JP6428367B2 - Transfer equipment - Google Patents

Description

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

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

  In such a transfer device, as a method of transferring the load between the mounting table of the transfer device and the mounting place outside the mounting table, the baggage is pushed out and pulled in by a claw provided on an extendable arm. A push-pull type that transfers a load can be exemplified by performing (see, for example, Patent Document 1 and Patent Document 2).

  In the technique of Patent Document 1, when the arm is extended and retracted for taking in the load, the speed of extending and retracting the arm is changed to improve both the accuracy of detecting the position of the load and shorten the time until the load is taken in. I am letting.

  Further, in the technique of Patent Document 2, the pair of left and right arms are extended so that the two arms are positioned on both sides in the left-right direction of the luggage for taking in the luggage, and the claws of the two arms When the vehicle is positioned behind the rear end position, the load is positioned by clamping (operation) that closes the pair of left and right arms.

International Publication No. 2011/158422 International Publication No. 2012/029339

  However, in the technique of Patent Document 1, since the speed for extending and retracting the arm is changed, there is a possibility that the time until the claw provided on the arm is extended to the position of the rear end of the load cannot be shortened sufficiently. .

  Further, in the technique of Patent Document 2, when the clamping operation is performed, the position of the rear end of the baggage may be shifted, so that the baggage may be shifted backward relative to the claw of the arm. In this case, since the arm claw interferes with the load, the load may not be taken in.

  Therefore, the present invention has been made in view of such a problem, and an object of the present invention is to provide a transfer device that can efficiently load a package.

  In order to achieve the above object, the transfer device according to one aspect of the present invention includes a claw provided at a tip portion of the arm after extending an arm that expands and contracts in the front-rear direction to the first mounting location. A transfer device capable of taking the load into a second placement location forward of the first placement location by contracting the arm by contacting the rear end of the load placed on A controller for controlling the operation of the arm; and a detection sensor provided in the vicinity of the tip of the arm and capable of detecting the load, wherein the controller (i) includes the load on the second load. (Ii) the front end portion, when the arm is extended so that the front end portion stops at a first position obtained by using the length in the front-rear direction of the luggage stored in advance when taking in the storage location; Said first stopped Determining whether the state of the detection sensor is a detection state in which the load is detected or a non-detection state in which the load is not detected, and (iii) the state of the detection sensor is the state When it is determined that the arm is in the detection state, a first correction operation for further extending the arm is performed.

  According to this, in order to extend the arm so that the front end portion stops at the first position obtained by using the length in the front-rear direction of the load stored in advance, the transfer device is positioned at the first position. The arm can be extended so that the time to reach it is as short as possible. In addition, when a load is detected at the first position, the first correction operation for extending the arm is further performed. Even if there is, it is possible to reliably take in the luggage. In other words, if there is no position shift, the baggage can be taken in a short time, and even if there is a position shift, the baggage can be taken in reliably. be able to.

  In addition, when the controller determines that the state of the detection sensor is the non-detection state, the controller detects the detection when the detection sensor changes from the detection state to the non-detection state before the determination. Determining whether the distance between the second position of the sensor in the front-rear direction and the first position is equal to or greater than a predetermined distance; and (ii) determining that the distance is not equal to or greater than the predetermined distance; You may perform the 2nd correction | amendment operation | movement which further expands the said arm until the said front-end | tip part arrives at a position more than predetermined distance from said 2nd position.

  According to this, even if the package is not detected at the first position, if the first position is not positioned more than a predetermined distance behind the second position, A second correction operation is performed in which the arm is extended until the tip portion is positioned behind the predetermined second position by a predetermined distance or more. As a result, the tip of the arm can be reliably positioned at a position more than a predetermined distance behind the position of the rear end of the load, and the load can be reliably taken in.

  In the first correction operation, the controller checks the state of the detection sensor until the state of the detection sensor changes from the detection state to the non-detection state, and the state of the detection sensor is changed from the detection state to the detection state. The arm may be extended until the tip portion reaches a position behind the second position that is a position in the front-rear direction of the detection sensor at the time when the detection sensor is changed to a non-detection state.

  According to this, in the first correction operation, the arm is extended until the front end is positioned at a predetermined distance or more behind the second position, which is the position of the rear end of the detected load. In addition, it is possible to reliably position the tip of the arm at a position behind the predetermined interval or more, and it is possible to reliably take in the luggage.

  Further, the transfer device has two arms facing each other in a direction intersecting the front-rear direction, and the controller determines that (i) the state of the detection sensor is the non-detection state. Later, a clamping operation for narrowing the interval between the two arms is performed. (Ii) When the state of the detection sensor changes to the detection state after the start of the clamping operation, a third operation is performed to extend the two arms. Performing a correction operation, and in the third correction operation, a predetermined interval or more from a second position, which is a position in the front-rear direction of the detection sensor at a time when the state of the detection sensor changes from the detection state to the non-detection state The two arms may be extended until the tip reaches a rear position or the maximum extension length of the two arms.

  According to this, even if the state of the detection sensor changes from the non-detection state to the detection state after the start of the clamping operation, the third correction operation for extending the two arms is performed. For this reason, the front-end | tip part of two arms can be reliably reached | attained to the position back rather than the rear end of a load, and taking in of a load can be performed reliably.

  Further, the transfer device according to one aspect of the present invention includes two arms that expand and contract in the front-rear direction, and after extending the two arms facing each other in the direction intersecting the front-rear direction, The claw provided at the tip of the two arms is brought into contact with the rear end of the load placed at the first placement location, and the arm is contracted, so that the load is moved more than the first placement location. A transfer device that can be taken into a second mounting place in front of the controller, and is provided in the vicinity of the tip of the two arms and a controller that controls the operation of the two arms, and detects the load And (i) a first sensor obtained by using a length stored in the front-rear direction of the load stored in advance when the load is taken into the second placement location. The tip stops at one position (Ii) In the first position where the arm is stopped, the state of the detection sensor is the detection state where the load is detected or the load is not detected It is determined whether or not it is in a non-detection state, and (iii) after determining that the state of the detection sensor is in the non-detection state, a clamp operation for narrowing the interval between the two arms is performed, and (iv) the clamp When the state of the detection sensor changes from the non-detection state to the detection state after the start of operation, a third correction operation is performed, and in the third correction operation, the state of the detection sensor is changed from the detection state to the non-detection state. Until the tip part reaches a position more than a predetermined distance from the second position, which is the position in the front-rear direction of the detection sensor at the time of changing to the detection state, or the two Until maximum elongation length of the arm, it may be extended to the two arms.

  According to this, even if the state of the detection sensor changes from the non-detection state to the detection state after the start of the clamping operation, the third correction operation for extending the two arms is performed. For this reason, the front-end | tip part of two arms can be reliably reached | attained to the position back rather than the rear end of a load, and taking in of a load can be performed reliably.

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

  The transfer device of the present invention can efficiently take in a package.

It is a figure which shows the structure outline | summary of the transfer apparatus in embodiment. It is a figure which shows the operation | movement at the time of the transfer apparatus in embodiment mounting a load in a rack. It is a figure which shows the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure which shows the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure which shows the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a figure which shows the operation | movement at the time of the transfer apparatus in embodiment taking in a load. It is a block diagram regarding the control system of the operation | movement of the transfer apparatus in embodiment. It is a figure for demonstrating the control which measures the size of the load at the time of the transfer apparatus in embodiment taking in a load from a station. It is a figure which shows the size division table previously memorize | stored in the memory | storage part. It is a figure which shows the package size information which shows the size division of each package memorize | stored in a memory | storage part. It is a flowchart which shows the procedure of operation | movement in case the transfer apparatus in embodiment takes in a load. It is a flowchart which shows the procedure of the expansion | extension control of the transfer apparatus in embodiment. It is a graph for demonstrating the speed control performed when extending the front-end | tip part of two arms of the transfer apparatus in embodiment to the 1st position (predetermined target position). It is a flowchart which shows the procedure of the 1st correction | amendment operation | movement of the transfer apparatus in embodiment. It is a figure for demonstrating the expansion | extension control of the transfer apparatus performed in the case of case 1. FIG. It is a figure for demonstrating the expansion | extension control of the transfer apparatus performed in the case of case 2. FIG. It is a figure for demonstrating the expansion | extension control of a transfer apparatus performed when it is case 3. FIG. It is a flowchart which shows the procedure of the clamp control of the transfer apparatus in embodiment. It is a flowchart which shows the procedure of the 3rd correction | amendment operation | movement of the transfer apparatus in embodiment. It is a figure for demonstrating the case where a detection sensor detects a package after the clamping operation | movement of the transfer apparatus in embodiment is started. It is a figure for demonstrating the case where a detection sensor detects a package after the clamping operation | movement of the transfer apparatus in embodiment is started. It is a flowchart which shows the procedure of operation | movement in case the transfer apparatus takes in a load in the modification of embodiment.

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

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

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

  1 includes a mounting table 130, detection sensors 104 and 105 provided on the mounting table 130, two arms 110 and 120 provided on the mounting table 130, and two arms. A claw 102 provided at the tip of each of 110 and 120 and a controller 108 that controls the operation of the two arms 110 and 120 are provided.

  In the present embodiment, the transfer device 100 is installed on a transport carriage 150 that travels on a travel path 160 that is configured by two rails installed in parallel. In other words, the transfer device 100 moves the transport carriage 150 along the traveling path 160, so that the load on each of a plurality of shelves included in a rack (not shown in FIG. 1) arranged in front of the transport carriage 150 is obtained. Can be transferred.

  The two arms 110 and 120 can expand and contract in the front-rear direction. The two arms 110 and 120 are arranged at a predetermined interval in the left-right direction (X-axis direction) intersecting the front-rear direction (Y-axis direction). That is, the two arms 110 and 120 face each other in the X-axis direction. The two arms 110 and 120 are provided with a claw 103 at the rear end in addition to the claw 102 at the front end. Here, the front end portions of the two arms 110 and 120 are end portions on the front side (minus in the Y-axis direction) of the two arms 110 and 120, and the rear end portions of the two arms 110 and 120. Is the end of the two arms 110, 120 on the rear side (plus the Y-axis direction).

  The claw 102 at the front end and the claw 103 at the rear end can respectively move out of the two arms 110 and 120 by rotating about a rotation axis parallel to the Y-axis direction.

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

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

  One of the two arms 110 and 120 is a fixed arm 110 whose base portion 113 is fixed to the mounting table 130, and the other is that its base portion 123 is in the X-axis direction with respect to the mounting table 130. This is a movable arm 120 that can move. The top portion 111 of the fixed arm 110 is provided with a guide portion 111a for contacting the load in a clamping operation performed when the load is taken in. The guide part 111a is a protrusion that protrudes from the top part 111 to the plus side in the X-axis direction and is formed over the entire length of the top part 111 in the Y-axis direction.

  As described above, the operation of expanding and contracting the two arms 110 and 120 and the operation of moving the movable arm 120 in the X-axis direction are controlled by the controller 108 as described above. The controller 108 is realized by, for example, a computer including an interface for inputting / outputting information, a CPU (Central Processing Unit) for executing a control program, a memory, and the like.

  The controller 108 may be provided in the transport carriage 150 together with the two arms 110 and 120. In addition, the controller 108 may include a communication device that is connected to the transport cart 150 via a wired or wireless network and can perform communication using the network.

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

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

  Specifically, the controller 108 stores in advance when (i) a package is taken from the shelf (first mounting location) of the rack 300 to the mounting table 130 (second mounting location) of the transport carriage 150. In the first position obtained by using the length in the front-rear direction of the load being loaded, the two arms 110 and 120 are extended so that the tip end stops, and (ii) at the first position where the tip end is stopped. , It is determined whether the state of the detection sensor 104 is a detection state in which a load is detected or a non-detection state in which a load is not detected, and (iii) if the state of the detection sensor 104 is a detection state When the determination is made, a first correction operation for extending the two arms 110 and 120 is further performed. In the first correction operation, the controller 108 checks the state of the detection sensor 104 until the state of the detection sensor 104 changes from the detection state to the non-detection state, and when the state of the detection sensor 104 changes from the detection state to the non-detection state. The two arms 110 and 120 are extended until the tip part reaches a position behind the second position which is a position in the front-rear direction of the detection sensor 104 at a predetermined distance or more.

  In addition, when the controller 108 determines that (i) the state of the detection sensor 104 is the non-detection state, before and after the detection sensor 104 changes from the detection state to the non-detection state before the determination. It is determined whether or not the interval between the second position and the first position, which is a position in the direction, is greater than or equal to a predetermined interval, and (ii) if it is determined that the interval is not greater than or equal to the predetermined interval, The second correction operation for further extending the arm is performed until the tip reaches the position.

  Further, the controller 108 performs (i) a clamping operation for narrowing the interval between the two arms 110 and 120 after determining that the state of the detection sensor 104 is a non-detection state, and (ii) after starting the clamping operation. When the state of the detection sensor 104 changes to the detection state, a third correction operation for extending the two arms 110 and 120 is performed. In the third correction operation, the state of the detection sensor 104 changes from the detection state to the non-detection state. The two arms 110 and 120 are extended until the distal end reaches a position behind the second position, which is a position in the front-rear direction of the detection sensor at the time point, at a predetermined interval or more.

  The controller 108 also includes a storage unit 109 that stores a size classification table and package size information, which will be described later. In addition, the controller 108 determines a distance obtained by extending the two arms 110 and 120 and a distance obtained by shortening the two arms 110 and 120 (hereinafter, the above two distances are collectively referred to as “stretching distance”). It is obtained from a distance detector such as an encoder (not shown). Note that the controller 108 may calculate the expansion / contraction distance of the two arms 110 and 120 from the expansion / contraction speed of the two arms 110 and 120 and the expansion / contraction time, without being acquired from the encoder. . Specific control contents by the controller 108 will be described later with reference to FIGS.

  Next, the basic operation of the transfer apparatus 100 will be described with reference to FIGS. 2 and 3A to 3D.

  Since the two arms 110 and 120 perform the same operation for expanding and contracting, only one arm 110 will be described below in the description of the expanding and contracting operation. That is, the two arms 110 and 120 extend and contract in the same direction at the same timing and at the same speed.

  FIG. 2 is a diagram illustrating an operation when the transfer device 100 according to the embodiment places the luggage 200 on the rack 300.

  As shown in FIG. 2, the arm 110 is extended with the claw 103 at the rear end of the arm 110 protruding in the direction of the luggage 200. As a result, the luggage 200 placed on the placement table 130 (second placement location) of the transport cart 150 is pushed out to the shelf (first placement location) included in the rack 300. At this time, the luggage 200 is pushed out so that the front end (the end on the plus side in the Y-axis direction) is located at the first reference position Pb1 of the first placement location. That is, the transfer device 100 pushes the luggage 200 so that the front end of the luggage 200 is positioned at the first reference position Pb1 of the rack 300. Here, the first reference position Pb1 is set to a fixed position regardless of the size of the luggage. As described above, in the transfer device 100, the luggage on the mounting table 130 is placed outside the mounting table 130 by moving the rear end claw 103 provided on the arm 110 toward the front. It can be pushed into the rack 300.

  3A to 3D are diagrams illustrating an operation when the transfer device 100 according to the embodiment takes in the luggage 200. FIG. As shown in FIGS. 3B and 3C, the transfer device 100 clamps the load 200 with the two arms 110 and 120 when the load 200 is taken in, so that the position of the load 200 in the X-axis direction is aligned. I do.

  As shown in FIG. 3A, the two arms 110, 120 until the claws 102 at the front ends of the two arms 110, 120 are located behind the rear end of the luggage 200 (the lower end of the luggage 200 in FIG. 3A). 120 is expanded.

  Next, as shown in FIG. 3B, a clamping operation is performed in which the distance between the two arms 110 and 120 is reduced. More specifically, the movable arm 120 is moved to the minus side in the X-axis direction, and the minus-side end portion (the end portion on the left side of the sheet) of the luggage 200 is provided on the top portion 111 of the fixed arm 110. The movement of the movable arm 120 is stopped when it comes into contact with the guide portion 111a. When the movable arm 120 is moved to the minus side in the X-axis direction, the claw 102 at the tip provided on the two arms 110 and 120 is directed toward the inside (the direction in which the luggage 200 exists). It is projected by being rotated. The protrusion of the claw 102 may be performed after the movable arm 120 is moved to the minus side in the X-axis direction. Thus, the position of the luggage 200 in the X-axis direction and the posture of the luggage 200 can be adjusted so that the negative end of the luggage 200 in the X-axis direction is located at a predetermined position in the X-axis direction.

  Next, as shown in FIG. 3C, the movable arm 120 is moved to the plus side in the X-axis direction by a predetermined interval so that a gap is left between the movable arm 120 and the plus-side end portion of the luggage 200 in the X-axis direction. . Thereby, it can be set as the state where force is not given to luggage 200 from two arms 110 and 120.

  Finally, as shown in FIG. 3D, the two arms 110 and 120 are contracted in the state of FIG. 3C. As a result, the luggage 200 is moved from the rack 300 (first loading place) to the loading table 130 of the transport carriage 150 while the claw 102 is brought into contact with the rear end of the luggage 200 (the negative side end in the Y-axis direction). (Second mounting place). In the present embodiment, the front of the transfer device 100 is the negative side in the Y-axis direction, and the front of the luggage 200 is the positive side in the Y-axis direction. That is, when the load 200 is placed on the rack 300 in front of the transfer device 100 as in the present embodiment, the back of the load 200 is the transfer device 100 (two arms 110 and 120). Forward. Further, when a load is placed on a rack behind the transfer device 100, which is the reverse of the present embodiment, the rear of the load 200 is the transfer device 100 (two arms 110, 120). It is backward. In short, the rear of the load is a direction away from the transfer device 100. Therefore, the rear end of the load, which is the end on the rear side of the load, is the end of the load far from the transfer device 100.

  In addition, such a method of hooking and taking in a claw at the rear end of the load is also called a rear hook method.

  In the transfer device 100, when the control for pushing out the luggage 200 is performed, the operation of the arm 110 is controlled using the detection results of the detection sensors 104 and 105 as described above.

  FIG. 4 is a block diagram relating to a control system for the operation of the transfer apparatus 100 according to the embodiment.

  In the transfer apparatus 100, the detection sensor 104 detects the presence / absence of a load to be taken in and notifies the controller 108 of the detection result. Specifically, the detection sensor 104 always detects whether or not there is a load in the operation of expanding and contracting the arm 110, and notifies the controller 108 of the detection result. For example, the detection sensor 104 detects whether or not there is a load between the tip portions of the two arms 110 and 120 at a plurality of different timings according to a predetermined sampling frequency. If it is detected that the package is detected, the controller 108 is notified of the first detection result indicating that the package is being detected, and if it is not detected that the package exists. The controller 108 is notified of the second detection result indicating that the parcel is not detected.

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

  The controller 108 can determine whether the state of the detection sensors 104 and 105 is a detection state or a non-detection state based on the detection result notified from the detection sensors 104 and 105, and based on the determination result, the arm 110 can be determined. To control the operation.

  As described above, the transfer device 100 according to the embodiment is characterized by the operation control of the arm 110 by the controller 108. Therefore, the operation control of the arm 110 by the controller 108 will be specifically described with reference to FIGS.

  FIG. 5 is a diagram for describing control for measuring the size of a load when the transfer apparatus 100 in the embodiment takes in the load from the station 400.

  As shown in FIG. 5, in the transfer apparatus 100, when taking in a load from the station 400, the two arms 110 and 120 are extended at a predetermined speed. While the two arms 110 and 120 are extended, the controller 108 detects the front end position P11 of the load 200 placed on the station 400 and the rear end position according to the detection result of the detection sensor 104. P12 is detected. Specifically, the controller 108 sets the position of the detection sensor 104 at the timing when the state of the detection sensor 104 changes from the non-detection state to the detection state to the position P11, and then changes the state of the detection sensor 104 from the detection state to the non-detection state. The position of the detection sensor 104 at the timing when the detection state is changed is stored as a position P12.

  The positions such as the position P11 and the position P12 stored by the controller 108 are represented by the distance from a predetermined reference position (hereinafter referred to as “second reference position”) of the transfer apparatus 100. Similarly, the position of the first reference position Pb is also represented by the distance from the second reference position. The second reference position of the transfer device 100 may be, for example, the position of the detection sensor 104 when the two arms 110 and 120 are contracted (not expanded), or may be the two arms 110 and 120. It is good also as a position of detection sensor 104 in the state where 120 is extended to the maximum extension length.

  The controller 108 acquires the length of the luggage 200 in the front-rear direction by calculating the interval between the acquired front end position P11 and rear end position P12. The controller 108 classifies the size of the package 200 based on the size classification table stored in advance in the storage unit 109 and the acquired length in the front-rear direction of the package 200.

  FIG. 6 is a diagram showing a size classification table stored in the storage unit 109 in advance. FIG. 7 is a diagram showing package size information indicating the size classification of each package stored in the storage unit 109.

  As shown in FIG. 6, for example, it is divided into five size sections from size A to size E. The controller 108 uses the size classification table to identify the size classification including the length of the acquired luggage 200 in the front-rear direction, and associates the identified size classification with the luggage ID for identifying the luggage 200. 7 is stored in the storage unit 109 as package size information as shown in FIG.

  In addition, each package is stored as a package size information in which the size classification divided into predetermined size ranges, but the package size information is not limited to this, and is a numerical value of the measured longitudinal length of the package. May be stored in association with the package ID.

  FIG. 8 is a flowchart showing an operation procedure when the transfer device 100 in the embodiment takes in the luggage 200.

  As shown in FIG. 8, in the transfer apparatus 100, when the loading of the package is started, the controller 108 performs control to extend the two arms 110 and 120 (hereinafter referred to as “extension control”) (S100). : See FIG. 3A above).

  Next, the controller 108 performs control (hereinafter referred to as “clamp control”) for performing a clamping operation for narrowing the distance between the two arms 110 and 120 (S200: see FIGS. 3B and 3C above).

  Finally, the controller 108 performs control to contract the two arms 110 and 120 (S300: see FIG. 3D above).

  Details of the extension control will be described below with reference to FIGS.

  FIG. 9 is a flowchart illustrating a procedure of extension control of the transfer apparatus 100 according to the embodiment.

  As shown in FIG. 9, in the extension control, first, the controller 108 calculates the two arms 110 at the first position in the front-rear direction calculated using the length of the luggage 200 stored in advance in the front-rear direction. The two arms 110 and 120 are extended so that the tip of 120 stops (S110). The length in the front-rear direction of the luggage 200 stored in advance is a length measured when the luggage 200 is taken in from the station 400 as described with reference to FIGS. The first position is obtained from the length specified according to the stored size category, and is obtained using the maximum length in the size range corresponding to the size category. For example, when the luggage 200 is ID0002 in FIG. 7, the first position is a position separated by a distance obtained by adding a predetermined interval d11 to 700 mm from the reference position Pb of the rack 300 because the size classification is size D. Become.

  In this case, the tip portions of the two arms 110 and 120 are the negative end portions in the Y-axis direction of the top portions 111 and 121 that do not include the claw 102. Note that the distal ends of the two arms 110 and 120 may be the negative ends of the claws 102 in the Y-axis direction.

  In step S110, the controller 108 performs speed control as shown in FIG. 10 so that the tip portions of the two arms 110 and 120 extend toward the first position P21 in the shortest time.

  FIG. 10 is a graph for explaining the speed control that is performed when the distal ends of the two arms 110 and 120 of the transfer apparatus 100 in the embodiment are extended to the first position (predetermined target position).

  FIG. 10 (a) shows the first maximum speed of the two arms 110 and 120 from the contracted state of the two arms 110 and 120 (that is, the state where the tip is located at the position P1). 2 when the vehicle is accelerated at the acceleration a1 (> 0) until reaching the velocity V1, moved at the first velocity V1, and then decelerated at the acceleration a2 (<0) to stop at the predetermined target position P2. It is a graph showing the relationship between the speed of the arms 110 and 120 of a book, and the position of a front-end | tip part.

  In this case, the controller 108 accelerates the two arms 110 and 120 to the maximum at the first speed V1, extends at the first speed V1, and then decelerates the maximum to stop at the predetermined target position P2. Therefore, it is possible to control so that the tip portions of the two arms 110 and 120 reach the target position P2 from the position P1 in the shortest time.

  FIG. 10B shows that the two arms 110 and 120 are accelerated at a maximum with an acceleration a1 (> 0) from a contracted state (that is, a state where the tip portion is located at the position P1), and the first speed is obtained. It represents the relationship between the speed of the two arms 110 and 120 and the position of the tip when the vehicle is decelerated at the acceleration a2 (<0) so that it stops at the predetermined target position P3 without reaching V1. It is a graph. That is, FIG. 10B is a graph showing a case where acceleration to the first speed V1, which is the maximum speed, is impossible because the distance to the predetermined target position P3 is short.

  In this case, the controller 108 accelerates the two arms 110 and 120 to the second speed V2 that is slower than the first speed V1 with the acceleration a1 (> 0), and the two arms 110 and 120 move to the second speed V2. Since the maximum deceleration is performed at the acceleration a2 (<0) so that it stops at the target position P3 immediately after reaching V2, the tips of the two arms 110 and 120 reach the target position P3 from the position P1 in the shortest time. Can be controlled.

  That is, the controller 108 can be controlled to be stopped at the target position in the shortest time by extending the two arms 110 and 120 by maximum acceleration and stopping at the target position by maximum deceleration. .

  Next, the controller 108 detects whether or not the state of the detection sensor 104 is detecting a load at the first position P21 where the tips of the two arms 110 and 120 are stopped. It is determined whether there is no undetected state (S120).

  If the controller 108 determines in step S120 that the state of the detection sensor 104 is the detection state (S120: Yes), the controller 108 further performs a first correction operation for extending the two arms 110 and 120 (S130). Details of the first correction operation will be described later. After performing the first correction operation, the controller 108 ends the expansion control in step S100.

  FIG. 11 is a flowchart illustrating a procedure of the first correction operation of the transfer apparatus 100 according to the embodiment.

  As shown in FIG. 11, in the first correction operation, first, the controller 108 starts control to extend the two arms 110 and 120 at a third speed V3 that is slower than the first speed V1 (S131). Specifically, in this case, the controller 108 extends the two arms 110 and 120 so that the maximum speed at which the two arms 110 and 120 are extended becomes the third speed V3.

  Next, the controller 108 determines whether or not the state of the detection sensor 104 has changed from the detection state to the non-detection state (S132).

  Next, when the controller 108 determines that the state of the detection sensor 104 has changed from the detection state to the non-detection state (S132: Yes), the controller 108 specifies the position of the rear end of the luggage 200, and determines the predetermined position from the specified rear end position. The two arms 110 and 120 are extended until the tips of the two arms 110 and 120 reach the rear (minus side in the Y-axis direction) position by the distance d11, and after the tips reach the position. The extension of the two arms 110 and 120 is stopped (S133). That is, the controller 108 positions the leading ends of the two arms 110 and 120 at a position behind the rear end position of the luggage 200 by a predetermined distance d11.

  On the other hand, when the controller 108 determines that the state of the detection sensor 104 has not changed from the detection state to the non-detection state (S132: No), the determination of step S132 is repeated. That is, the controller 108 continues to extend the two arms 110 and 120 until the state of the detection sensor 104 changes from the detection state to the non-detection state.

  After stopping the extension of the two arms 110 and 120, the controller 108 ends the first correction operation in step S130.

  Returning to FIG. 9, when the controller 108 determines in step S120 that the state of the detection sensor 104 is a non-detection state indicating that no load is detected (S120: No), before the determination in step S120. The interval between the first position and the second position (that is, the rear end position of the luggage 200) in the front-rear direction of the detection sensor 104 when the state of the detection sensor 104 changes from the detection state to the non-detection state is predetermined. It is determined whether or not it is greater than or equal to the interval (S140).

  If the controller 108 determines in step S140 that the interval is greater than or equal to the predetermined interval (S140: Yes), the controller 108 ends the expansion control in step S100.

  On the other hand, if the controller 108 determines in step S140 that the interval is not abnormal at a predetermined interval (S140: No), the controller 108 performs a second correction operation (S150). In the second correction operation, the controller 108 further increases the two arms 110, 120 until the tip ends of the two arms 110, 120 reach a position separated by a predetermined distance d11 from the position of the rear end of the specified load. Elongate.

  Hereinafter, the extension control actually performed will be described for each case according to the state of the position of the luggage 200 placed on the rack 300.

  FIG. 12 is a diagram for explaining the extension control of the transfer apparatus 100 performed in the case 1. FIG. 12A is a diagram showing a state in which the distal ends of the two arms 110 and 120 are extended so as to be located at a prestored first position P21 (see later) in the extension control. is there. FIG. 12B is an enlarged view of a region (region indicated by a broken line frame) in the vicinity of the distal end portion of the movable arm 120 in FIG.

  Case 1 is a case in which the second position P22, which is the position of the rear end of the luggage 200, is positioned ahead of the first position P21 by a predetermined distance d11 or more (ie, on the plus side in the Y-axis direction).

  Here, in FIG. 12B, in step S120, since the luggage 200 is not located at the position of the detection sensor 104, it is determined as “No”, and the determination in step S140 is performed. In step S140, since the interval d21 is larger than the predetermined interval d11, it is determined “Yes”, and the extension control is ended. That is, in case 1, the controller 108 ends the expansion control without performing the correction operation.

  As shown in FIG. 12B, the detection sensor 104 is provided at a position shifted by a distance d <b> 1 on the plus side in the Y-axis direction from the distal ends of the two arms 110 and 120. The predetermined interval d11 may be determined according to the size of the interval d1.

  FIG. 13 is a diagram for explaining the extension control of the transfer apparatus 100 performed in the case 2. Note that FIG. 13A is an enlarged view at a position corresponding to the enlarged view of FIG. FIG. 13B is a diagram for explaining the first correction operation.

  Case 2 is a case where the second position P32, which is the position of the rear end of the luggage 200, is located behind the first position P31 (that is, the minus side in the Y-axis direction).

  Here, in FIG. 13A, since the luggage 200 is located at the position of the detection sensor 104 in step S120, it is determined “Yes”, and the first correction operation in step S130 is performed. Then, by performing the first correction operation, the leading ends of the two arms 110 and 120 are separated from the second position P32, which is the position of the rear end of the luggage 200, by a distance d31 (a distance of a predetermined distance d11 or more). Moved to the third position P33. The extension control is terminated when the first correction operation is terminated.

  FIG. 14 is a diagram for explaining the extension control of the transfer apparatus 100 performed in the case 3. 14A is an enlarged view at a position corresponding to the enlarged view of FIG. 12B. FIG. 14B is a diagram for explaining the second correction operation.

  Case 3 is a case where the second position P42, which is the position of the rear end of the luggage 200, is positioned forward of the first position P41, and the distance d41 between the second position P42 and the first position P41 is predetermined. This is a case where the distance is less than d11.

  Here, in FIG. 14A, in step S120, since the luggage 200 is not located at the position of the detection sensor 104, it is determined as “No”, and the determination in step S140 is performed. In step S140, since the interval d41 is less than the predetermined interval d11, “No” is determined, and the second correction operation is performed. By performing the second correction operation, the leading ends of the two arms 110 and 120 are separated from the second position P42, which is the position of the rear end of the luggage 200, by a distance d42 (a distance of a predetermined distance d11 or more). It is moved to the third position P43. The extension control is terminated when the second correction operation is terminated.

  Next, details of the clamp control will be described with reference to FIGS.

  FIG. 15 is a flowchart illustrating a clamp control procedure of the transfer apparatus 100 according to the embodiment.

  As shown in FIG. 15, in the clamp control, first, the controller 108 performs a clamp operation for narrowing the interval between the two arms 110 and 120 (S210). Since the clamp control is performed after the extension control is performed, the clamp control is performed after it is determined that the state of the detection sensor 104 is the non-detection state.

  Next, the controller 108 determines whether the state of the detection sensor 104 is a detection state or a non-detection state (S220).

  When the controller 108 determines that the state of the detection sensor 104 is the detection state (S220: Yes), the controller 108 performs a third correction operation (S260). Details of the third correction operation will be described later. After performing the third correction operation, the controller 108 returns to step S210. That is, after performing the third correction operation, the controller 108 repeats the clamp control S200 from the beginning.

  FIG. 16 is a flowchart illustrating a procedure of the third correction operation of the transfer apparatus 100 according to the embodiment.

  As shown in FIG. 16, in the third correction operation, first, the controller 108 returns the two arms 110 and 120 to the positions before extension (S261). Specifically, the controller 108 moves the movable arm 120 to the plus side in the X-axis direction so as to return to the position before the clamping operation, and then performs an operation of contracting the two arms 110 and 120.

  Next, the controller 108 deletes the package size stored in the storage unit 109 corresponding to the package ID of the package to be imported (S262).

  Next, the controller 108 starts control to extend the two arms 110 and 120 at a third speed V3 that is slower than the first speed V1 (S263). Specifically, in this case, the controller 108 extends the two arms 110 and 120 so that the maximum speed at which the two arms 110 and 120 are extended becomes the third speed V3.

  Next, the controller 108 determines whether or not the state of the detection sensor 104 has changed from the detection state to the non-detection state (S264).

  Next, when the controller 108 determines that the state of the detection sensor 104 has changed from the detection state to the non-detection state (S264: Yes), the controller 108 specifies the position of the rear end of the luggage 200, and determines the predetermined position from the specified rear end position. The two arms 110 and 120 are extended until the tips of the two arms 110 and 120 reach the rear (minus side in the Y-axis direction) position by the distance d11, and after the tips reach the position. The extension of the two arms 110 and 120 is stopped (S265). That is, the controller 108 positions the leading ends of the two arms 110 and 120 at a position behind the rear end position of the luggage 200 by a predetermined distance d11.

  On the other hand, when it is determined that the state of the detection sensor 104 has not changed from the detection state to the non-detection state (S264: No), the controller 108 repeats the determination in step S264. That is, the controller 108 continues to extend the two arms 110 and 120 until the state of the detection sensor 104 changes from the detection state to the non-detection state.

  The controller 108 ends the third correction operation of step S260 after stopping the extension of the two arms 110 and 120.

  Returning to FIG. 15, when the controller 108 determines that the state of the detection sensor 104 is a non-detection state (S220: No), the controller 108 determines whether or not the two arms 110 and 120 have clamped the load (S230). ). Specifically, when the controller 108 determines to move the movable arm 120 when the movable arm 120 is moved with a predetermined load, the two arms 110 and 120 clamp the load. Judge that it is not. On the other hand, if the controller 108 determines that the movable arm 120 does not move even if the movable arm 120 is moved with a predetermined load, the controller 108 determines that the two arms 110 and 120 have clamped the load.

  Next, when it is determined that the two arms 110 and 120 have clamped the load (S230: Yes), the controller 108 stops the operation of reducing the interval between the two arms 110 and 120 (S240). On the other hand, when the controller 108 determines that the two arms 110 and 120 are not clamping the load (S230: No), the determination in step S230 is repeated. That is, the controller 108 continues the operation of reducing the interval between the two arms 110 and 120 until it is determined that the two arms 110 and 120 have clamped the load.

  Next, the controller 108 performs an operation of increasing the interval between the two arms 110 and 120 by a predetermined interval (S250). Specifically, the controller 108 moves the movable arm 120 to the plus side in the X axis direction by a predetermined interval. After performing Step S250, the controller 108 ends the clamp control in Step S200.

  Hereinafter, a case where the third correction operation is performed in the clamp control will be described with reference to FIGS. 17 and 18.

  FIGS. 17 and 18 are diagrams for explaining a case where the detection sensor 104 detects a load after the clamping operation of the transfer device 100 in the embodiment is started. FIG. 17A is a diagram illustrating an example of a state after the extension control is performed and before the clamping operation is performed. FIG. 17B is an enlarged view of a region (region indicated by a broken line frame) in the vicinity of the tip of the fixed arm 110 in FIG. Moreover, (a) of FIG. 18 is a figure which shows an example of the state after clamp operation was performed from the state of FIG. FIG. 18B is an enlarged view of a region (region indicated by a broken line frame) in the vicinity of the distal end portion of the fixed arm 110 in FIG.

  Here, as shown in FIG. 17A, the luggage 210 is placed in a posture inclined with respect to the X-axis direction and the Y-axis direction. As shown in FIG. 17 (b), the position P52 at the rear end of the load 210 is located at a predetermined distance d11 or more ahead of the first position P51 (that is, the plus side in the Y-axis direction). It is determined as “Yes”, the extension control in step S100 is terminated, and the clamp control in step S200 is performed.

  When the clamp operation in step S210 of the clamp control is performed, the rear end position P52 of the luggage 210 may be located behind the position of the detection sensor 104 as shown in FIG.

  Specifically, this can occur, for example, when the luggage 210 is a plastic bucket having ribs. Such a plastic bucket is a bottomed cylindrical case, and protrudes outward from the side wall on the side wall of the case, and a rib of a protrusion is formed in the height direction. Since the ribs are not formed at the corners (both ends of the side wall) of the plastic bucket, the corners of the plastic bucket have a structure located inward of the ribs. When such a plastic bucket is placed in an inclined posture like the load 210 shown in FIG. 17A, the negative end of the load 210 in the Y-axis direction is the corner of the plastic bucket. Become. Therefore, when the posture of the load 210 is corrected by the clamp and rotated as shown in FIG. 18A, the rib of the plastic bucket is positioned at the negative end of the load 210 in the Y-axis direction. Become. For this reason, the rear end position P52 of the luggage 210 may be located behind the position of the detection sensor 104.

  In addition, for example, the load 210 is a load whose center of gravity is deviated near the corner on the minus side in the X-axis direction and the plus side in the Y-axis direction, or the friction coefficient with the shelf of the rack 300 only at the corner. If the load is made of a large material, or if the load is such that the frictional force of the corner is greater than that of the other portions, the corner By rotating as the starting point, there may occur a case where the position P52 at the rear end of the luggage 210 is located behind the position of the detection sensor 104.

  In this case, in step S220 of the clamp control, the load is detected by the detection sensor 104, it is determined as “Yes”, and the third correction operation in step S260 is performed.

  As described above, according to the transfer device 100 of the embodiment, the front end portion stops at the first position in the front-rear direction calculated using the length of the luggage 200 stored in advance in the front-rear direction. Since the two arms 110 and 120 are extended, the two arms 110 and 120 can be extended so that the time required to reach the first position in the capacity of the transfer device 100 is as short as possible. However, if the two arms 110 and 120 are simply extended so as to stop at the first position calculated using the length of the luggage stored in the front-rear direction, the luggage will be misaligned for some reason. If there is a problem, the baggage may not be taken in.

  Here, as some factors, for example, the inertial force acting on the load when the transfer device places the load on the first placement location, the weight of the load and the friction between the load and the first placement location. Depending on the relationship with the state such as the coefficient, it is conceivable that the load is placed at a position shifted rearward from a predetermined position, or placed at an obliquely shifted posture. Further, it is conceivable that an operator who has entered for maintenance may be displaced backward from a predetermined position or placed in an obliquely displaced posture.

  Therefore, according to the transfer device 100 of the present embodiment, when a load is detected at the first position, the first correction operation for extending the two arms 110 and 120 is further performed. Even if the baggage placed at the first placement location is misaligned, the baggage can be reliably taken in.

  In other words, if there is no position shift, the baggage can be taken in a short time, and even if there is a position shift, the baggage can be taken in reliably. be able to.

  Further, according to the transfer apparatus 100 of the present embodiment, when the controller 108 determines that the state of the detection sensor 104 is a non-detection state in which no load is detected, the state of the detection sensor 104 before the determination It is determined whether or not the interval between the second position and the first position, which is the position in the front-rear direction of the detection sensor 104 at the time when the detection state changes from the detection state to the non-detection state, is equal to or greater than the predetermined interval d11. When the controller 108 determines that the interval is not greater than or equal to the predetermined interval, the controller 108 further extends the two arms 110 and 120 until the distal end reaches the position behind the predetermined interval d11 or more from the second position. Perform corrective action. That is, even if the controller 108 does not detect the package at the first position, if the first position is not positioned more than a predetermined distance behind the second position, the position of the detected rear end of the package is detected. The second correction operation is performed to extend the arm until the tip portion is positioned at a predetermined distance or more behind the second position. As a result, the leading ends of the two arms 110 and 120 can be reliably positioned at a position behind the rear end position of the baggage by a predetermined distance d11 or more, and the baggage can be taken in reliably.

  Further, according to the transfer apparatus 100 of the present embodiment, the controller 108 detects the detection sensor 104 at the time when the state of the detection sensor 104 changes to a non-detection state in which no load is detected in the first correction operation. The two arms 110 and 120 are extended until the tip reaches a position behind the second position, which is a position in the front-rear direction, at a predetermined distance or more. That is, in the first correction operation, the controller 108 extends the two arms 110 and 120 until the leading end portion is positioned behind the second position, which is the position of the rear end of the detected load, by a predetermined distance d11 or more. For this reason, the front-end | tip part of the two arms 110 and 120 can be reliably located in the position behind predetermined position or more rather than the position of the rear end of a load, and taking in of a load can be performed reliably.

  Further, according to the transfer apparatus 100 of the present embodiment, the controller 108 determines that the two sensors 110 and 120 are in the non-detection state in which the detection sensor 104 is not detecting a load. Clamping operation to narrow the interval is performed. Then, when the state of the detection sensor 104 changes from the non-detection state to the detection state after the start of the clamping operation, the controller 108 detects the state of the detection sensor 104 at the time when the state of the detection sensor 104 changes to the non-detection state before that. A third correction operation for extending the two arms 110 and 120 is performed until the tip portion reaches a position behind the second position which is a position in the front-rear direction by a predetermined distance or more. That is, the controller 108 performs the third correction operation for extending the two arms 110 and 120 even when the state of the detection sensor 104 changes from the non-detection state to the detection state after the start of the clamping operation. For this reason, the front-end | tip part of two arms can be reliably reached | attained to the position back rather than the rear end of a load, and taking in of a load can be performed reliably.

(Modification 1)
In the above embodiment, the controller 108 of the transfer apparatus 100 may perform the second correction operation, but the second correction operation may not be performed.

  FIG. 19 is a flowchart showing an operation procedure when the transfer device 100 takes in the luggage 200 in a modification of the embodiment.

  In FIG. 19, the same reference numerals are assigned to the same procedures as those described in the above embodiment. For this reason, the details of explanation are omitted.

  As shown in FIG. 19, when the loading of the package is started, the controller 108 calculates the two in the first position in the front-rear direction, which is calculated using the length in the front-rear direction of the load 200 stored in advance. The two arms 110 and 120 are extended so that the tips of the arms 110 and 120 stop (S110).

  Next, the controller 108 detects whether or not the state of the detection sensor 104 is detecting a load at the first position P21 where the tips of the two arms 110 and 120 are stopped. It is determined whether there is no undetected state (S120).

  If the controller 108 determines in step S120 that the state of the detection sensor 104 is the detection state (S120: Yes), the controller 108 further performs a first correction operation for extending the two arms 110 and 120 (S130). In this case, the first correction operation does not necessarily have to be performed, and instead of the first correction operation, for example, an error notification for notifying the user that a package has been detected may be performed.

  If the controller 108 determines in step S120 that the state of the detection sensor 104 is a non-detection state (S120: No), it performs clamp control (S200).

  Finally, the controller 108 performs control to contract the two arms 110 and 120 (S300).

  For this reason, even if the state of the detection sensor 104 changes from the non-detection state to the detection state after the start of the clamping operation, the third correction operation for extending the two arms 110 and 120 is performed. For this reason, the front-end | tip part of the two arms 110 and 120 can be made to reach | attain the position back rather than the rear end of a load, and taking in of a load can be performed reliably.

(Modification 2)
In the above embodiment, in the clamp control, when the state of the detection sensor 104 is the detection state after the clamp operation is performed, the third correction operation is automatically performed, but the clamp is performed instead of the third correction operation. An error notification for notifying the user that the operation cannot be continued may be performed. Then, when the user manually cancels (resets) the error notification, the third correction operation may be performed.

(Modification 3)
In the above embodiment, control is performed to return the two arms 110 and 120 to the position before extension in step S261 of the third correction operation, but the two arms 110 and 120 are returned to the position before extension. It is not necessary to perform control.

(Modification 4)
In the above embodiment, in step S262 of the third correction operation, control is performed to delete the package size stored in the storage unit 109 corresponding to the package ID of the package to be loaded. Does not have to be deleted. That is, even if the package size is not deleted, the subsequent operation may be performed ignoring the package size.

(Modification 5)
In the above-described embodiment, the control of steps S263 to S265 of the third correction operation is performed, so that the front ends of the two arms 110 and 120 are positioned at a position behind the rear end position of the luggage 200 by a predetermined distance d11. However, the present invention is not limited to this, and the two arms 110 and 120 may be extended to the maximum extension length.

(Modification 6)
In the above embodiment, the photoelectric sensors constituting the detection sensors 104 and 105 are transmissive photoelectric sensors in which the projector and the light receiver are separate bodies. However, the present invention is not limited to this, and the light projector and the light receiver are integrated. A diffuse reflection type photoelectric sensor may be employed, or a retroreflective photoelectric sensor using a regressive reflection plate in which a projector and a light receiver are integrated.

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

  INDUSTRIAL APPLICABILITY The present invention is useful as a transfer device that can efficiently load a package.

DESCRIPTION OF SYMBOLS 100 Transfer apparatus 102, 103 Claw 104, 105 Detection sensor 108 Controller 109 Memory | storage part 110 Fixed arm 111, 121 Top part 111a Guide part 112, 122 Middle part 113, 123 Base part 120 Movable arm 130 Mounting stand 150 Conveyance cart 160 Travel Road 200, 210 Luggage 300 Rack 400 Station d11 Predetermined interval

Claims (5)

After extending the arm that expands and contracts in the front-rear direction, by contracting the arm by bringing the claw provided at the tip of the arm into contact with the rear end of the load placed at the first placement place, A transfer device capable of taking the load into a second placement location forward of the first placement location,
A controller for controlling the operation of the arm;
A detection sensor provided near the tip of the arm and capable of detecting the load;
The controller is
(I) the arm so that the front end portion stops at a first position obtained by using a length stored in the front-rear direction of the load when the load is taken into the second placement place Elongate,
(Ii) At the first position where the tip is stopped, whether the state of the detection sensor is a detection state where the load is detected or a non-detection state where the load is not detected Judgment,
(Iii) A transfer device that performs a first correction operation to further extend the arm when it is determined that the state of the detection sensor is the detection state. The controller is
(I) When it is determined that the state of the detection sensor is the non-detection state, before the determination, the detection sensor in the front-rear direction when the detection sensor changes from the detection state to the non-detection state Determining whether the interval between the second position and the first position is equal to or greater than a predetermined interval;
(Ii) If it is determined that the interval is not greater than or equal to the predetermined interval, a second correction operation is performed to further extend the arm until the tip reaches a position behind the second position by a predetermined interval or more. 2. The transfer apparatus according to 1. In the first correction operation, the controller checks the state of the detection sensor until the state of the detection sensor changes from the detection state to the non-detection state, and the state of the detection sensor changes from the detection state to the non-detection state. 3. The transfer according to claim 1, wherein the arm is extended until the tip portion reaches a position behind the second position, which is a position in the front-rear direction of the detection sensor at the time when the state is changed, by a predetermined distance or more. Mounting device. The transfer device has two arms facing each other in a direction intersecting the front-rear direction,
The controller is
(I) After determining that the state of the detection sensor is the non-detection state, a clamping operation for narrowing the interval between the two arms is performed,
(Ii) When the state of the detection sensor changes to the detection state after the start of the clamping operation, a third correction operation is performed to extend the two arms,
In the third correction operation, the detection sensor is moved from the second position, which is the position in the front-rear direction of the detection sensor at a time when the state of the detection sensor changes from the detection state to the non-detection state, to a position that is a predetermined distance or more behind. The transfer device according to any one of claims 1 to 3, wherein the two arms are extended until a distal end portion reaches or a maximum extension length of the two arms. Two arms that expand and contract in the front-rear direction, and after extending the two arms facing each other in the direction crossing the front-rear direction, the claws provided at the tip portions of the two arms are By transferring the load to the second placement location forward of the first placement location, the arm is contracted by contacting the rear end of the load placed at the first placement location. Mounting device,
A controller for controlling the operation of the two arms;
A detection sensor provided near the tip of the two arms and capable of detecting the load;
The controller is
(I) When taking the load into the second placement location, the arm is extended so that the tip portion stops at the first position obtained using the length of the load stored in the front-rear direction. Let
(Ii) At the first position where the arm is stopped, it is determined whether the state of the detection sensor is a detection state where the load is detected or a non-detection state where the load is not detected. And
(Iii) After determining that the state of the detection sensor is the non-detection state, a clamp operation for narrowing the interval between the two arms is performed,
(Iv) When the state of the detection sensor changes from the non-detection state to the detection state after the start of the clamping operation, a third correction operation is performed,
In the third correction operation, the detection sensor is moved from the second position, which is the position in the front-rear direction of the detection sensor at a time when the state of the detection sensor changes from the detection state to the non-detection state, to a position that is a predetermined distance or more behind The transfer device that extends the two arms until the leading end reaches or the maximum extension length of the two arms.

Images