15 guides the first holding unit 11 in the Z direction Z and moves the first Z-axis driving unit 21 and the second holding unit 12 in the Z direction Z. A second Z-axis driving section 22 that moves the Z-axis while moving, a third Z-axis driving section 23 that moves the third holding section 13 while guiding in the Z-direction Z, and a third Z-axis driving section that moves the fourth holding section 14 while guiding in the Z-direction Z And a 4Z-axis drive unit 24.

  The first Z-axis drive unit 21 guides the first Z-axis moving body 26 connected to the upper portion of the first support body 16 in the Z direction Z, and the first Z-axis moving body 26 in the Z direction. And a first Z-axis drive mechanism 28 for moving to Z. In the present embodiment, the first Z-axis guide body 27 is configured by a rail member installed along the Z direction Z, and the first Z-axis moving body 26 is engaged with the first Z-axis guide body 27. In addition, in the present embodiment, the first Z-axis drive mechanism 28 includes a ball screw with which the first Z-axis moving body 26 is screwed, and an electric motor that rotates the ball screw. The first Z-axis drive mechanism 28 moves the first Z-axis moving body 26 in the Z direction Z by rotating the ball screw by driving the electric motor. The first Z-axis drive unit 21 moves the first Z-axis moving body 26 while guiding it in the Z direction Z by the guide by the first Z-axis guide body 27 and the driving of the first Z-axis drive mechanism 28. As a result, the first holding unit 11 moves while being guided in the Z direction Z.

  Similarly to the first Z-axis drive unit 21, the second Z-axis drive unit 22 includes a second Z-axis guide body 32 that guides the second Z-axis moving body 31 connected to the upper portion of the second support body 17 in the Z direction Z. , A second Z-axis drive mechanism 33 that moves the second Z-axis moving body 31 in the Z direction Z. Similar to the first Z-axis drive unit 21, the third Z-axis drive unit 23 includes a third Z-axis guide body 37 that guides the third Z-axis moving body 36 connected to the upper portion of the third support body 18 in the Z direction Z. , A third Z-axis drive mechanism 38 for moving the third Z-axis moving body 36 in the Z direction Z. The fourth Z-axis drive unit 24, like the first Z-axis drive unit 21, includes a fourth Z-axis guide body 42 that guides the fourth Z-axis moving body 41 connected to the upper portion of the fourth support body 19 in the Z direction Z. , A fourth Z-axis drive mechanism 43 for moving the fourth Z-axis moving body 41 in the Z direction Z.

  The drive unit 15 further includes a first Y-axis drive unit 46 that moves the first holding unit 11 while guiding it in the Y direction Y, and a second Y-axis drive unit that moves the second holding unit 12 while guiding it in the Y direction Y. 47, a third Y-axis drive unit 48 that moves the third holding unit 13 while guiding it in the Y direction Y, and a fourth Y-axis drive unit 49 that moves the fourth holding unit 14 while guiding it in the Y direction Y. I have it.

  The first Y-axis driving unit 46 guides the first Y-axis moving body 51 connected to the lower portion of the first Z-axis guiding body 27 in the Y direction Y, and the first Y-axis moving body 51 in the Y direction. A first Y-axis drive mechanism 53 (see FIG. 1) for moving in the direction Y. In the present embodiment, the first Y-axis guide body 52 is configured by a rail member installed along the Y direction Y, and the first Y-axis moving body 51 is engaged with the first Y-axis guide body 52. In addition, in the present embodiment, the first Z-axis drive mechanism 28 includes a ball screw with which the first Y-axis moving body 51 is screwed, and an electric motor that rotates the ball screw. The first Y-axis drive unit 46 moves the first Y-axis moving body 51 while guiding it in the Y direction Y by the guide by the first Y-axis guide body 52 and the driving of the first Y-axis drive mechanism 53. As a result, the second holding unit 12 moves while being guided in the Y direction Y.

  The second Y-axis drive unit 47, like the first Y-axis drive unit 46, guides the second Y-axis moving body 56 connected to the lower portion of the second Z-axis guide body 32 in the Y direction Y. And a second Y-axis drive mechanism 58 (see FIG. 1) for moving the second Y-axis moving body 56 in the Y direction Y. Similar to the first Y-axis driving unit 46, the third Y-axis driving unit 48 guides the third Y-axis moving body 61 connected to the lower portion of the third Z-axis guiding body 37 in the Y direction Y. And a third Y-axis drive mechanism 63 (see FIG. 1) that moves the third Y-axis moving body 61 in the Y direction Y. The first Y-axis guide body 52 is shared by the first Y-axis drive unit 46 and the third Y-axis drive unit 48. The fourth Y-axis drive unit 49, like the first Y-axis drive unit 46, guides the fourth Y-axis moving body 66 connected to the lower portion of the fourth Z-axis guide body 42 in the Y direction Y by the second Y-axis guide body 57. And a fourth Y-axis drive mechanism 68 (see FIG. 1) for moving the fourth Y-axis moving body 66 in the Y direction Y. The second Y-axis guide body 57 is shared by the second Y-axis drive unit 47 and the fourth Y-axis drive unit 49.

  As shown in FIGS. 1 and 2, the drive unit 15 further includes a first X-axis drive unit 71 that moves the first holding unit 11 while guiding it in the X direction X, and a second holding unit 12 in the X direction X. A second X-axis drive unit 72 for moving while guiding, a third X-axis drive unit 73 for moving while guiding the third holding unit 13 in the X direction X, and a moving for guiding the fourth holding unit 14 in the X direction X. And a fourth X-axis drive unit 74 that allows the drive.

  The first X-axis driving unit 71 guides the first X-axis moving body 76 connected to the Y-direction second side Y2 portion of the first Y-axis guide body 52 in the X-direction X, and the first X-axis guide body 77. A second X-axis guide 79 for guiding the second X-axis mover 78 (see FIG. 2) connected to the Y-direction first side Y1 portion of the 1Y-axis guide 52 in the X-direction X, and a first X-axis mover. A first X-axis drive mechanism 80 for moving the X-direction X in the X-direction X and a second X-axis drive mechanism 81 for moving the second X-axis moving body 78 in the X-direction X are provided. The third X-axis drive unit 73 includes a first X-axis guide body 77, a second X-axis guide body 79, a first X-axis drive mechanism 80, and a second X-axis drive mechanism 81. That is, the first X-axis guide body 77 and the second X-axis guide body 79 are shared by the first X-axis drive unit 71 and the third X-axis drive unit 73. Further, the first X-axis drive mechanism 80 and the second X-axis drive mechanism 81 are shared by the first X-axis drive unit 71 and the third X-axis drive unit 73.

  In the present embodiment, each of the first X-axis guide body 77 and the second X-axis guide body 79 is configured by a rail member installed along the X direction X, and the first X-axis moving body 76 is the first X-axis guide body. The body 77 is engaged, and the second X-axis moving body 78 is engaged with the second X-axis guide body 79. In addition, in the present embodiment, the first X-axis drive mechanism 80 includes a ball screw with which the first X-axis moving body 76 is screwed, and an electric motor that rotates the ball screw. The second X-axis drive mechanism 81 includes a ball screw with which the second X-axis moving body 78 is screwed, and an electric motor that rotates the ball screw. The first X-axis drive unit 71 and the third X-axis drive unit 73, which are also used for both, guide the first X-axis guide body 77 and drive the first X-axis drive mechanism 80 to move the first X-axis moving body 76 in the X direction X. The second X-axis moving body 78 is moved while being guided along the X direction X by being guided by the second X-axis guide body 79 and driven by the second X-axis drive mechanism 81. As a result, the first holding unit 11 and the third holding unit 13 move while being guided in the X direction X.

  The second X-axis drive unit 72 guides the third X-axis moving body 83 connected to the Y-direction second side Y2 portion of the second Y-axis guide body 57 in the X-direction X, similarly to the first X-axis drive unit 71. A first X-axis guide body 77, a second X-axis guide body 79 for guiding the fourth X-axis moving body 84 connected to the Y-direction first side Y1 portion of the second Y-axis guide body 57 in the X-direction X, A third X-axis driving mechanism 85 that moves the third X-axis moving body 83 in the X direction X and a fourth X-axis driving mechanism 86 that moves the fourth X-axis moving body 84 in the X direction X are provided. The fourth X-axis drive unit 74 includes a first X-axis guide body 77, a second X-axis guide body 79, a third X-axis drive mechanism 85, and a fourth X-axis drive mechanism 86. That is, the first X-axis guide body 77 and the second X-axis guide body 79 are commonly used by the first X-axis drive unit 71 and the third X-axis drive unit 73, and the second X-axis drive unit 72 and the fourth X-axis drive unit 73 are also used. It is also used as the shaft drive unit 74. Further, the third X-axis drive mechanism 85 and the fourth X-axis drive mechanism 86 are shared by the second X-axis drive unit 72 and the fourth X-axis drive unit 74.

  In the present embodiment, the third X-axis moving body 83 is engaged with the first X-axis guiding body 77, and the fourth X-axis moving body 84 is engaged with the second X-axis guiding body 79. In addition, in the present embodiment, the third X-axis drive mechanism 85 includes a ball screw with which the third X-axis moving body 83 is screwed, and an electric motor that rotates the ball screw. Further, the fourth X-axis drive mechanism 86 includes a ball screw with which the fourth X-axis moving body 84 is screwed, and an electric motor that rotates the ball screw. The second X-axis drive unit 72 and the fourth X-axis drive unit 74, which are commonly used for each other, move the third X-axis moving body 83 in the X direction X by the guide by the first X-axis guide body 77 and the drive of the third X-axis drive mechanism 85. While being guided and moved along, the fourth X-axis moving body 84 is moved while being guided along the X direction X by the guide by the second X-axis guide body 79 and the driving of the fourth X-axis drive mechanism 86. As a result, the second holding unit 12 and the fourth holding unit 14 move while being guided in the X direction X.

  As shown in FIG. 1 and FIG. 6, which is a control block diagram, the article transfer facility includes a first imaging device 89 and a second imaging device 90. The first imaging device 89 is installed above the upper end of the first container C1 at the first position P1, and the first container C1 at the first position P1 and the article W contained in the first container C1. Is installed so that it can capture images. The second imaging device 90 is installed above the upper end of the second container C2 at the second position P2, and the second container C2 at the second position P2 and the article W contained in the second container C2. Is installed so that it can capture images.

  As shown in FIG. 6, the article transfer facility includes a control device H that controls the first transfer device 1, the second transfer device 2, and the transfer device 3. The control device H, based on the imaging information transmitted from the first imaging device 89, the position and orientation of the first container C1 at the first position P1, and the articles W contained in the first container C1. Recognize position and orientation. Further, the control device H, based on the imaging information transmitted from the second imaging device 90, the position and orientation of the second container C2 at the second position P2, and the article contained in the second container C2. Recognize the position and orientation of W. The control device H selectively executes the independent transfer control and the joint transfer control according to at least one of the size, shape, and material of the target article WT which is the transfer target article W. The control device H corresponds to a control unit that controls the drive unit 15.

  The article W is assigned a different article code for each type. The control device H stores the article code and the article information in association with each other. The article information is information indicating the size (length, width, height) of the article W, the weight, the packaging type (the package is a bag shape or a box shape), the position of the center of gravity, and the like. The control device H acquires order information indicating the type and quantity of the article W to be shipped to each of a plurality of shipping destinations. The order information includes code information indicating a product code set separately for each type of the article W, and number information indicating the number of articles W of the type corresponding to each article code indicated by the code information. Has been.

  As shown in the flowchart of FIG. 7, when the control device H executes selection control (S1) to select independent transfer control or joint transfer control, and the joint transfer control is selected by this selection control. When (S2: Yes), the joint transfer control is executed (S3), and when the independent transfer control is selected (S3: No), the independent transfer control is executed (S4).

  As shown in the selection flowchart shown in FIG. 8, in the selection control, it is determined whether the target article WT is a small article, a medium article, or a large article based on the order information, and the target article WT is a large article. If there is (S11: Yes), joint transfer control is selected (S12), and if the target article WT is a small article (S11: No, S13: No), independent transfer control is selected (S14). .. In the selection control, when the target article WT is a medium article (S11: No, S13: Yes), the weight of the target article WT is larger than the set weight (S15: Yes), or the packaging type of the target article WT. If is a bag shape (S16: Yes), the joint transfer control is selected, and if none of these conditions are satisfied (S15: No, S16: No), the independent transfer control is selected. In this way, the control device H selectively executes either the independent transfer control or the cooperative transfer control according to the size, shape, weight, and packaging type of the target article WT.

  As an example, an article W having a surface area facing the Z-direction first side Z1 larger than a first set value is defined as a large article, and an object W having a surface area facing the Z-direction first side Z1 less than a second set value is selected. An article W that is a small article and has an area of a surface facing the Z-direction first side Z1 that is less than the first set value and equal to or more than the second set value can be a middle article. In addition, in the middle article and the large article, the surface facing the Z direction first side Z1 is formed by four holding portions of the first holding portion 11, the second holding portion 12, the third holding portion 13, and the fourth holding portion 14. The size and shape are such that they can be held at the same time.

  In the joint transfer control, the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 jointly hold one target article WT and transfer the target article WT. The drive unit 15 is controlled to perform the operation. Then, in the joint transfer control, the driving unit is configured so that the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 hold different positions in the outer edge portion of the target article WT. Control 15. As described above, in the joint transfer control, the driving unit 15 is configured such that the first holding unit 11 and the second holding unit 12 jointly hold one target article WT and perform the transfer operation of the target article WT. To control. Further, in the joint transfer control, as shown in FIGS. 11 and 12, when the center of gravity G of the target article WT is located between the first holding unit 11 and the second holding unit 12, as viewed in the Z direction Z. The drive unit 15 is controlled so as to hold the target article WT. In the joint transfer control, the drive unit 15 is controlled so that the first holding unit 11 and the second holding unit 12 hold different positions on the outer edge of the target article WT.

As shown in the flowchart of FIG. 9, in the joint transfer control, the joint simultaneous suction control is executed (S31), and then the joint simultaneous suction release control is executed (S32).
As shown in FIG. 11, the joint simultaneous suction control includes the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 (hereinafter, referred to as four holding units) After moving to one of the target articles WT housed in the first container C1 at the one position P1 in the Z direction Z, the four holding parts are brought into contact with the target article WT to the suction position in the Z direction. The one target article WT is held by the four holding parts by moving to the second side Z2, and thereafter, the lower end of the held target article WT is Z from the end of the first container C1 on the first side Z1 in the Z direction. The drive unit 15 is controlled so as to move to the take-out position on the first side Z1 in the direction.
In the joint simultaneous adsorption release control, as shown in FIG. 12, the four holding parts are moved to a position overlapping in the Z direction Z with respect to the storage position in the second container C2 at the second position P2, and then held. The four holding units are moved to the second side Z2 in the Z direction to the adsorption release position where the target article WT present therein approaches or contacts the placing section 5 of the second container C2, and the four holding sections hold one target article WT. Is released, and then the driving units are moved so that the lower ends of the four holding units move from the ends of the side wall 6 of the first container C1 on the Z-direction first side Z1 to the Z-direction first side Z1. Control 15.

As described above, one target article WT is held by the target holding section in a state where the four holding sections are moved to the Z-direction second side Z2 until they come into contact with the target article WT. Therefore, as shown in FIG. 13, when the surface of the target article WT facing the Z-direction first side Z1 is different from the flat surface along the X-direction X and the Y-direction, 4 when holding the target article WT The positions (suction positions) of some or all of the two holding portions may differ from each other in the Z direction Z.
That is, in the joint transfer control, when the surface of the target article WT facing the Z direction first side Z1 is a flat surface along the direction (X direction X and Y direction Y) orthogonal to the Z direction Z, The target article WT is held in a state where the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 are in the same position in the Z direction Z. However, in the joint transfer control, the surface of the target article WT that faces the Z-direction first side Z1 has a different shape from the flat surface that extends along the direction (X-direction X and Y-direction Y) orthogonal to the Z-direction Z. In this case, the target article WT is held in a state where some or all positions of the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 in the Z direction Z are different. ..

  For example, as shown in FIG. 13, the surface of the target article WT that faces the Z direction first side Z1 is inclined only in the X direction X with respect to the direction orthogonal to the Z direction Z, and is not inclined in the Y direction. There are cases. In such a case, the first holding unit 11 and the second holding unit 12 are different positions in the Z direction Z, and the third holding unit 13 and the fourth holding unit 14 are different positions in the Z direction Z. The first holding portion 11 and the third holding portion 13 are at the same position in the Z direction Z, and the second holding portion 12 and the fourth holding portion 14 are at the same position in the Z direction Z. Will hold.

  In the independent transfer control, when there are four target articles WT to be transferred at the same time, the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 set different target articles WT. The driving unit 15 is controlled so that the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 perform the transfer operation of the target article WT independently of each other. Further, the independent transfer control is performed for the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14 when the target articles WT to be transferred at the same time are 1 or more and 3 or less. Some of the holding units hold different target articles WT, and the driving unit 15 is controlled so that some of the holding sections perform the transfer operation of the target articles WT. As described above, in the independent transfer control, the first holding unit 11 and the second holding unit 12 hold different target articles WT, and the first holding unit 11 and the second holding unit 12 independently target articles. The drive unit 15 is controlled so as to perform the WT transfer operation.

  As shown in the flowchart of FIG. 10, in the independent transfer control, when the holding unit that holds the target article WT can simultaneously hold the target article WT (S41: Yes, the state shown in FIG. 14), the independent simultaneous suction control is performed. (S42), and when the holding unit that holds the target article WT cannot hold the target article WT at the same time (S41: No, the state shown in FIGS. 16 and 17), the independent sequential suction control is performed ( S43). In the independent transfer control, if the holding unit that releases the holding of the target article WT can release the holding at the same time (S44: Yes, the state shown in FIG. 15), the independent simultaneous suction release control is executed (S45). ), If the holding unit that releases the holding of the target article WT cannot release the holding at the same time (S44: No, the state shown in FIGS. 18 and 19), the independent sequential suction release control is executed (S46).

  The independent simultaneous suction control and the independent sequential suction control are performed by the holding unit (independent simultaneous suction) that holds the target article WT among the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14. One or a plurality of holding units are used when the control is executed, and a plurality of holding units are used when the independent sequential adsorption control is executed (hereinafter referred to as target holding units), respectively, at the first position P1. After being moved to a position overlapping in the Z direction Z with respect to the one or more target articles WT housed in the first container C1, the Z direction second side is moved to a contact position where the target holding unit contacts the target article WT. The target holding units hold the different target articles WT by moving them to Z2, and thereafter, the lower ends of the held target articles WT are positioned in the Z direction from the end on the Z direction first side Z1 of the first container C1 in the Z direction. Move to the take-out position, which is Z1 on the 1st side. It controls the driving unit 15. In the independent simultaneous suction control, as shown in FIG. 14, one target holding unit performs the above operation, or a plurality of target holding units simultaneously performs the above operations. As shown in 17, a plurality of target holding units sequentially perform the above operation.

  In the independent simultaneous suction release control and the independent sequential suction release control, the target holding unit is moved to a position overlapping in the Z direction Z with respect to the storage position in the second container C2 at the second position P2, and then the target held. The article WT is moved to the Z-direction second side Z2 to the adsorption release position where the article WT comes into contact with the placing portion 5 of the second container C2, the holding of the one target article WT by the target holding unit is released, and then the target holding unit The drive unit 15 is controlled so that the lower end of the side wall 6 of the first container C1 is moved from the end of the Z-direction first side Z1 to the avoidance position where the Z-direction first side Z1 is located. In the independent simultaneous suction release control, as shown in FIG. 15, one target holding unit performs the above operation, or a plurality of target holding units simultaneously performs the above operation. Also, as shown in FIG. 19, the plurality of target holding units sequentially perform the above operation.

  In the independent transfer control or the joint transfer control, the control device H sets the target article WT contained in the first container C1 at the first position P1 to the first holding unit 11, the second holding unit 12, and the second holding unit 12. After being held by at least one of the third holding unit 13 and the fourth holding unit 14, the first transport device 1 is configured to transport the first container C1 to the X-direction first side X1 (transport direction first side). While controlling at least one of the first holding portion 11, the second holding portion 12, the third holding portion 13, and the fourth holding portion 14, while moving the first holding portion 11, the second holding portion 12, the third holding portion 13, and the fourth holding portion 14 to the X-direction first side X1, The drive unit 15 is controlled so as to move to the side Z1 and take out the target article WT from the first container C1.

  That is, one or a plurality of target articles WT contained in the first container C1 at the first position P1 are taken out from the first container C1 by the joint simultaneous suction control, the independent simultaneous suction control, and the independent sequential suction control. Therefore, when all the target articles WT to be taken out from the first container C1 are taken out, after the target article WT is held by the holding unit, the first article P1 located at the first position P1 is moved to the take-out position before the target article WT is moved to the take-out position. The conveyance of the first container C1 from the first position P1 to the first side X1 in the X direction is started. 20 and FIG. 20 in the case where the first container C1 is transported in this manner, when the holding unit is moved from the suction position to the take-out position in the joint simultaneous suction control, the independent simultaneous suction control, and the independent sequential suction control. As shown in 21, the holding unit is moved to the Z-direction first side Z1 while being moved to the X-direction first side X1. 20 and 21, the case of joint simultaneous adsorption control is illustrated.

  In the independent transfer control or the joint transfer control, the control device H uses the target article WT by at least one of the first holding unit 11, the second holding unit 12, the third holding unit 13, and the fourth holding unit 14. Is held and moved to the second position P2, the holding of the target article WT is released at the second position P2 to store the target article WT in the second container C2, and then the second container C2 is moved to the second side in the X direction. The second transfer device 2 is controlled so as to be transferred to X2, and at least one of the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14 is moved in the X direction. The drive unit 15 is controlled so that the holding unit is retracted by moving the first side Z1 in the Z direction while moving the second side X2.

  That is, by accommodating one or more target articles WT in the second container C2 at the second position P2 by the joint simultaneous suction release control, the independent simultaneous suction release control, and the independent sequential suction release control, When all the target articles WT to be stored in the two containers C2 are stored, the second container in the second position P2 after the holding section releases the holding of the target articles WT and before moving the holding section to the retracted position. The conveyance of C2 from the second position P2 to the second side X2 in the X direction is started. In this way, when the second container C2 is transported, when the holding unit is moved from the suction release position to the retracted position in the joint simultaneous suction release control, the independent simultaneous suction release control, and the independent sequential suction release control, As shown in FIGS. 22 and 23, the holding unit is moved to the Z-direction first side Z1 while being moved to the X-direction second side X2. 22 and 23 exemplify the case of the joint simultaneous adsorption release control.

2. Other Embodiments Next, other embodiments of the article transfer facility will be described.

(1) In the above-described embodiment, the article transfer equipment is described as an example in which the article transfer facility includes four holders, that is, the first holder 11, the second holder 12, the third holder 13, and the fourth holder 14. did. However, the article transfer equipment only needs to include at least two holding sections, that is, the first holding section 11 and the second holding section 12, and the number of holding sections included in the article transfer apparatus may be appropriately changed. ..

(2) In the above-described embodiment, the first holding unit 11 and the second holding unit 12 include a suction unit that holds the target article WT by suction, and the first holding unit 11 and the second holding unit 12 are targeted by suction. The configuration for holding the article WT has been described as an example. However, the configurations of the first holding unit 11 and the second holding unit 12 may be changed as appropriate. For example, one or both of the first holding unit 11 and the second holding unit 12 may include a gripping unit that holds the target article WT by gripping.

(3) In the above embodiment, the control device H selectively executes the independent transfer control or the cooperative transfer control according to the size, weight, and material (packaging type) of the target article WT. However, the control device H may selectively execute the independent transfer control or the cooperative transfer control according to at least one of the size, weight, and material (packaging type) of the target article WT. Therefore, for example, according to the weight of the target article WT, as the weight of the target article WT increases, the number of holding units that hold the target article WT may be increased.

(4) In the above embodiment, the first transport device 1 transports the first container C1 to the X-direction first side X1, and the second transport device 2 transports the second container C2 to the X-direction second side X2. Has been described as an example. However, the direction in which the containers of the first transfer device 1 and the second transfer device 2 are transferred may be changed as appropriate. For example, both the first transfer device 1 and the second transfer device 2 may transfer the container to the first side X1 in the X direction. Alternatively, the transport direction of the first transport device 1 and the transport direction of the second transport device 2 may intersect with each other. In this case, the installation heights of the first transfer device 1 and the second transfer device 2 may be different.

(5) In the above embodiment, the conveyance of the first container C1 by the first conveyance device 1 and the movement of the first holding unit 11 and the second holding unit 12 by the driving unit 15 from the suction position to the take-out position are performed at the same time. The configuration has been described as an example. However, after the first holding unit 11 and the second holding unit 12 are moved from the suction position to the take-out position by the driving unit 15, the first carrying device 1 starts carrying the first container C1 from the first position P1. In this way, the conveyance of the first container C1 by the first conveyance device 1 and the movement of the first holding unit 11 and the second holding unit 12 by the driving unit 15 from the suction position to the take-out position are not performed at the same time. May be. Similarly, the conveyance of the second container C2 by the second conveyance device 2 and the movement of the first holding unit 11 and the second holding unit 12 by the drive unit 15 from the suction release position to the retracted position are not performed at the same time. You may do it.

(6) In the above embodiment, the vertical direction is the Z direction Z (reference direction), but the present invention is not limited to this. It may be inclined with respect to it.

(7) In the above embodiment, the first holding unit 11 is guided by the first Z-axis driving unit 21, the first Z-axis driving unit 21 is guided by the first Y-axis driving unit 46, and the first Y-axis driving unit 46 is the first X-axis driving unit. The second holding portion 12 is guided by the second Z-axis driving portion 22, the second Z-axis driving portion 22 is guided by the second Y-axis driving portion 47, and the second Y-axis driving portion 47 is guided. The case where the shaft drive unit 47 is guided by the second X-axis drive unit 72 has been described as an example. However, the configuration of the drive unit 15 is not limited to such a configuration, and the connection relationship of the drive units for each of the X axis, the Y axis, and the Z axis can be appropriately changed. In the above embodiment, the first X-axis drive unit 71 and the third X-axis drive unit 73 are commonly used, and the second X-axis drive unit 72 and the fourth X-axis drive unit 74 are commonly used. It is also possible to appropriately change which of the axes is used as the drive section or whether all of the axes are used as independent drive sections.

  For example, the configuration of the drive unit 15 as shown in FIG. 24 is also suitable. In the example shown in this figure, the first holding portion 11 is guided by the first Z-axis driving portion 21, the first Z-axis driving portion 21 is guided by the first X-axis driving portion 71, and the first X-axis driving portion 71 is moved by the first Y-axis. It is configured to be guided by the drive unit 46. In addition, the second holding unit 12 is guided by the second Z-axis driving unit 22, the second Z-axis driving unit 22 is guided by the second X-axis driving unit 72, and the second X-axis driving unit 72 is guided by the second Y-axis driving unit 47. It is configured to be. Similarly, the third holding unit 13 is guided by the third Z-axis drive unit 23, the third Z-axis drive unit 23 is guided by the third X-axis drive unit 73, and the third X-axis drive unit 73 is moved by the third Y-axis drive unit 48. It is structured to be guided. The fourth holding unit 14 is guided by the fourth Z-axis driving unit 24, the fourth Z-axis driving unit 24 is guided by the fourth X-axis driving unit 74, and the fourth X-axis driving unit 74 is guided by the fourth Y-axis driving unit 49. It is configured to be. In the example of FIG. 24, the first Y-axis drive unit 46 and the third Y-axis drive unit 48 are used in common, and the second Y-axis drive unit 47 and the fourth Y-axis drive unit 49 are used in common. Further, the first X-axis drive unit 71 and the third X-axis drive unit 73 are used in common, and the second X-axis drive unit 72 and the fourth X-axis drive unit 74 are used in common.

(8) In the above-described embodiment, the first position P1 as the transfer target location is set in the middle of the transport path of the conveyor device that constitutes the first transport device 1, and the conveyor device that configures the second transport device 2 The second position P2 as the transfer target location is set in the middle of the transport path, and the transfer device 3 is installed as straddling these transfer target locations as an example. However, the transfer target location by the transfer device 3 and the installation position of the transfer device 3 with respect to the transport device may be changed as appropriate. For example, the first position P1 is set at the downstream end of the transfer path of the conveyor device that forms the first transfer device 1, and the second position P2 is set at the downstream end of the conveyor device that forms the second transfer path. The transfer device 3 may be set and installed so as to straddle these. Alternatively, the conveyor device that constitutes the transport device is configured to be bent or curved, and the transfer target location is installed in the middle of these bent portions or curves, and transfer is possible to the transfer target location. The transfer device 3 may be installed at the position.

(9) In the above-described embodiment, the first transport device 1 (transport device) that transports the first container C1 (container) and the second transport device 2 that transports the second container C2 are conveyor devices as an example. did. However, the configuration of the transport device that transports these containers is not limited to this, and various known transport devices such as a transport carriage or a carousel transport mechanism can be used. The target location where the transfer device 3 transfers the article W is not limited to the container transported by such a transport device, and various locations where the article W is placed are transfer target locations. You can For example, the container transported by the worker may be the transfer target location, or the transport surface of the transport device without the container may be the transfer target location.

  For example, as shown in FIG. 25, it is suitable to install the transfer device 3 with a picking station equipped with a carousel type transfer mechanism as a transfer target location. In the example shown in this figure, the article transfer equipment has a first picking device 101 that conveys the first container C1 so as to rotate around an axis along the X direction X, and a second container C2 that extends along the X direction X. A second picking device 102 that conveys the second picking device 102 so as to rotate about an axis. The containers (the first container C1 and the second container C2) transported by these picking devices (the first picking device 101 and the second picking device 102) are set as the transfer target locations. Therefore, the transfer device 3 is installed on the Z-direction first side Z1 with respect to the first picking device 101 and the second picking device 102 arranged in the X direction X. The first picking device 101 includes a plurality of support bodies 103 that support the first container C1, a support rotating body 104 that rotates the plurality of support bodies 103 around an axis along the X direction X, and a first conveyor 105. , The second conveyor 106. The first picking device 101 transfers the first container C1 from the first conveyor 105 to the support 103, and rotationally conveys the first container C1 so as to rotate the first container C1 around the axis along the X direction X, and then the support 103. The first container C1 is conveyed so that the first container C1 is transferred from the first container C1 to the second conveyor 106. The first position P1 is set in the middle of the rotary conveyance in the first picking device 101. The second picking device 102 is configured similarly to the first picking device 101, and the support body 103 supports and conveys the second container C2. In addition, the second position P2 is set in the middle of the rotational conveyance of the second picking device 102. Then, the transfer device 3 moves from the first container C1 supported by the support 103 at the first position P1 of the first picking device 101 to the support 103 at the second position P2 of the second picking device 102. The target article WT is transferred to the supported second container C2.

(10) Note that the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in the present specification are merely examples in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

3. Outline of the Embodiments The outline of the article transfer equipment described above will be described below.

The article transfer facility controls a first holding section for holding an article, a second holding section for holding an article, a driving section for moving the first holding section and the second holding section, and the driving section. And a control unit,
The driving unit guides the first holding unit in the Z direction with a predetermined reference direction as the Z direction, one of two directions orthogonal to each other when viewed in the Z direction as the X direction, and the other as the Y direction. A first Z-axis driving unit that moves while moving the second holding unit, a second Z-axis driving unit that moves the second holding unit while guiding the second holding unit in the Z direction, and a first X that moves the first holding unit while guiding the first holding unit in the X direction. An axis drive unit, a second X-axis drive unit that moves the second holding unit while guiding it in the X direction, a first Y-axis drive unit that moves the first holding unit while guiding it in the Y direction, and A second Y-axis drive unit that moves the second holding unit while guiding it in the Y direction, wherein the control unit is at least one of the size, shape, and material of the target article that is the transfer target article. Independent transfer control and joint transfer control are selectively executed according to In the independent transfer control, the first holding unit and the second holding unit hold different target articles, and the first holding section and the second holding section of the target article are independent of each other. The driving unit is controlled to perform a transfer operation, and in the joint transfer control, the first holding unit and the second holding unit jointly hold one target article, and The drive unit is controlled to perform the transfer operation.

According to this configuration, the first Z-axis drive unit, the first X-axis drive unit, and the first Yh-axis drive unit are all simple configurations that move the first holding unit while guiding it in the linear direction. While the holding part can be moved in any of the Z direction, the X direction, and the Y direction, control by the control part is easy and each drive part can be constructed at low cost.
In addition to the first holding unit, the first Z-axis driving unit, the first X-axis driving unit, and the first Y-axis driving unit, the second holding unit, the second Z-axis driving unit, the second X-axis driving unit, and the second Y-axis. It has a drive unit. Therefore, when the control unit executes the independent transfer control, the first holding unit and the second holding unit can hold different target articles and transfer a plurality of target articles at the same time. It can be transferred efficiently. Further, the control unit executes the joint transfer control, so that the first holding unit and the second holding unit jointly hold and transfer the target article that cannot be held by one holding unit due to its size, shape, or material. Therefore, various target articles can be transferred.
As described above, according to this characteristic configuration, it is possible to realize a configuration capable of performing efficient transfer of target articles and transfer of various target articles while keeping the installation cost of the article transfer equipment low. You can

  Here, the first holding portion and the second holding portion are configured to hold the target article by approaching the target article from a Z direction first side that is one side of the Z direction, In the transfer control, when the surface of the target article that faces the first side in the Z direction is a flat surface along a direction orthogonal to the Z direction, the first holding unit and the second holding unit are The target article is held in the same position in the Z direction, and the surface of the target article that faces the first side in the Z direction has a shape different from a flat surface that extends along the direction orthogonal to the Z direction. In this case, it is preferable to hold the target article in a state where the positions of the first holding portion and the second holding portion in the Z direction are different from each other.

  According to this configuration, in the joint transfer control, the target article is held with the first holding section and the second holding section in the same position in the Z direction, or the first holding section and the second holding section are held together. By holding the target article in a different state in the Z direction, regardless of whether the surface of the target article facing the Z direction first side is a flat surface along the direction orthogonal to the Z direction, The target article can be appropriately held by the first holding section and the second holding section.

  Further, a container for accommodating the article is further provided with a carrying device for carrying from a predetermined reference position toward a first side in a carrying direction which is one side of a carrying direction intersecting the Z direction, and the container is In the independent transfer control or the joint transfer control, the controller has an opening that opens to the Z direction first side that is one side in the Z direction, and is accommodated in the container at the reference position. After holding the target article being held by at least one of the first holding unit and the second holding unit, the transfer device is controlled so as to transfer the container to the first side in the transfer direction, and It is preferable to control the drive unit so that at least one of the holder and the second holder is moved to the first side in the Z direction while being moved to the first side in the transport direction to take out the target article from the container. is there.

According to this configuration, after the target article stored in the container at the reference position is held by at least one of the first holding unit and the second holding unit, and before the target article is taken out of the container, the conveyance is performed. By starting the transport of the container by the device, it is possible to improve the transport efficiency of the container as compared with the case where the transport of the container by the transport device is started after the target article is taken out from the container.
In addition, when carrying out such a container, there is a possibility that the side wall of the moving container comes into contact with the target article before being taken out from the container, but the first holding part and the second holding part that hold the target article By moving at least one of the parts to the first side in the Z direction while moving to the first side in the transport direction, the target article can be taken out from the container while avoiding contact with the container. As described above, according to this configuration, it is possible to improve the transport efficiency of the container while avoiding contact of the target article with the container.

  Further, in the joint transfer control, the control unit holds the target article in a state where the center of gravity of the target article is located between the first holding unit and the second holding unit when viewed in the Z direction. Thus, it is preferable to control the drive unit.

  According to this configuration, it is possible to prevent the weight of the target article from excessively acting on one of the first holding section and the second holding section, and the target article is configured by the first holding section and the second holding section. Can be held stably and easily.

  Further, each of the first holding unit and the second holding unit includes a suction unit that holds the target article by suction, and when the target article is a bag-shaped article, the control unit controls the joint transfer. In the mounting control, it is preferable that the drive unit is controlled so that the first holding unit and the second holding unit hold different positions in the outer edge portion of the target article.

  According to this configuration, by holding the outer edge portion of the bag-shaped target article by the first holding section and the second holding section, it is possible to suppress the hanging of the held target article. Therefore, it is possible to reduce the possibility that the stability of the holding posture of the target article is deteriorated due to the sagging and the target article is disengaged from the first holding section and the second holding section.

  The technique according to the present disclosure controls a first holding unit that holds an article, a second holding unit that holds an article, a driving unit that moves the first holding unit and the second holding unit, and the driving unit. It can be used for the article transfer equipment provided with the control section.

1: First transfer device (transfer device)
7: Opening 11: 1st holding part 12: 2nd holding part 15: Drive part 20: Suction pad (suction part)
21: 1st Z-axis drive part 22: 2nd Z-axis drive part 46: 1st Y-axis drive part 47: 2nd Y-axis drive part 71: 1st X-axis drive part 72: 2nd X-axis drive part C1: 1st container (container)
G: Center of gravity H: Control device (control unit)
P1: First position (reference position)
W: article WT: target article X: X direction (conveying direction)
X1: X direction first side (conveying direction first side)
Y: Y direction Z: Z direction Z1: Z direction first side

Claims (5)

A first holding unit that holds the article; a second holding unit that holds the article; a drive unit that moves the first holding unit and the second holding unit; and a control unit that controls the drive unit. It is a goods transfer facility,
The predetermined reference direction is the Z direction, one of two directions orthogonal to each other when viewed in the Z direction is the X direction, and the other is the Y direction.
The drive unit is
A first Z-axis drive unit that moves while guiding the first holding unit in the Z direction;
A second Z-axis drive unit that moves the second holding unit while guiding it in the Z direction;
A first X-axis drive unit that moves the first holding unit while guiding it in the X direction;
A second X-axis drive unit that moves the second holding unit while guiding it in the X direction;
A first Y-axis drive unit that moves while guiding the first holding unit in the Y direction;
A second Y-axis drive unit that moves the second holding unit while guiding the second holding unit in the Y direction,
The control unit selectively executes independent transfer control and joint transfer control according to at least one of the size, shape, and material of the target product that is the transfer target product,
In the independent transfer control, the first holding unit and the second holding unit hold different target articles, and the first holding section and the second holding section transfer the target article independently of each other. Controlling the drive unit to perform the mounting operation,
In the joint transfer control, the first holding unit and the second holding unit jointly hold one of the target articles, and control the drive unit to perform a transfer operation of the target article. Goods transfer equipment. The first holding portion and the second holding portion are configured to hold the target article by approaching the target article from the Z direction first side that is one side of the Z direction,
In the joint transfer control,
When the surface of the target article facing the first side in the Z direction is a flat surface along the direction orthogonal to the Z direction, the first holding portion and the second holding portion are the same in the Z direction. Hold the target article in the position,
When the surface of the target article that faces the first side in the Z direction has a different shape from the flat surface along the direction orthogonal to the Z direction, the first holding portion and the second holding portion The article transfer facility according to claim 1, wherein the target article is held in a state where the position in the Z direction is changed. A container for accommodating the article, further comprising a carrier device for carrying from a predetermined reference position toward a first side in the carrying direction which is one side in the carrying direction intersecting the Z direction,
The container has an opening that opens to the Z direction first side, which is one side of the Z direction,
In the independent transfer control or the joint transfer control, the control unit holds the target article stored in the container at the reference position by at least one of the first holding unit and the second holding unit. After that, while controlling the transfer device to transfer the container to the first side in the transfer direction, while moving at least one of the first holding part and the second holding part to the first side in the transfer direction. The article transfer equipment according to claim 1 or 2, wherein the drive unit is controlled so as to move to the first side in the Z direction and take out the target article from the container.   In the joint transfer control, the control section holds the target article in a state where the center of gravity of the target article is located between the first holding section and the second holding section when viewed in the Z direction. The article transfer equipment according to any one of claims 1 to 3, which controls the drive unit. Each of the first holding unit and the second holding unit includes a suction unit that holds the target article by suction,
When the target article is a bag-shaped article, the control section holds the first holding section and the second holding section at different positions in the outer edge section of the target article in the joint transfer control. The article transfer equipment according to any one of claims 1 to 4, wherein the drive unit is controlled as described above.

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