JP2023126681A - 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 provides a first holding part that holds an article, a second holding part that holds an article, a driving part that moves the first holding part and the second holding part, and a control part that controls the driving part. The present invention relates to an article transfer facility equipped with the following.

The background technology will be explained below. In the following description, the symbols or names in parentheses are the symbols or names in the prior art document. A conventional example of such article transfer equipment is described in Japanese Patent Application Laid-Open No. 2018-039613 (Patent Document 1). In the article transfer equipment disclosed in Patent Document 1, the transfer device 3 is constituted by a vertical articulated robot including an articulated arm 16 and a suction pad 17 supported at the tip thereof.

JP 2018-039613 Publication

In the article transfer equipment described above, the transfer device is composed of a vertically articulated robot, but such a vertically articulated robot is expensive and complicated to control. The cost of installing article transfer equipment equipped with such facilities tends to be high. In addition, in order to increase the efficiency of transferring goods or to make it possible to transfer a variety of goods, it is necessary to install multiple vertically articulated robots or increase the capabilities of vertically articulated robots. Because of this, the installation cost of article transfer equipment tends to increase further.

Therefore, it is desired to realize article transfer equipment that can reduce installation costs.

In view of the above, the characteristic configuration of the article transfer equipment includes a first holding section that holds the article, a second holding section that holds the 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 drive section guides the first holding section in the Z direction, with a predetermined reference direction being the Z direction, and one of two directions orthogonal to each other when viewed from the Z direction being the X direction and the other being the Y direction. a first Z-axis drive unit that moves the second holding unit while guiding it in the Z direction; a first Z-axis drive unit that moves the first holding unit while guiding it in the X direction; a second X-axis drive section that guides and moves the second holding section in the X direction; a first Y-axis drive section that moves the first holding section while guiding it in the Y direction; a second Y-axis drive unit that moves the second holding unit while guiding it in the Y direction; Independent transfer control and joint transfer control are selectively executed depending on the situation, and in the independent transfer control, the first holding section and the second holding section hold different target articles. , the drive unit is controlled so that the first holding unit and the second holding unit transfer the target article independently of each other, and in the joint transfer control, the first holding unit and the second holding unit The second holding section jointly holds one target article and controls the drive section so that the target article is transferred.

According to this characteristic configuration, the first Z-axis drive section, the first X-axis drive section, and the first Y-axis drive section all have a simple structure that moves the first holding section while guiding it in the linear direction. 1 holding part can be moved in any direction of the Z direction, the X direction, and the Y direction, the control part can be easily controlled, and each driving part can be constructed at low cost.
In addition to the first holding part, the first Z-axis driving part, the first X-axis driving part, and the first Y-axis driving part, the second holding part, the second Z-axis driving part, the second X-axis driving part, and the second Y-axis driving part Equipped with a drive unit. Therefore, when the control unit executes 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. In addition, when the control unit executes joint transfer control, the first holding unit and the second holding unit jointly hold and transfer target articles that cannot be held by a single holding unit due to size, shape, or material. Therefore, a variety of target articles can be transferred.
As described above, according to the present characteristic configuration, it is possible to realize a configuration that can efficiently transfer target articles and transfer a variety of target articles while keeping the installation cost of article transfer equipment low. I can do it.

Perspective view of article transfer equipment Plan view of article transfer equipment Side view of article transfer equipment Front view of article transfer equipment Partially enlarged perspective view of transfer equipment Control block diagram Transfer control flowchart Selection control flowchart Joint transfer control flowchart Flowchart of independent transfer control Plan view showing the adsorption operation of joint transfer control Plan view showing the adsorption release operation of joint transfer control Front view showing the adsorption operation of joint transfer control Plan view showing simultaneous suction operation with independent transfer control Plan view showing simultaneous adsorption release operation of independent transfer control Plan view showing sequential suction operation with independent transfer control Plan view showing sequential suction operation with 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 the holding unit in the suction position during joint transfer control Side view showing movement of the holding unit from the suction position to the extraction position in joint transfer control Side view showing the holding unit in the adsorption release position during joint transfer control Side view showing movement of the holding unit from the adsorption release position to the evacuation position in joint transfer control A perspective view of article transfer equipment in another embodiment (7) Side view of article transfer equipment in another embodiment (9)

1. Embodiment An embodiment of the article transfer facility will be described based on the drawings.
As shown in FIG. 1, the article transfer equipment includes a first transport device 1 that transports a first container C1, a second transport device 2 that transports a second container C2, and a second container C2 from the first container C1. A transfer device 3 for transferring articles W to and from. The configuration of the article transfer equipment will be explained below.The predetermined reference direction is defined as the Z direction, and one of the two mutually orthogonal directions when viewed in the Z direction is defined as the X direction and the other as the Y direction. explain. Also, one side in the X direction X is the first side in the X direction
1. The opposite side will be described as the second side X2 in the X direction. Further, one side in the Y direction Y will be described as a first side Y1 in the Y direction, and the opposite side will be referred to as a second side Y2 in the Y direction. In this embodiment, the vertical direction is defined as 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 transport device 1 transports the first container C1 in one direction along a prescribed transport direction. In this embodiment, the first conveyance device 1 is a conveyor device including a roller conveyor, and conveys the first container C1 along the X direction X to the first side X1 in the X direction. A first position P1 is set in the middle of the transport path of the first transport device 1. The first transport device 1 transports the first container C1 located at the first position P1 from the first position P1, and transports another first container C1 to the first 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 corresponds to a direction perpendicular to the upper surface of the placing section 5 (the surface on which the stored articles W are placed) in the first container C1 located at the first position P1. There is. Further, the first container C1 corresponds to a container that accommodates the article W. The first position P1 corresponds to a predetermined reference position. The X direction X corresponds to the conveyance direction, and the first side X1 in the X direction corresponds to the first side in the conveyance direction, which is one side of the conveyance direction intersecting the Z direction Z. The first transport device 1 corresponds to a transport device that transports the container from the reference position toward the first side in the transport direction.

The second transport device 2 transports the second container C2 in one direction along a prescribed transport direction. In this embodiment, the second conveyance device 2 is a conveyor device including a roller conveyor, and conveys the second container C2 along the X direction X to the second side X2 in the X direction. A second position P2 is set in the middle of the transport path of the second transport device 2. The second transport device 2 transports the second container C2 located at the second position P2 from the second position P2, and transports another second container C2 to the second position P2. The second container C2 transported by the second transport device 2 to the second position P2 does not contain the article W, but the second container C2 transported from the second position P2 contains the article W by the transfer device 3. The stored articles W are stored therein. The second position P2 is set at the same position as the first position P1 in the X direction X, and is set on the first side Y1 in the Y direction with respect to the first position P1.

In the article transfer facility, the first container C1 containing the article W is conveyed to the first position P1 by the first conveyance device 1, and the empty second container C2 is conveyed to the second position P2 by the second conveyance device 2. Ru. Then, the transfer device 3 holds and takes out the article W housed in the first container C1 located at the first position P1, and stores the retrieved article W in the second container C2 located at the second position P2. Afterwards, the holding on the article W is released and the article W is transferred from the first container C1 to the second container C2. The first container C1 from which all the articles W to be taken out have been taken out is transported from the first position P1 by the first transport device 1. Further, the second container C2 containing all the articles W to be stored is transported from the second position P2 by the second transport device 2.

As shown in FIG. 5, each of the first container C1 and the second container C2 has a placing part 5 on which the article W is placed, and a side wall part 6 erected around the placing part 5. An opening 7 is formed by the upper end of the side wall 6. In this way, each of the first container C1 and the second container C2 has an opening 7 that opens to the first side Z1 (upper side) in the Z direction, which is one side in the Z direction Z. In the present embodiment, the shapes of the first container C1 and the second container C2 (the shape of the mounting portion 5) when viewed in the Z direction are rectangular. As shown in FIG. 1, the first container C1 is transported by the first transport device 1 with the transverse direction of the first container C1 aligned in the X direction. 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.

The articles W accommodated in the first container C1 are bag-shaped articles W and box-shaped articles W. In this embodiment, the bag-shaped article W is a highly flexible bag made of, for example, synthetic resin or paper, in which an item is housed. Moreover, the box-shaped article W is a box-shaped package made of synthetic resin or paper, for example, in which an item is housed. This package is wrapped in a sheet-like packaging material such as a synthetic resin film, if necessary.

As shown in FIG. 5, the article transfer equipment 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 a third holding section 13 that holds the article W. It includes a fourth holding part 14 that holds W, and a driving part 15 that moves the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14. These first holding section 11, second holding section 12, third holding section 13, fourth holding section 14, and drive section 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 section 11 includes one or more suction pads 20 . In this embodiment, the first holding unit 11 includes three suction pads 20 that suction the article W from the first side Z1 in the Z direction, and some or all of the three suction pads 20 are attached to the article W. By adsorbing it to W, the article W is held by adsorption to the surface of the article W facing the first side Z1 in the Z direction. In this way, the first holding section 11 is configured to approach the article W from the first side Z1 in the Z direction and hold the article W. Note that the suction pad 20 corresponds to a suction section that holds the article W by suction.

The second holding part 12 is connected to the lower end of the second support body 17. The third holding part 13 is connected to the lower end of the third support body 18. The fourth holding part 14 is connected to the lower end of the fourth support body 19. Each of the second holding part 12 , the third holding part 13 , and the fourth holding part 14 includes one or more suction pads 20 similarly to the first holding part 11 , and the second holding part 12 , The third holding section 13 and the fourth holding section 14 are both configured to approach the article W from the first side Z1 in the Z direction and hold the article W.

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

The first Z-axis drive section 21 includes a first Z-axis guide body 27 that guides the first Z-axis moving body 26 connected to the upper part of the first support body 16 in the Z direction, and a first Z-axis guide body 27 that guides the first Z-axis moving body 26 in the Z direction. A first Z-axis drive mechanism 28 for moving in the Z direction is provided. In this embodiment, the first Z-axis guide body 27 is constituted 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. Furthermore, in this embodiment, the first Z-axis drive mechanism 28 includes a ball screw to 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 by rotating a ball screw by driving an electric motor. The first Z-axis drive section 21 guides and moves the first Z-axis moving body 26 in the Z direction Z by being guided by the first Z-axis guide 27 and driven by the first Z-axis drive mechanism 28 . Thereby, the first holding part 11 moves while being guided in the Z direction.

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

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

The first Y-axis drive unit 46 includes a first Y-axis guide body 52 that guides a first Y-axis movable body 51 connected to the lower part of the first Z-axis guide body 27 in the Y direction Y, and a first Y-axis guide body 52 that guides the first Y-axis movable body 51 in the Y direction Y. A first Y-axis drive mechanism 53 (see FIG. 1) that moves in the Y direction. In this embodiment, the first Y-axis guide body 52 is constituted 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. Furthermore, in this embodiment, the first Z-axis drive mechanism 28 includes a ball screw to 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 guides and moves the first Y-axis moving body 51 along the Y direction Y by guiding by the first Y-axis guide 52 and driving the first Y-axis drive mechanism 53. Thereby, the second holding part 12 moves while being guided in the Y direction.

Like the first Y-axis drive unit 46, the second Y-axis drive unit 47 includes a second Y-axis guide body 57 that guides a second Y-axis moving body 56 connected to the lower part of the second Z-axis guide body 32 in the Y direction Y. and a second Y-axis drive mechanism 58 (see FIG. 1) that moves the second Y-axis moving body 56 in the Y direction Y. Like the first Y-axis drive unit 46, the third Y-axis drive unit 48 includes a first Y-axis guide body 52 that guides the third Y-axis moving body 61 connected to the lower part of the third Z-axis guide 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. Note that the first Y-axis guide body 52 is also used by the first Y-axis drive section 46 and the third Y-axis drive section 48. Like the first Y-axis drive section 46, the fourth Y-axis drive section 49 includes a second Y-axis guide body 57 that guides the fourth Y-axis moving body 66 connected to the lower part of the fourth Z-axis guide body 42 in the Y direction Y. and a fourth Y-axis drive mechanism 68 (see FIG. 1) that moves the fourth Y-axis moving body 66 in the Y direction Y. Note that the second Y-axis guide body 57 is also used by the second Y-axis drive section 47 and the fourth Y-axis drive section 49.

As shown in FIGS. 1 and 2, the drive section 15 further includes a first X-axis drive section 71 that guides and moves the first holding section 11 in the X direction, and a first X-axis drive section 71 that moves the second holding section 12 in the X direction. A second X-axis drive section 72 that moves while guiding it; a third X-axis drive section 73 that moves the third holding section 13 while guiding it in the X direction; and a third X-axis drive section 73 that moves the fourth holding section 14 while guiding it in the X direction. A fourth X-axis drive section 74 is provided.

The first X-axis drive unit 71 includes a first X-axis guide body 77 that guides a first X-axis moving body 76 connected to a portion of the first Y-axis guide body 52 on the second side Y2 in the Y direction in the X direction a second X-axis guide body 79 that guides in the X-direction 76 in the X direction, and a second X-axis drive mechanism 81 that moves the second X-axis moving body 78 in the X direction. The third X-axis drive section 73 includes a first X-axis guide 77 , a second X-axis guide 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 section 71 and the third X-axis drive section 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 section 71 and the third X-axis drive section 73.

In this embodiment, each of the first X-axis guide body 77 and the second X-axis guide body 79 is constituted by a rail member installed along the X direction The second X-axis moving body 78 is engaged with the second X-axis guide body 79 . Furthermore, in the present embodiment, the first X-axis drive mechanism 80 includes a ball screw into which the first X-axis moving body 76 is screwed, and an electric motor that rotates the ball screw. Further, the second X-axis drive mechanism 81 includes a ball screw into which the second X-axis moving body 78 is screwed, and an electric motor that rotates the ball screw. The first X-axis drive section 71 and the third X-axis drive section 73, which are used in common with each other, move the first X-axis moving body 76 in the X direction The second X-axis moving body 78 is guided and moved along the X direction by the guidance by the second X-axis guide body 79 and the drive of the second X-axis drive mechanism 81. Thereby, the first holding part 11 and the third holding part 13 move while being guided in the X direction.

Like the first X-axis drive section 71, the second X-axis drive section 72 guides a third X-axis moving body 83, which is connected to a portion of the second Y-axis guide body 57 on the second side Y2 in the Y direction, in the X direction X. a second X-axis guide 79 that guides a fourth X-axis moving body 84 connected to a portion of the second Y-axis guide 57 on the first side Y1 in the Y direction in the X direction It includes a third X-axis drive mechanism 85 that moves the third X-axis moving body 83 in the X direction, and a fourth X-axis drive mechanism 86 that moves the fourth X-axis moving body 84 in the X direction. The fourth X-axis drive section 74 includes a first X-axis guide 77 , a second X-axis guide 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 used not only for the first X-axis drive section 71 and the third X-axis drive section 73, but also for the second X-axis drive section 72 and the fourth X-axis drive section 73. It also serves as the shaft drive section 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 section 72 and the fourth X-axis drive section 74.

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

As shown in FIG. 1 and FIG. 6 which is a control block diagram, the article transfer equipment 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 located at the first position P1, and the first imaging device 89 is installed above the upper end of the first container C1 located at the first position P1 and the article W stored in the first container C1. is installed so that it can be imaged. 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 stored in the second container C2. is installed so that it can be imaged.

As shown in FIG. 6, the article transfer equipment includes a control device H that controls the first transfer device 1, the second transfer device 2, and the transfer device 3. Based on the imaging information transmitted from the first imaging device 89, the control device H determines the position and orientation of the first container C1 at the first position P1, and the items W contained in the first container C1. Recognize position and posture. Furthermore, the control device H determines the position and orientation of the second container C2 at the second position P2, and the articles stored in the second container C2, based on the imaging information transmitted from the second imaging device 90. Recognize the position and orientation of W. The control device H selectively performs independent transfer control and joint transfer control depending on at least one of the size, shape, and material of the target article WT, which is the article W to be transferred. Note that the control device H corresponds to a control section that controls the drive section 15.

A different article code is assigned to each type of article W. The control device H stores article codes and article information in association with each other. The article information is information indicating the size (length, width, height), weight, packaging type (bag-like or box-like packaging), center of gravity position, etc. of the article W. The control device H has acquired 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 article W, and quantity information indicating the number of articles W of the type corresponding to each product code indicated by the code information. It is.

As shown in the flowchart of FIG. 7, when the control device H executes selection control (S1) and selects independent transfer control or joint transfer control, and joint transfer control is selected by this selection control, If (S2: Yes), joint transfer control is executed (S3), and if independent transfer control is selected (S3: No), 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 corresponds to a small article, a medium article, or a large article based on the order information, and whether the target article WT is a large article or not. If yes (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 addition, in the selection control, when the target article WT is a medium-sized article (S11: No, S13: Yes), when the weight of the target article WT is larger than the set weight (S15: Yes), or when the packaging type of the target article WT If it is bag-shaped (S16: Yes), joint transfer control is selected, and if none of these conditions apply (S15: No, S16: No), independent transfer control is selected. In this way, the control device H selectively executes either the independent transfer control or the collaborative transfer control depending on the size, shape, weight, and packaging type of the target article WT.

As an example, an article W whose surface area facing the first side Z1 in the Z direction is larger than the first setting value is considered a large article, and an article W whose surface area facing the first side Z1 in the Z direction is less than the second setting value. , a small article, and an article W having an area of the surface facing the first side Z1 in the Z direction that is less than a first set value and greater than or equal to a second set value can be a medium article. Note that for medium and large items, the surface facing the first side Z1 in the Z direction is held by four holding parts: the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14. It has a size and shape that can be held at the same time.

In the joint transfer control, the first holding section 11, the second holding section 12, the third holding section 13, and the fourth holding section 14 jointly hold one target article WT, and transfer the target article WT. The drive unit 15 is controlled to perform the operation. In the joint transfer control, the drive unit is configured such that the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14 hold mutually different positions on the outer edge of the target article WT. 15. In this manner, in the joint transfer control, the first holding section 11 and the second holding section 12 jointly hold one target article WT, and the drive section 15 is configured to perform the transfer operation of the target article WT. control. In addition, in the joint transfer control, as shown in FIGS. 11 and 12, the center of gravity G of the target article WT is located between the first holding section 11 and the second holding section 12 when viewed in the Z direction. The drive section 15 is controlled 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, after joint simultaneous suction control is executed (S31), joint simultaneous suction cancellation control is executed (S32).
As shown in FIG. 11, joint simultaneous adsorption control is performed by moving the first holding section 11, the second holding section 12, the third holding section 13, and the fourth holding section 14 (hereinafter referred to as four holding sections) to the After moving one target article WT stored in the first container C1 at position P1 to a position overlapping in the Z direction Z, the four holding parts are moved in the Z direction to a suction position where they contact the target article WT. One target article WT is moved to the second side Z2 and held by the four holding parts, and then the lower end of the target article WT is moved from the end of the first container C1 in the Z direction to the first side Z1. The drive unit 15 is controlled so as to move to the take-out position on the first side Z1.
As shown in FIG. 12, the joint simultaneous adsorption release control is performed by moving the four holding parts to a position overlapping in the Z direction Z with respect to the accommodation position in the second container C2 at the second position P2, and then holding them. The four holding parts are moved to the second side Z2 in the Z direction to the adsorption release position where the target article WT is close to or in contact with the placement part 5 of the second container C2, and the one target article WT is held by the four holding parts. , and then the drive unit is moved so that the lower ends of the four holding parts move from the end of the side wall 6 of the first container C1 on the first side Z1 in the Z direction to the avoidance position on the first side Z1 in the Z direction. 15.

As described above, one target article WT is held by the target holding parts while the four holding parts are moved to the second side Z2 in the Z direction until they contact the target article WT. Therefore, as shown in FIG. 13, when the surface of the target article WT facing the first side Z1 in the Z direction is different from the flat surface along the X direction The positions (suction positions) of some or all of the two holding parts may be different from each other in the Z direction.
In other words, in joint transfer control, if the surface of the target article WT facing the first side Z1 in the Z direction 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 with the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14 at the same position in the Z direction Z. However, in the joint transfer control, the surface of the target article WT facing the first side Z1 in the Z direction has a shape different from the flat surface 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 with some or all of the first holding part 11, second holding part 12, third holding part 13, and fourth holding part 14 in different positions in the Z direction Z. .

For example, as shown in FIG. 13, the surface of the target article WT facing the first side Z1 in the Z direction 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 part 11 and the second holding part 12 hold the target article WT at different positions in the Z direction Z, and the third holding part 13 and the fourth holding part 14 hold the target article WT at different positions in the Z direction Z. The first holding part 11 and the third holding part 13 hold the target article WT at the same position in the Z direction Z, and the second holding part 12 and the fourth holding part 14 hold the target article WT at the same position in the Z direction Z. will be retained.

In the independent transfer control, when there are four target articles WT to be transferred at the same time, the first holding section 11, the second holding section 12, the third holding section 13, and the fourth holding section 14 control different target articles WT. The driving unit 15 is controlled such 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. In addition, when the number of target articles WT to be transferred at the same time is one or more and three or less, the independent transfer control is performed by controlling the first holding part 11, the second holding part 12, the third holding part 13, and the fourth holding part 14. The drive unit 15 is controlled such that some of the holding units hold different target articles WT, and some of the holding units perform a transfer operation of the target articles WT. In this manner, in the independent transfer control, the first holding section 11 and the second holding section 12 hold different target articles WT, and the first holding section 11 and the second holding section 12 independently transfer the target articles WT. The drive unit 15 is controlled to perform the WT transfer operation.

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

The independent simultaneous suction control and the independent sequential suction control are based on the holding parts (independent simultaneous suction When executing the control, it is one or more holding parts, and when executing the independent sequential suction control, it is a plurality of holding parts (hereinafter referred to as target holding parts), respectively, at the first position P1. After moving the target article WT stored in the first container C1 to a position where it overlaps in the Z direction Z, the target holding part is moved on the second side in the Z direction to a contact position where it contacts the target article WT. Z2, each of the target holding parts holds a different target article WT, and then the lower end of the target article WT being held is located at the first side Z1 in the Z direction from the end of the first container C1 in the Z direction. The drive unit 15 is controlled so as to move it to the take-out position, which is the first side Z1. In independent simultaneous suction control, one object holding section performs the above operation as shown in FIG. 14, or multiple object holding sections simultaneously perform the above operations, and in independent sequential suction control, as shown in FIGS. As shown in 17, a plurality of object holding units sequentially perform the above operations.

The independent simultaneous adsorption release control and the independent sequential adsorption release control are performed by moving the object holding unit 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 removing the held object. The article WT is moved to the second side Z2 in the Z direction to the suction release position where it contacts the placement part 5 of the second container C2, the holding of one target article WT by the target holding part is released, and then the target holding part is moved to the second side Z2. The drive unit 15 is controlled so that the lower end moves from the end of the side wall portion 6 of the first container C1 on the first side Z1 in the Z direction to an avoidance position on the first side Z1 in the Z direction. In the independent simultaneous suction release control, one object holding section performs the above operation as shown in FIG. 15, or multiple object holding sections simultaneously perform the above operation, and in the independent sequential suction release control, And as shown in FIG. 19, a plurality of object holding units sequentially perform the above operations.

In addition, in the independent transfer control or joint transfer control, the control device H controls the target article WT stored in the first container C1 at the first position P1 to the first holding section 11, the second holding section 12, and the second holding section 12. After holding the first container C1 by at least one of the third holding section 13 and the fourth holding section 14, the first conveying device 1 transports the first container C1 to the first side X1 in the X direction (the first side in the conveying direction). while moving at least one of the first holding part 11, second holding part 12, third holding part 13, and fourth holding part 14 to the first side X1 in the X direction. The drive unit 15 is controlled to move the target article WT to the side Z1 and take out the target article WT from the first container C1.

That is, one or more target articles WT stored in the first container C1 at the first position P1 are taken out from the first container C1 by joint simultaneous suction control, independent simultaneous suction control, and independent sequential suction control. Therefore, when all the target articles WT to be taken out from the first container C1 are to be taken out, after holding the target articles WT by the holding section and before moving the target articles WT to the take-out position, Conveyance of one container C1 from the first position P1 to the first side X1 in the X direction is started. In this way, when transporting the first container C1, when moving the holding part from the suction position to the take-out position in joint simultaneous suction control, independent simultaneous suction control, and independent sequential suction control, the steps shown in FIGS. As shown in 21, the holding part is moved to the first side Z1 in the Z direction while being moved to the first side X1 in the X direction. Note that FIGS. 20 and 21 illustrate the case of joint simultaneous adsorption control.

In the independent transfer control or the joint transfer control, the control device H controls the target article WT by using at least one of the first holding section 11, the second holding section 12, the third holding section 13, and the fourth holding section 14. is held and moved to the second position P2, the holding of the target article WT is released at the second position P2, and the target article WT is accommodated in the second container C2, and then the second container C2 is moved to the second side in the X direction. The second conveyance device 2 is controlled to convey in the X direction, 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 The drive unit 15 is controlled to move the holding unit to the first side Z1 in the Z direction while moving it to the second side X2, thereby retracting the holding unit.

That is, by storing one or more target articles WT in the second container C2 located 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 second container C2 are stored, after releasing the holding of the target article WT by the holding section and before moving the holding section to the retreat position, the second container at the second position P2 is removed. Conveyance of C2 from the second position P2 to the second side X2 in the X direction is started. In this way, when transporting the second container C2, when moving the holding section from the suction release position to the retreat position in joint simultaneous suction release control, independent simultaneous suction release control, and independent sequential suction release control, As shown in FIGS. 22 and 23, the holding portion is moved to the first side Z1 in the Z direction while being moved to the second side X2 in the X direction. Note that FIGS. 22 and 23 illustrate the case of joint simultaneous adsorption release control.

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

(1) In the above embodiment, the article transfer equipment is described as an example of a configuration including four holding parts: a first holding part 11, a second holding part 12, a third holding part 13, and a fourth holding part 14. did. However, the article transfer equipment only needs to include at least two holding parts, the first holding part 11 and the second holding part 12, and the number of holding parts that the article transfer equipment has may be changed as appropriate. .

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

(3) In the above embodiment, the control device H selectively executed either the independent transfer control or the cooperative transfer control depending on the size, weight, and material (packaging type) of the target article WT. However, the control device H may selectively execute either the independent transfer control or the collaborative transfer control depending on at least one of the size, weight, and material (packaging type) of the target article WT. Therefore, for example, control may be performed to increase the number of holding sections that hold the target article WT as the weight of the target article WT increases.

(4) In the above embodiment, the first transport device 1 transports the first container C1 to the first side X1 in the X direction, and the second transport device 2 transports the second container C2 to the second side X2 in the X direction. was explained as an example. However, the directions in which the containers are transported by the first transport device 1 and the second transport device 2 may be changed as appropriate. For example, both the first transport device 1 and the second transport device 2 may transport 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 be directions that intersect with each other. In this case, the installation heights of the first transport device 1 and the second transport device 2 may be different.

(5) In the above embodiment, the first conveyance device 1 transports the first container C1 and the drive unit 15 moves the first holding part 11 and the second holding part 12 from the suction position to the take-out position at the same time. An example of the configuration used has been explained. However, after the first holding part 11 and the second holding part 12 are moved from the suction position to the take-out position by the drive unit 15, the first transport device 1 starts transporting the first container C1 from the first position P1. In this way, the transport of the first container C1 by the first transport device 1 and the movement of the first holding part 11 and the second holding part 12 from the suction position to the take-out position by the drive part 15 are prevented from being carried out at the same time. You can. Similarly, the transport of the second container C2 by the second transport device 2 and the movement of the first holding part 11 and the second holding part 12 from the adsorption release position to the retracted position by the drive unit 15 are not performed at the same time. You can do it like this.

(6) In the above embodiment, a configuration in which the vertical direction is the Z direction Z (reference direction) has been described as an example, but the Z direction Z (reference direction) is not limited to this. It may also be inclined.

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

For example, the configuration of the driving section 15 as shown in FIG. 24 is also suitable. In the example shown in this figure, the first holding part 11 is guided by the first Z-axis drive part 21, the first Z-axis drive part 21 is guided by the first X-axis drive part 71, and the first X-axis drive part 71 is guided by the first Y-axis drive part 71. It is configured to be guided by a drive section 46. Further, the second holding section 12 is guided by the second Z-axis drive section 22, the second Z-axis drive section 22 is guided by the second X-axis drive section 72, and the second X-axis drive section 72 is guided by the second Y-axis drive section 47. The configuration is as follows. Similarly, the third holding section 13 is guided by the third Z-axis drive section 23, the third Z-axis drive section 23 is guided by the third X-axis drive section 73, and the third X-axis drive section 73 is guided by the third Y-axis drive section 48. The structure is designed to guide you. Further, the fourth holding section 14 is guided by the fourth Z-axis drive section 24, the fourth Z-axis drive section 24 is guided by the fourth X-axis drive section 74, and the fourth X-axis drive section 74 is guided by the fourth Y-axis drive section 49. The configuration is as follows. In the example of FIG. 24, the first Y-axis drive section 46 and the third Y-axis drive section 48 are used together, and the second Y-axis drive section 47 and the fourth Y-axis drive section 49 are used together. Furthermore, the first X-axis drive section 71 and the third X-axis drive section 73 are used together, and the second X-axis drive section 72 and the fourth X-axis drive section 74 are used together.

(8) In the above embodiment, the first position P1 as a transfer target location is set in the middle of the conveyance route of the conveyor device that constitutes the first conveyor device 1, and The second position P2 as a transfer target location is set in the middle of the transport route, and the transfer device 3 is installed so as to straddle these transfer target locations. However, the location to be transferred 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 conveyor path of the conveyor device that constitutes the first conveyor device 1, and the second position P2 is set at the downstream end of the conveyor device that constitutes the second conveyor path. The transfer device 3 may be installed so as to straddle these. Alternatively, the conveyor device constituting the transport device has a bent or curved configuration, and a transfer target location is installed in the middle of these bends or curves, and it is possible to transfer to the transfer target location. A transfer device 3 may be installed at the position.

(9) In the above embodiment, a configuration is described as an example in which the first conveying device 1 (conveying device) that conveys the first container C1 (container) and the second conveying device 2 that conveys the second container C2 are conveyor devices. did. However, the structure of the conveying device for conveying these containers is not limited to this, and various known conveying devices such as a conveying cart or a carousel type conveying mechanism can be used. Further, the target location where the transfer device 3 transfers the article W is not limited to the container transported by such a conveyance device, but various locations where the article W is placed can be the transfer target location. I can do it. For example, a container transported by a worker may be set as a transfer target location, or a transfer surface of a transport device without a container may be set as a transfer target location.

For example, as shown in FIG. 25, it is preferable to install the transfer device 3 at a picking station equipped with a carousel type transport mechanism as a transfer target location. In the example shown in this figure, the article transfer equipment includes a first picking device 101 that transports the first container C1 so as to rotate it around an axis along the X direction A second picking device 102 that conveys the device while turning it around the axis is provided. 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 first side Z1 in the Z direction with respect to the first picking device 101 and the second picking device 102 that are lined up in the X direction. The first picking device 101 includes a plurality of supports 103 that support the first containers C1, a support rotating body 104 that rotates the plurality of supports 103 around an axis along the X direction, and a first conveyor 105. , a second conveyor 106. The first picking device 101 transfers the first container C1 from the first conveyor 105 to the support 103, rotates and conveys the first container C1 so as to rotate it around the axis along the X direction, and then transfers the first container C1 to the support 103. The first container C1 is conveyed so as to be passed from there to the second conveyor 106. A first position P1 is set in the middle of rotational conveyance in this 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 transports the second container C2. Further, a 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 body 103 at the first position P1 of the first picking device 101 to the support body 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 each of the embodiments described above can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

3. Outline of the above-mentioned embodiment Hereinafter, an overview of the article transfer facility explained above will be explained.

The article transfer equipment includes a first holding section that holds the article, a second holding section that holds the article, a drive section that moves the first holding section and the second holding section, and a drive section that controls the drive section. comprising a control unit;
The drive section guides the first holding section in the Z direction, with a predetermined reference direction being the Z direction, and one of two directions orthogonal to each other when viewed from the Z direction being the X direction and the other being the Y direction. a first Z-axis drive unit that moves the second holding unit while guiding it in the Z direction; a first Z-axis drive unit that moves the first holding unit while guiding it in the X direction; a second X-axis drive section that guides and moves the second holding section in the X direction; a first Y-axis drive section that moves the first holding section while guiding it in the Y direction; a second Y-axis drive unit that moves the second holding unit while guiding it in the Y direction; Independent transfer control and joint transfer control are selectively executed depending on the situation, and in the independent transfer control, the first holding section and the second holding section hold different target articles. , the drive unit is controlled so that the first holding unit and the second holding unit transfer the target article independently of each other, and in the joint transfer control, the first holding unit and the second holding unit The driving section is controlled so that the two holding sections jointly hold one target article and perform a transfer operation of the target article.

According to this configuration, the first Z-axis drive section, the first X-axis drive section, and the first Yh-axis drive section all have a simple structure that moves the first holding section 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 to perform, and each driving part can be configured at low cost.
In addition to the first holding part, the first Z-axis driving part, the first X-axis driving part, and the first Y-axis driving part, the second holding part, the second Z-axis driving part, the second X-axis driving part, and the second Y-axis driving part Equipped with a drive unit. Therefore, when the control unit executes 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. In addition, when the control unit executes joint transfer control, the first holding unit and the second holding unit jointly hold and transfer target articles that cannot be held by a single holding unit due to size, shape, or material. Therefore, a variety of target articles can be transferred.
As described above, according to the present characteristic configuration, it is possible to realize a configuration that can efficiently transfer target articles and transfer a variety of target articles while keeping the installation cost of article transfer equipment low. I can do it.

Here, the first holding part and the second holding part are configured to approach the target article from a first side in the Z direction, which is one side in the Z direction, and hold the target article; In the transfer control, when the surface of the target article facing the first side in the Z direction is a flat surface along a direction perpendicular to the Z direction, the first holding part and the second holding part are The target article is held at the same position in the Z direction, and a surface of the target article facing the first side in the Z direction has a shape different from a flat surface along a direction perpendicular to the Z direction. In this case, it is preferable to hold the target article with the first holding part and the second holding part at different positions in the Z direction.

According to this configuration, in joint transfer control, the target article may be held with the first holding part and the second holding part at the same position in the Z direction, or the first holding part and the second holding part may be held at the same position. By holding the target article in different states in the Z direction, regardless of whether 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 target article can be appropriately held by the first holding part and the second holding part.

The container further includes a conveyance device that conveys a container containing an article from a predetermined reference position toward a first side in the conveyance direction that is one side in the conveyance direction intersecting the Z direction, and the container includes: The controller has an opening that opens on a first side in the Z direction, which is one side in the Z direction, and the control section is configured to accommodate the container in the reference position in the independent transfer control or the joint transfer control. After holding the target article by at least one of the first holding part and the second holding part, controlling the transporting device to transport the container to the first side in the transporting direction; Preferably, the drive unit is controlled to take out the target article from the container by moving at least one of the holding unit and the second holding unit to the first side in the conveyance direction and to the first side in the Z direction. be.

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 section and the second holding section, and before the target article is taken out from the container, the conveyance is performed. By starting the conveyance of the container by the device, the efficiency of conveying the container can be increased compared to the case where the conveyance device starts conveying the container after the target article is taken out from the container.
In addition, when transporting such a container, there is a risk that the side wall of the container being moved will come into contact with the target article before it is taken out from the container. By moving at least one of the parts toward the first side in the conveyance direction and the first side in the Z direction, the target article can be taken out from the container while avoiding contact between the target article and the container. As described above, according to the present configuration, it is possible to improve the efficiency of transporting the container while avoiding contact between the target article and 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. It is preferable to control the drive unit in this way.

According to this configuration, it is possible to prevent the weight of the target article from acting excessively on one of the first holding part and the second holding part, and the weight of the target article can be prevented from acting excessively on one of the first holding part and the second holding part. becomes easier to hold stably.

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

According to this configuration, by holding the outer edge of the bag-shaped target article with the first holding part and the second holding part, it is possible to suppress hanging of the held target article. Therefore, it is possible to reduce the possibility that the holding posture of the target article becomes unstable due to sagging and the target article comes off from the first holding part or the second holding part.

The technology according to the present disclosure includes a first holding part that holds an article, a second holding part that holds an article, a drive part that moves the first holding part and the second holding part, and a drive part that controls the drive part. It can be used for article transfer equipment equipped with a control unit that controls

1: First conveyance device (conveyance device)
7: Opening section 11: First holding section 12: Second holding section 15: Drive section 20: Suction pad (suction section)
21: First Z-axis drive section 22: Second Z-axis drive section 46: First Y-axis drive section 47: Second Y-axis drive section 71: First X-axis drive section 72: Second X-axis drive section C1: First container (container)
G: Center of gravity H: Control device (control unit)
P1: 1st position (reference position)
W: Article WT: Target article X: X direction (transport direction)
X1: First side in the X direction (first side in the conveyance direction)
Y: Y direction Z: Z direction Z1: Z direction first side

Claims (1)

A first holding part that holds an article, a second holding part that holds an article, a driving part that moves the first holding part and the second holding part, and a control part that controls the driving part. An article transfer facility comprising:
A predetermined reference direction is the Z direction, one of two directions orthogonal to each other when viewed from the Z direction is the X direction, and the other is the Y direction,
The drive unit includes:
a first Z-axis drive unit that moves the first holding unit while guiding it 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 the first holding unit while guiding it in the Y direction;
a second Y-axis drive unit that guides and moves 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 article that is the article to be transferred,
In the independent transfer control, the first holding section and the second holding section hold different target articles, and the first holding section and the second holding section independently transfer the target article. controlling the drive unit to perform a mounting operation;
In the joint transfer control, the first holding section and the second holding section jointly hold one of the target articles and control the driving section so as to perform a transfer operation of the target article. Goods transfer equipment.

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