JP6716177B1 - Article transfer device and article transfer system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently and reliably and safely transfer articles having different sizes and weights from a conveyor/temporary shelf to a temporary shelf/car (car) etc. Provide a transfer system. SOLUTION: An article transferred from a conveyor 90 can be placed on an upper surface and extends in a substantially horizontal direction. The fork group 20 includes a central fixed fork and movable forks on both sides, and the fork group is held. A robot hand and 11, a fork interval adjusting unit provided between the fork group and the robot hand, a first pusher 30 for pushing the article toward the fork group from the conveyor in a substantially horizontal state, The robot hand has a manipulator 10 that enables three-dimensional movement, and a control unit 80 that controls the first pusher and the manipulator. The article transfer device 1 further includes the device. It is an article transfer system 100 characterized by comprising a car. [Selection diagram] Figure 1

Description

The present invention relates to a device for transferring articles such as products (including those stored in cardboard boxes, cases, etc.) from a conveyor etc. to a temporary shelf, etc., and from a conveyor/temporary shelf etc. to a trolley, etc. The present invention relates to an article transfer device that mounts and transfers an article on a fork, and an article transfer system including such a transfer apparatus.

For some time, in physical distribution facilities, articles to be shipped have been carried by a conveyor in response to a shipping instruction, and they have been loaded in order in a carrying means such as a trolley.

Therefore, it is indispensable to hold an article on a conveyor and transfer it to a temporary shelf or a trolley, and a device used for it has been devised.

For example, in Japanese Patent Laid-Open No. 2004-242242, an article that appropriately corresponds to many types of articles having different sizes and that is sucked on the upper surface of the target article that is the article to be transferred to suspend the target article and move it to the transfer destination The technical concept of the transfer device is disclosed.

Such a transfer method is widely used, and in particular, according to the method of Patent Document 1, a plurality of suction blocks having at least one suction pad are provided and at least one of the suction blocks moves in the horizontal direction. It is said that by including a suction unit configured as possible and a control device that moves the suction block according to at least the size of the upper surface of the target article, it is possible to appropriately transfer the target component.

However, with the suction pad method, even if various measures are taken, transfer may be difficult due to the shape, weight, surface condition, etc. of the article, and a method capable of reliable transfer is desired. Was there.

Therefore, as a method that does not rely on adsorption, a method has been devised in which a plurality of forks that extend substantially horizontally (a rod-shaped member on which an article can be placed) are placed. By placing the article on the fork and transferring the article, it is expected that the above-mentioned problem of the article transfer due to the shape, weight, surface condition, etc. of the article can be resolved.

However, even in that case, the structure of the fork that can reliably place the article according to the size of the article, the means for transferring the article from the conveyor such as the roller conveyor to the fork, the method of transferring from the fork to the temporary shelf, etc. There are many issues to consider.

JP, 2013-169640, A

The present invention is intended to solve the problems in the related art, and efficiently conveys articles of different sizes and weights from a conveyor/temporary shelf to a temporary shelf/car (cart), An object of the present invention is to provide an article transfer device that can transfer reliably and safely.

Further, there is provided an article transfer system in which such an article transfer apparatus is used to temporarily put the article on the temporary shelf from the conveyor and then to load it from the temporary shelf to the car without any gap according to the loading logic. That is also an issue.

In order to solve such a problem, the article transfer device according to the first aspect of the present invention is
A fork group that can be placed on the upper surface of the article transferred from the conveyor and that extends in a substantially horizontal direction and that includes a fixed fork in the center and movable forks on both sides,
A robot hand holding the fork group,
A fork interval adjusting unit provided between the fork group and the robot hand,
A first pusher for pushing out the article in the direction of the fork group from the conveyor in a substantially horizontal state,
A manipulator that enables three-dimensional movement on the robot hand,
It has a control part which controls the 1st pusher and the manipulator.

With this configuration, the fixed fork in the central portion of the fork group on which the article is placed can firmly hold the bottom surface of the approximately central portion of the article.

That is, if the article is packed in corrugated cardboard and is held only at both ends, the bottom of the center of the article will drop due to the weight of the content, and in the worst case, the bottom will be damaged and the content will fall. There is a possibility that there is a possibility that they can be prevented by providing a fork in the central part, and stable transfer work becomes possible. The fixing fork in the central portion may be called, so to speak, an article bottom damage preventing mechanism.

Furthermore, the forks at both ends are not located at the ends of the article, but rather at the inner position, that is, the position where the force applied to the bottom of the article is dispersed together with the fixed fork to prevent deformation and damage of the bottom of the article. doing.

In addition, since the mutual spacing of at least two movable forks on both sides can be adjusted according to the size of the article, the article pushed out by the pusher from the conveyor is substantially flush with the article immediately below the article being pushed out. Reliable transfer of articles by placing them on a movable fork that is located and is wide for large items and on a narrow movable fork for small items. Is possible.

Further, with such a structure, it is not necessary to insert the fork group into the conveyor side, and only the pusher is pushed out by the first pusher. Therefore, the conveyor side also has a simple structure and does not require an additional mechanism, which is economical. The system can be configured dynamically.

Note that these controls are carried out by the detection means for detecting the information when the article is mounted on the conveyor that conveys the article, and the size, position, orientation and weight of the article immediately before the article is transferred to the fork group. The program is executed by the control unit based on the information of 1.

Further, the number of forks forming the fork group is preferably three, but may be larger than that depending on the condition of the article to be handled, and the fixed fork at the central portion may be two or more near the central portion. It may be a fork.

Here, it is preferable that the fixed fork in the central portion is in the fixed position without performing the interval adjustment by the fork interval adjusting unit, but depending on the situation, it may be possible to slightly adjust the interval.

An article transfer device according to a second aspect of the present invention is the article transfer device according to the first aspect,
The fork of the fork group is characterized in that the cross-sectional shape of the fork in the extending direction is substantially parallel except for the tip portion.

In this way, when the articles are transferred to a car or the like which will be described later, the inclination of the articles can be reduced, and efficient packing can be performed.

Alternatively, the article transfer apparatus according to the third aspect of the present invention is the article transfer apparatus according to the first aspect, wherein the fork of each of the fork groups has a thin cross-sectional shape in the front end portion and a rear end portion. Is characterized by being thick.

With this configuration, when the weight of the article is heavy, the increase in the weight of the fork can be suppressed and the strength of the fork can be secured.

The plan view of the fork viewed from above is preferably a substantially elongated rectangle, but it may be an elongated triangle with a sharp tip. Depending on the shape of the target article, there may be an effect such that the transfer operation can be favorably performed or the material cost of the fork can be reduced.

An article transfer device according to a fourth aspect of the present invention is the article transfer device according to the first aspect,
At least the upper surface of the movable fork of the group of forks has a groove.

This groove is effective for reducing frictional resistance when transferring or unloading articles on the fork group, and is also used for guiding a roller provided below the second pusher described later. be able to.

An article transfer device according to a fifth aspect of the present invention is the article transfer device according to the first aspect,
The end portions of the articles are aligned with the tip side of the fork group.

As for the above-mentioned operation, the control unit controls the same as in the previous embodiment. In this way, in the subsequent transfer or unloading operation, if the tips are aligned, the effect of shortening the operation time can be obtained. However, depending on the circumstances of the system design, it may be more efficient to align the end portions of the articles at a predetermined position on the rear end side of the fork group.

An article transfer device according to a sixth aspect of the present invention is the article transfer device according to the first aspect,
A second pusher that can extend from the robot arm in a substantially horizontal direction in the conveyor direction;
And a suction pad provided on the tip of the second pusher.

Here, as described above, the second pusher and the suction pad are guided by the groove portion of the upper portion of the movable fork and move back and forth on the movable fork. It is preferable that, along with the adjustment, the movable fork is integrally moved in the width direction.

It should be noted that when the article is transferred onto the fork by the first pusher, the second pusher interlocks with the first pusher so as to grasp the article from both sides, and further, the second pusher Since the suction pad provided can suck the article and support the holding state, the transfer can be performed in a more reliable and stable posture.

In addition, when the control unit knows the size of the article in advance, when the article is transferred from the conveyor, the second pusher including the suction pad has a fork at the rear end when the article is transferred. You may make it stand by in the position which corresponds to the position of a front-end|tip. By doing so, the operation of the second pusher can be simplified.

Here, it is preferable that the suction pad generate a substantially vacuum state by air exhaust so that it has a strong suction force, and by doing so, the article is fixed when the article is transferred. As a result, it is possible to prevent dropping and displacement, and improve the accuracy of the transfer position of the article.

Note that the control unit controls such an operation as in the previous embodiment.

An article transfer device according to a seventh aspect of the present invention is the article transfer device according to the first aspect,
Furthermore, it has a temporary shelf for storing the articles placed on the fork group.

Here, the temporary shelves are used to temporarily store the articles in order to load the articles on a car (car) or the like for transporting the articles in the next step (loading a truck, etc.).

In this way, the articles stored in the temporary shelves can be used in a loading basket, which will be described later, to reduce wasted space, and can be ordered in order for convenient post-processing (ordering), and can be carried in a basket for transportation. It can be loaded in a car (truck) and the overall processing efficiency can be improved.

In other words, the loading logic determines the loading order as a result of calculating the efficient loading method for the cart, so by temporarily storing the items to be loaded in a temporary shelf, taking out the calculated results, and loading them, efficient stowage is possible.

It is also possible to eliminate the temporary shelves by using a multi-shuttle (registered trademark) system in combination, such as a case automatic warehouse that is provided upstream and capable of upright control.

That is, the temporary shelves are for temporary storage, but the temporary shelves are not limited to the temporary shelves and may be used as a carriage for transportation.

It is also possible that a short trolley-type robot is inserted under the temporary shelves described above so that the temporary shelves can be carried together with the shelves and moved to a desired location. By doing so, it is possible to freely arrange the system such as the robot and the temporary shelf, and it is possible to effectively install the system even in a narrow place. Further, when transferring from the temporary shelf to the next cart, the stacking order can be moved within the minimum range without wasting the moving distance and time of the robot hand, which is more effective in improving the throughput.

An article transfer device according to an eighth aspect of the present invention is the article transfer device according to the seventh aspect, wherein
Furthermore, a partition plate that stands up on the temporary shelf,
A fork insertion groove formed between the partition plates,
It has the article mounting surface formed in the upper end part of the said partition plate.

With this configuration, when the article is transferred onto the article placement surface of the temporary shelf, the bottom of the article is temporarily placed above the article placement surface with the article placed on the fork group. By moving the fork group slightly downward, the fork group can be moved to the shelf and the transfer of the article to the temporary shelf is completed. It suffices to remove it, and reliable and gentle transfer that does not damage the article can be realized.

It should be noted that the fork insertion groove is a comb-shaped groove, and if the temporary shelf has a plurality of steps, it may be provided in a necessary step among them, and may be appropriately provided in accordance with the interval between the fork groups. Of course, the cross-sectional shape (depth, width, etc.), the article to be handled, and the like may be taken into consideration and appropriately determined.

The article transfer device according to a ninth aspect of the present invention is the article transfer device according to the first aspect,
Further, the present invention is characterized by further comprising an article attitude changing unit that receives an article placed on the fork group and changes its direction (posture).

Here, the article attitude changing unit may change the direction when the calculation result of the stacking by the below-described loading logic or the like is more efficient when the stacking is performed by changing the direction rather than the original direction. For one purpose.

The article attitude changing unit is provided between the temporary shelving for storing the articles and the car, and when the temporary shelving is transferred to the car, the articles transferred from the temporary shelves to the fork group are transferred. However, it is preferable that the article posture changing unit again places the article on the fork group and then transfers the article to the car truck, but the present invention is not limited to this. Instead, it may be provided between the conveyor to which the article is conveyed and the temporary shelf.

In addition, the article attitude changing unit is preferably a turntable (turntable) on which an article is placed on an upper surface and is rotated in a substantially horizontal direction by a drive mechanism such as a motor to change the orientation (posture) of the article. However, the present invention is not limited to such a mechanism, and any mechanism such as a robot hand may be used as long as the posture (direction) can be changed by placing or gripping an article.

In the case of the turntable, it is preferable that the upper surface on which the article is placed is constituted by the tip portions of a plurality of lattice-shaped small columns standing upright from the turntable. This is to secure the insertion position of the fork group when transferring articles to or from the turntable.

This makes it possible to carry out efficient loading, which is one purpose when transferring the goods to the car (car), or when the goods are mounted to the car for other purposes. It is possible to align information attached or filled in on a certain article on the same side, which is extremely effective in post-processing.

Note that these controls are also executed by the control unit described above based on the information when the conveyor is installed and the detected information.

An article transfer device according to a tenth aspect of the present invention is the article transfer device according to the first aspect, wherein
And an article misalignment prevention mechanism.

The article deviation prevention mechanism is, for example, a program for inclining the plane on which the article is placed on the fork group by the manipulator when transferring the article placed on the fork group.

Specifically, as an eleventh aspect of the present invention, when the plane on which the article is placed on the fork group is the article placement surface, the acceleration ( Inclination in a direction that prevents the placed article from shifting due to (inertia), or the article mounting surface becomes higher at the tip side of the fork group and lower at the root side of the fork group to prevent shifting or falling due to centrifugal force. To incline.

Alternatively, the article deviation prevention mechanism is, for example, a program that makes the jerk (jerk) substantially constant when the fork group moves, and by doing so, the posture of the article being transferred becomes stable.

Alternatively, the inclination of the article mounting surface and the constant jerk described above may be appropriately combined and used.

By doing so, when transferring from the conveyor to the temporary shelf or from the temporary shelf to the car or the like, the articles can be transferred at a higher speed and more stably, so that the work efficiency can be realized. ..

The article transfer system according to the twelfth aspect of the present invention is
An article transfer device according to the first aspect;
And a car for receiving the transfer of the articles from the article transfer device.

With this arrangement, the merchandise transfer device according to the first aspect can be used, and the transfer to the car can be performed efficiently.

An article transfer system according to a thirteenth aspect of the present invention is characterized in that, in the article transfer system according to the twelfth aspect, the article transfer system has a loading logic for efficiently loading the article from the temporary shelf to the car. To do.

Here, as the loading logic, for example, an application of a logic using the individual item identification information and the “vacant space map” as described in International Publication WO2017/061632 by the same applicant as the present application is suitable. However, the method is not limited to this logic, and any known method for efficiently stacking articles may be used.

Furthermore, AI (artificial intelligence) technology may be used to find the optimum loading logic based on the data such as the size and weight of the articles collected so far. Can be expected to improve.

The techniques used for AI include the Naive Bayes method, Bayes estimation method, Bayesian network method, Kalman filter method, and hierarchical Bayes method in Bayes statistics, and the machine learning methods include text mining methods, association analysis methods, and collaborative filtering. Method, the evaluation function method, the K-means method, the support vector machine method, the decision tree method, the anomaly detection method, and the like, and deep recognition (deep learning) uses character recognition, image recognition, and the like. Let's learn.

With this arrangement, the movable fork connected to the robot hand and having an adjustable space, the storage stage, the article transfer device having the article attitude changing unit as necessary, and the loading logic make the car extremely efficient. Car loading is done.

An article transfer system according to a fourteenth aspect of the present invention is the article transfer system according to the twelfth aspect, wherein the article placed on the fork group has a floor surface of a transferred portion including the car or Transferred the article including the car by moving the article already mounted on the transfer section including the car to the immediate upper position and retracting the fork group while holding the article by the suction pad. It is characterized by being transferred to the department.

By doing so, the fork group is retracted while the article is adsorbed and held by the suction pad to a predetermined transfer position, so that the article is transferred in a substantially vertical state in the car. The gap between the vehicle wall surface and the gap between the articles can be reduced, and the packing efficiency is improved.

Further, since the suction can be released and the article can be gently dropped at the time of transfer, the impact on the article is small and the transfer can be performed safely.

The suction pad may be configured to be movable in the vertical direction, and if so, the suction and hold can be continued until the transfer is completed, so that safer transfer is possible.

Further, at the time of transfer, since the fork group is moved backward while holding the article by the suction pad, the suction pad relatively moves forward. In this way, the positional accuracy of the front, rear, left and right of the article at the time of transfer is improved. Can be improved.

In other words, if it is a simple pad that does not adsorb, there is a risk that the position of the article may become slanted or that it may be pushed out too far from the predetermined position, especially when performing the transfer operation at high speed. is there.

Therefore, as in the present invention, since the suction operation is performed until just before the completion of the transfer, the transfer operation can be performed accurately even in the high-speed transfer operation, and the processing speed can be improved safely and accurately. ..

In the above aspect, the transferred portion including the car is not limited to the car, and the same applies to devices other than the car, such as temporary shelves, conveyors, and containers. It is shown that the technical idea of can be applied.

An article transfer system according to a fifteenth aspect of the present invention is characterized in that, in the article transfer system according to the twelfth aspect, the article transfer system further comprises a load collapse prevention unit provided on an open surface of the car.

Here, the cargo collapse prevention portion is a portion of the wall portion of the car that has already been loaded with respect to the open wall portion (usually the surface that is opened for transferring articles). A slidable door that shields is suitable, but is not limited thereto, and any means that can prevent or push back the collapse of the already loaded articles can be used.

By doing so, it is possible to prevent problems such as dropping, damage, and scattering of the articles due to the collapse of the articles, which contributes to the stable operation of the system.

Regarding the control for preventing load collapse, AI (artificial intelligence) technology may be used to predict the occurrence of load collapse in advance, and appropriate control may be required to find the optimum loading logic, and data collection will continue. As a result, the system can be expected to improve.

Here, the techniques used for AI include the Naive Bayes method, the Bayes estimation method, the Bayesian network method, the Kalman filter method, and the hierarchical Bayes method in Bayes statistics, and the machine learning includes the text mining method, the association analysis method, and the collaborative method. The learning is performed by using a filtering method, an evaluation function method, a K-means method, a support vector machine method, a decision tree method, an anomaly detection method, etc. As deep learning, character recognition, image recognition, etc. are used. To learn.

According to the present invention, by using a plurality of forks extending in a substantially horizontal direction in which articles are placed and transferred and whose intervals can be adjusted, articles of different sizes and weights are temporarily moved from a conveyor/temporary shelf or the like. It was possible to provide an article transfer device capable of transferring efficiently, reliably, and safely to a shelf, a cart (car), or the like.

Furthermore, it was possible to provide an article transfer system that can be temporarily placed on the temporary shelves from the conveyor and then efficiently loaded from the storage shelves to the car according to the loading logic.

It is a perspective view of the article transfer device and article transfer system of one embodiment of the present invention. It is a perspective view showing a part of article transfer device of one embodiment of the present invention. It is sectional drawing which shows some article transfer apparatuses of one Embodiment of this invention. It is a front view of the temporary shelf of the article transfer device of one embodiment of the present invention. FIG. 3 is a perspective view of an article attitude changing unit of the article transfer device according to the embodiment of the present invention. It is a perspective view of the car of the article transfer system of one embodiment of the present invention. It is a perspective view of the cargo collapse prevention door of the article transfer system of one embodiment of the present invention. It is explanatory drawing of operation|movement of the article transfer apparatus of one Embodiment of this invention. It is explanatory drawing of operation|movement of the article transfer apparatus of one Embodiment of this invention. It is explanatory drawing of operation|movement of the robot hand of the article transfer apparatus of one Embodiment of this invention. It is explanatory drawing of the loading logic of the article transfer system of one Embodiment of this invention. It is explanatory drawing of the transfer method of the article transfer system of one Embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following, the range necessary for the explanation to achieve the object of the present invention is schematically shown, and the range necessary for the explanation of the relevant part of the present invention will be mainly explained, and the description will be omitted. A known technique is used.

FIG. 1 is a perspective view of an article transfer device and an article transfer system according to an embodiment of the present invention. An article G (particularly an article packaged in a corrugated board or the like) conveyed by a roller conveyor 90 outside the scope of the present invention. , But not limited thereto) is transferred to a fork group 20 composed of three forks attached to the robot hand 11 at the tip of the arm of the manipulator 10, and is temporarily placed on the temporary shelf 60. The article transfer apparatus 1 is shown, and an article transfer system including the article transfer apparatus 1 and a car wheel 110 for loading the articles G from the temporary shelf 60 is also shown.

Here, the article G is conveyed on the roller conveyor 90 from the direction of the arrow in the figure. The articles include those that are automatically supplied from an automated warehouse or those that are placed on the roller conveyor 90 and supplied by humans or robots.

A weight scale 91 for measuring the weight of the article G is provided below the roller conveyor 90 during the transportation of the roller conveyor 90. This may be performed by using a known technique such as making a part of the roller conveyor 90 independent and providing a load cell below the conveyor to measure the weight.

In addition, similarly, a talent meter 92 for measuring the size of the article G during the transportation by the roller conveyor 90 is provided. It is preferable to measure the length, width and height of the article by irradiating the laser beam from above, but the invention is not limited to this and a known technique may be used.

Further, a skewed roller conveyor 93 in which rollers are obliquely attached is provided in the traveling direction of the roller conveyor 90, and the article G can be moved to either side in the conveying direction. In this embodiment, the roller conveyor 90 is moved toward the first pusher 30, which will be described later, with respect to the traveling direction.

Depending on the configuration of the entire system, the width adjustment may be performed in a direction opposite to the first pusher 30 side described later with respect to the traveling direction of the roller conveyor 90, and the width adjustment mechanism is limited to the skewed roller conveyor 93. Alternatively, a method of using a lever having a spring property may be used.

At the end portion of the roller conveyor 90, a station conveyor 94 is provided, in which the article G is stopped at an appropriate position for transfer. The station conveyor 94 does not have guide walls on both sides in the traveling direction of the conveyor so that the articles can be transferred easily.

The first pusher 30 is provided on one side of the traveling direction of the station conveyor 94.

Further, a fork group 20 composed of three forks that can be arranged by the manipulator 10 to receive the article G extruded by the first pusher 30 can be located on the other side. ing. The fork group 20 does not need to be extended into the station conveyor 94, and may be located immediately outside the station conveyor 94.

The first pusher 30 is located outside the station conveyor 94 during standby, and can push the push plate 31 extending parallel to the traveling direction of the station conveyor 94 and the push plate 31 to go straight across the station conveyor 94. And a pressing portion 32 formed of an air cylinder or the like. The pressing unit 32 is not limited to the air cylinder, and any known technique such as an electric cylinder may be used as long as it can move linearly.

Further, the robot hand 11 is provided with a second pusher 50 at a position facing the first pusher 30. The second pusher 50 will be described in detail later.

FIG. 2 is a perspective view showing the fork group 20 and the second pusher 50 of the article transfer device according to the embodiment of the present invention. This part is provided on the front surface of the robot hand 11 and extends in substantially the same horizontal plane in the substantially same direction (Y direction in the drawing). The fixed fork 21 and the movable fork 22 (both sides have substantially the same structure. , And the same reference numeral), and the groove 23 provided on the upper surface of the movable fork 22 and the second pusher 50.

Further, a movable portion of the linear guide 51 that holds the second pusher 50, a rack 511 that is fixed to the movable portion of the linear guide 51 and extends in the Y direction, a pinion 512 that meshes with the rack 511, and two pinion 512. It has a horizontal shaft 513 that is held slidably in the X direction in the figure, and a pillow 514 that supports the horizontal shaft 513 on both ends of the robot hand 11 main body.

Furthermore, a support base 515 that supports the fixed portion of the linear guide 51, two racks 516 fixed to the support base 515 and extending in the X direction, a pinion 517 that meshes with both racks 516, and a pinion 517 can be rotated. And a vertical shaft 518 for holding the same.

Here, the second pusher 50 is provided with two upper and lower suction pads 51U and 51D and a pusher head 52 between the suction pads 51U and 51D at the tip in the Y direction, and the suction pads 51U and 51D have a rubber tip. It has a cup shape and is kept airtight by being pressed against an article, and is connected with a pipe (not shown) so that air can be sucked and discharged.

Further, the second pusher 50 is provided with wheels 53 on the lower portion of the side surface in the X direction. FIG. 3 is a cross-sectional view perpendicular to the fork extending direction (Y direction) showing the wheel 53 and the movable fork 22 of the article transfer device according to the embodiment of the present invention. The two pushers 50 are guided by the two groove portions 23 in the X direction provided on the upper surface so as to be rotatable in the X direction, whereby the second pusher 50 moves above the movable fork 22. It is possible to move forward and backward in the Y direction. Although the number of the groove portions 23 is two, the wheel 53 may not be separated on both sides by one groove.

As for the material of the movable fork 22, it is functionally and costly preferable to form the upper portion 221 having the upper groove with an iron material and the other main body portion 222 with an aluminum material, but the material is not limited thereto. is not.

The fixed fork 21 is fixed to the main body of the robot hand 11, and its position does not change. On the other hand, the two movable forks 22 can be narrowed or widened by rotating the pinion 517 by a drive source (not shown) to move the rack 516 in parallel in the X direction. This portion is collectively referred to as a fork gap adjusting unit 25.

Further, the second pusher 50 is also integrated with the movable fork 22 to enable the same parallel movement.

Due to these parallel movements, the horizontal shaft 513 has a ball spline structure so that the rack 511 can move while sliding on the horizontal shaft 513.

Note that these linear movement mechanisms in the X and Y directions are not limited to those described above, and known linear movement mechanisms can be used.

Further, in the shape of the vertical cross section of the fork group 20, only the tip is slightly pointed, but other than that, the upper surface and the lower surface are substantially parallel to each other, that is, at equal intervals. It is preferable for loading.

It should be noted that, in the case of a system for handling heavy objects, the vertical cross-sectional shape of the fork group 20 has a wedge shape in which the upper and lower surfaces are not parallel, and the root side to be held is thicker and becomes thinner toward the tip. In some cases, it may be preferable.

It is desirable that the length of the fork group 20 be a dimension that allows the articles to be transferred sufficiently deeply with respect to the depth of a temporary shelf, a car, or the like described later.

The robot hand 11 holding the fork group 20 and the second pusher 50 is attached to the arm part of the manipulator 10, and is held by the multi-joint manipulator 10 so as to be movable and rotatable in three dimensions in six axes.

The control unit 80 controls operations of the manipulator 10, the fork group 20 connected to the manipulator 10, the second pusher 50, and the like. Further, it also controls the operation of the first pusher 30 which is not connected to the manipulator 11.

Further, the control unit 80 can also take in information from a weighing scale for measuring the weight of the conveyed article, a talent meter for measuring the dimension of the article, and the article is supplied from the automatic warehouse. In that case, such information can also be taken in from the management elements of the entire physical distribution such as WMS (warehouse management system).

The control unit 80 is preferably a personal computer, a server, or the like, which has a hardware configuration such as a CPU, a storage unit, an input/output unit, and a display unit, but these components may be shared with other control devices, or It may be distributed and arranged remotely like cloud computing.

FIG. 4 is a front view of the temporary shelf 60 of the article transfer device according to the embodiment of the present invention. The temporary shelf 60 is for temporarily holding the articles transferred from the station conveyor 94 to the fork group 20 and for use in the subsequent steps (for example, transfer to the car cart 110). The temporary shelf 60 shown in this figure has six stages, and each stage is divided into two left and right by a partition in the central portion. However, it is not limited to these numbers, and may be increased or decreased depending on the purpose of use.

The frame 61 of the temporary shelf 60 is formed by combining L-shaped chevron steel, and a shelf plate 62 made of steel plates at each stage is laid. The structure is not limited to this, and any material and shape may be used as long as it can hold an article.

A large number of partition plates 63 having a height extending in the depth direction of the temporary shelf 60 are provided on the shelf plates 62 at the respective stages, and the intervals between the adjacent partition plates 63 are different from each other. The intervals are set to allow entry. This space is called a fork insertion groove 64.

Further, the distance between the fork insertion groove portions 64 is also set in correspondence with the distance that the fork groups 20 can take.

The plane virtually formed by connecting the upper ends of the partition plates 63 is the surface on which the article G is placed, and is therefore referred to as the article placement surface 65.

A drop prevention plate 66, which is slightly higher than the height of the fork group 20, is provided at the innermost portion of each stage of the temporary shelf 60 to prevent the article G from falling inward when it is placed.

In the present embodiment, each stage of the temporary shelf 60 is provided with 11 fork insertion grooves 64 on the left side and 11 on the right side, and using these fork insertion grooves 64, a maximum of two on the left side, A maximum of two articles G can be placed on the right side.

Note that the number of fork insertion grooves is not limited to the above, and may be larger or smaller than that, and may be determined depending on the size of the temporary shelf and the operation method. Similarly, the temporary shelf is divided into the right and left and two articles can be placed on each, but there is no limitation on the division of the temporary shelf or the number of articles that can be placed on each divided part.

FIG. 5 is a perspective view of the article posture changing unit 70 of the article transfer device according to the embodiment of the present invention. The article attitude changing unit 70 places the article transferred from the temporary shelf 60 on the fork group 20 when transferring the temporary shelf 60 to the next process (the car 110 or the like), and changes the attitude (direction). After the change, it is preferable that the article posture changing section 70 is again placed on the fork group 20 and transferred to the car wheel 110, but the present invention is not limited to this, and the article is conveyed. It may be provided between the station conveyor 94 and the temporary shelf 60.

The article attitude changing unit 70 is a flat plate-shaped fixed base 71 that is placed substantially horizontally, and a rotary base that is rotatably attached to the fixed base 71 above the fixed base 71 by a holding mechanism (not shown) in the horizontal direction (direction B). It has a (turntable) 72, casters 73 attached to the lower part of the rotary table 72 for smooth rotation, and a motor (not shown) provided below the rotary table 72 for rotating the rotary table 72.

The turntable 72 has four columns 74 standing upright from the four corners around it, and four vertical columns and four rows standing upright from the vicinity of the central part thereof, for a total of 16 lattice-shaped small columns 75.

The pillars 74 and the lattice-shaped small pillars 75 have the same height and are larger than the height of the fork group 20. A plane that is virtually formed by connecting the upper ends thereof is a surface on which an article is placed, and is therefore referred to as an article placement surface 76.

The lattice-shaped small columns 75 are provided with gaps so that the three fork groups 20 can be inserted from the side where they are aligned (every 90 degrees), and the number of the lattice-shaped small columns 75 is as follows. The present invention is not limited to this, and may be configured so that the fork group 20 can be inserted.

The article attitude changing unit 70 may rotate the attitude of the article horizontally by 90 degrees so that the articles can be loaded with a small gap when the articles are loaded on the car 110 in the next step. However, when there is a purpose such as making it easy to see the label attached to the surface of the article, it is not limited to 90 degrees, but it can be rotated by an angle such as 180 degrees, 270 degrees, etc. Good.

Further, the drive mechanism of the rotary table 72 is not limited to the motor, and may be a mechanism capable of rotating with an air cylinder or the like.

Regarding the article attitude changing unit 70, the manipulator 10 may be operated so that the fork group 20 can be inserted not only from the front surface but also from the side surface without a rotation mechanism. By doing so, it is possible to change the direction by 90 degrees without using the rotating mechanism.

Furthermore, if the fork group 20 can be inserted into the temporary shelf 60 from the side, the article attitude changing unit 70 can be realized without using the mechanism of the independent turntable 72.

Further, a rotation mechanism that does not use the turntable 72 may be used. For example, the direction of the article placed on the temporary shelf 70 or the article placed on the fork group 20 may be changed by a separately provided robot hand.

Further, the posture of the article may be changed not only in the horizontal direction but also in the vertical direction. Alternatively, the robot hand provided separately may change the vertical orientation of the article on the temporary shelf 70 or on the fork group 20. By doing so, it becomes possible to efficiently load extremely horizontally long articles in the vertically long state on the car cart 110.

FIG. 6 is a perspective view of a car 110 used in the article transfer system 100 according to the embodiment of the present invention. The car cart 110 is a car carrier for transportation, which is also called a car cart, a roll box pallet, a cargo tenor, etc. It has casters (wheels) 113 and the like provided on the lower side of the bottom surface, and only one surface is open for loading and unloading articles.

In the article mounting system 100 of the present invention, there is a predetermined position of the car 110 for loading articles from the temporary shelf 60, and the position is defined by the pair of rails 120 provided on the floor surface. ..

Each of the rails 120 has a recessed groove that restricts the position of the caster 113 and extends in the longitudinal direction. The recessed groove is widened at one end of the rail 120 to facilitate guiding the caster 113.

Further, a stopper (not shown) for restricting the stop position is provided at the other end of the rail 120, and a lock mechanism (not shown) for preventing the car 110 from falling is provided near the stopper. It is provided. Known mechanisms may be used for these mechanisms.

Here, it cannot be said that there is a risk that the article being transferred or the article being transferred may collapse during the transfer of the article to the car cart 110. It is more preferable if there is a measure to deal with such a situation.

FIG. 7 is a perspective view of the cargo collapse prevention door of the car used in the article transfer system according to the embodiment of the present invention. As shown in the figure, a load collapse prevention door 114 that can be slidably opened by a drive mechanism (not shown) is provided at a part of the front surface (opening surface) of the car 110, for example, at a height of about a half below. .. If necessary, a sensor (not shown) may be provided on the load collapse prevention door 114 to notify a staff member of the occurrence of the load collapse.

The load collapse prevention door 114 is not limited to one stage, but may be closed in two stages or three stages depending on the loading height. Further precise control becomes possible.

Further, as long as the function of preventing the collapse of the load can be realized, a bar-shaped member or a shutter-shaped member may be raised instead of the door, and these are collectively referred to as the load-crush preventing unit.

Next, operations of the article transfer device and the article transfer system according to the embodiment of the present invention described above will be described.

8 and 9 are explanatory diagrams of the operation of the article transfer device according to the embodiment of the present invention. FIG. 8 illustrates transfer of a large article G, and FIG. 9 illustrates transfer of a small article g. The articles to be processed for the purpose of delivery are conveyed on the roller conveyor 90. These goods are supplied from an automatic warehouse, a sorting device, a charging device, or the like.

Information such as the shape, size, and weight of the article is known at the time of supply, and unless the information is transmitted when the article is transferred, the information is provided around the roller conveyor 90. It is measured by 91, a talent meter 92 and the like. From these, the control unit 80 can store these pieces of information about the articles to be transferred.

After that, the article G(g) passes through the portion of the skew conveyor 93 having an inclination with respect to the traveling direction, and thereby the article G(g) is aligned to the first pusher 30 side.

Thereafter, as shown in the figure, the article G(g) transferred to the station conveyor 94 reaches a fixed position (the position where the leading end of the article in the traveling direction is near the end of the station conveyor 94) regardless of the dimension of the article. Transported and stopped.

On the other hand, on the side facing the first pusher 30 in the traveling direction of the station conveyor 94, the tip of the fork group 20 (fixed fork 21, two movable forks 22) is close to the side portion of the station conveyor 94. In this way, the fixed fork 21 is positioned by the control unit 80 such that the position of the fixed fork 21 is at the center of the article G(g).

The stop position of the article G(g) is controlled by the controller 80 so as to stop the station conveyor 94 at a position where the first pusher 30 and the article are evenly allocated based on information such as the dimension of the article in the conveyance direction. May control. The operation of the first pusher 30 may be stable. Depending on the situation, it may be more effective to move the stop position back and forth regardless of these examples.

Since the fork group 20 does not need to enter the area of the station conveyor 94, its mechanism and control can be simplified.

Here, the interval between the two movable forks 22 is moved by operating the fork interval adjusting unit 25 by the control unit 80 so as to be appropriate according to the width dimension of the article G(g) to be transferred. The movable forks 22 on both sides are set to be slightly smaller than the width direction (length in the traveling direction of the station conveyor) of the article to be placed so as not to go out of the width of the article. Furthermore, the fixing fork 21 firmly holds the bottom central part of the potentially breakable article. By doing so, the article can be held safely.

It should be noted that the movable fork 22 may have a larger or smaller interval depending on the condition of the article.

Next, the suction pad 51 provided on the second pusher 50 on the fork group 20 side is controlled by the control unit 80 from the tip of the fork group 20 to a substantially depth dimension of the article G (g) (D in FIG. 8, FIG. At 9, the car can proceed to the position where d) is subtracted. This is effective because the articles are aligned on the basis of the tip of the fork group 20 after the transfer, which allows the subsequent steps to proceed efficiently.

Next, with respect to the traveling direction of the station conveyor 94, the first pusher 30 provided on the opposite side of the fork group 20 pushes the article G(g) on the station conveyor 94 toward the fork group 20 side.

When the front end side of the article in the advancing direction reaches the suction pad 51, the control unit 80 releases the pressing of the first pusher 30 and returns the first pusher 30 to the initial position. In addition, the suction pad 51 is evacuated of the internal air and is in a vacuum state, and assists in holding the article on the fork group 20.

This means that the article G(g) has been transferred onto the fork group 20, and the station conveyor 94 can receive the next article.

Depending on the situation of the next process, it may be effective to arrange the articles on a different basis. Further, the suction pad 51 is made to stand by on the movable fork 22, but unlike this, the suction pad 51 is advanced further forward to sandwich the article between the first pusher 30 and the article. It may be transferred to the fork group 20. According to this, there is a possibility that more reliable transfer can be realized.

The fork group 20 is moved in the direction of the temporary shelf 60 by the operation of the manipulator 10 while being kept in a substantially horizontal state at the tip of the robot hand 11 in the state where the article is placed, and the extending direction of the fork group 20. Stops in a state of being vertical to the front surface of the temporary shelf 60.

FIG. 10 is an explanatory diagram of the operation of the robot hand of the article transfer device according to the embodiment of the present invention. This figure schematically shows the operation, and (a) shows a state in which the fork group 20 on which the article is placed is in a horizontal state and is rotating or linearly moving in the A direction, (b) At the beginning of rotation (S portion), the rear end of the fork group 20 in the traveling direction is higher than horizontal, at the middle portion of rotation (M portion) it returns to the horizontal state, and at the end of rotation (E portion). In the part), the forward end of the fork group 20 in the traveling direction is higher than horizontal. In (c), the rotation outer peripheral side of the fork group 20 is raised over the entire rotation range.

If the robot hand 11 does not need to have a rotation axis while keeping the horizontal state shown in FIG. 9A, there is an advantage that the mechanism and control are simple, but it is intended to transfer the article at high speed. Then, there is a possibility that the position of the article may be displaced or, in the worst case, the article may be dropped.

Here, as shown in (b) in the figure, if the side that produces acceleration (inertial force) at the time of acceleration and deceleration is made high and the influence thereof is suppressed, rapid acceleration and rapid deceleration are possible. Goods transfer can be realized.

Similarly, in the case of (c) in the figure, the movement of the article in the outer peripheral direction due to the centrifugal force of the circular motion is suppressed, and stable high-speed transfer becomes possible.

Specifically, the transfer can be performed more effectively by applying the slopes (b) and (c) in the figure alone or in combination.

The articles placed on the fork group 20 and arrived near the temporary shelf 60 are transferred to the temporary shelf 60. Here, the position of the fork group 20 is controlled such that the fork group 20 can be inserted into the fork insertion groove portion 64 at the step and the frontage of the temporary shelf 60 on which a predetermined article is to be placed.

The height of the fork group 20 is controlled so that the bottom surface of the article is slightly higher than the article mounting surface 65 configured by the upper surface of the partition plate 63 that constitutes the fork insertion groove portion 64.

The step and the frontage on which the article is to be placed are selected from the empty space in consideration of this step, the next step, the article transferred further back and forth, and the like.

Next, when the fork group 20 is inserted into the fork insertion groove portion 64 and the rear end side of the fork group 20 of the article reaches the substantially same position as or inside the front surface of the temporary shelf 60, the fork group 20 is once moved vertically. After moving the article downward so that the article is held by the partition plate 63, the fork 20 group is removed.

When the fork group 20 moves downward, the article moves downward together with the fork group 20 in a very small gap with the article placement surface 65 and is placed on the article placement surface 65, but there is no impact and the article is safe. Then, the transfer to the temporary shelf 60 is completed.

In consideration of the next step, it is preferable that the articles are aligned on the front side of the temporary shelf 60. However, if the articles having a short depth are placed on the front side and the front side of the same frontage, the articles are not aligned on the front side. There may be a case where it may be placed.

Next, when a group of articles to be transferred to the same car 110 has been placed on the temporary shelves 60, transfer from the temporary shelves 60 to the car 110 is continued. Note that the control of the inclination of the fork group 20 by the robot hand 11 described above may also be applied during this transfer.

Here, the control unit 80 determines the stacking order of the articles by using the program of the built-in or external stacking logic, and causes the transfer operation to be performed according to the order.

11A and 11B are explanatory views of the loading logic of the article transfer system according to the embodiment of the present invention. FIG. 11A is an elevation view seen from the loading surface side of the car 110, and FIG. 11B is an upper part of the car 110. It is the top view seen from. Here, the articles A to F are loaded according to the loading logic so as to reduce the gap.

FIG. 12 is an explanatory diagram of a transfer method of the article transfer system according to the embodiment of the present invention, and is a cross-sectional view of the car cart 110 seen from the side. Here, the fork group 20 on which the article G is placed is brought close to a predetermined location (front/rear, left/right, front side/back side, etc.). In the figure, the article is the first one to be transferred, and it is transferred to the bottom surface 111 of the car 110. However, when the article is already placed and the article is placed on or before it, the same control is performed. Is possible.

First, the position where the article G to be transferred is kept in a state of being sucked by the suction pad 51, and the gap between the article G in the depth direction of the car 110 and the frame portion 112 (or the side surface of an existing article) is minimized. , And is moved to a position where the gap between the bottom surface 111 (or the top surface of an existing article) and the bottom surface of the fork group 20 in the height direction is minimized. ((1) in the figure)

Then, only the fork group 20 is removed. ((2) in the figure) The suction pad 51 pushes the article forward while keeping the article G, or stays at that location.

When the removal of the fork group 20 is completed, the vacuum state of the suction pad 51 is released. Then, the holding state of the article is released, the article moves downward by its own weight, and is transferred to the bottom surface 111 of the car 110 (or the top surface of the existing article).

In the height direction of the fork group 20, since the upper and lower surfaces are parallel to each other, the bottom surface of the article and the bottom surface 111 of the car 110 (or the top surface of an existing article) are compared to the case where the front end is thin and the rear end is thick. ), the impact of the downward movement of the article is small, and the article can be transferred safely.

In addition, in order to further reduce the impact, the suction pad 51 may be configured to be movable downward. By doing so, since the downward movement is completed while the article is adsorbed, the impact can be further reduced.

Then, the articles are sequentially loaded from the plane direction to the vertical direction with as small a gap as possible.

Next, the posture changing operation of the article will be described. Items determined by the control unit 80 to require a change in posture for the purpose of increasing the loading efficiency in the car 110 or for directing the label or identification code attached to the items to the front are shown in FIG. 5, the fork group 20 is inserted into the gaps of the lattice-shaped small pillars 75 from the direction A in the drawing, and then the fork group 20 is removed, so that the temporary shelf 70 Similarly, it is placed on the article placement surface 76.

Subsequently, the control unit 80 instructs a necessary rotation angle (for example, 90 degrees to the right), and the turntable 72 rotates by a predetermined angle and stops.

Next, the fork group 20 is similarly inserted from the direction A into the gaps of the lattice-shaped small columns 75, and is transferred to the car 110.

The rotation angle is not limited to 90 degrees, and can be set at an arbitrary angle such as 180 degrees, 270 degrees (minus 90 degrees), for example, when the display label of the article on the back side is turned to the front side. Good.

Here, the car 110 has been manually or automatically driven so that the casters 113 are guided by the rail 120 provided at a position for receiving the transfer. At the transfer position, the car 110 is manually or automatically operated. It is preferable to activate the locking mechanism to fix the position.

When the transfer of the article to the car cart 110 is completed, the lock may be released, the rail 120 may be moved in the opposite direction, and then the article may be manually or automatically transported to a desired next step.

The operation of preventing the collapse of the load during loading in the car 110 will be described. As shown in FIG. 7, articles are stacked above a portion of the cargo collapse prevention door 114 provided at a part of the front surface (opening surface) of the car 110, for example, at a lower half height. Then, the load collapse prevention door 114 is slidably closed by a drive mechanism (not shown). As a result, even if the stacked state of the articles in the lower part of the article collapses, it is possible to prevent the articles from falling, scattering, or being damaged. If necessary, an article detection sensor provided on the load collapse prevention door 114 may promptly notify a staff member of the occurrence of the load collapse.

In the above description, the one to be transferred is explained as the car 110, but a bogie such as a so-called car truck or a six-wheel bogie having a bottom surface and a frame portion that stands up in only two directions from the bottom surface, Alternatively, it may be a dolly having only a bottom plate without a frame and pushers. Even in that case, the article transfer system 100 of the present invention can be expected to have an effect according to the purpose of use.

Further, in the present invention, the fork group 20 is used to transfer from the station conveyor 94 to the temporary shelf 60, but a temporary conveyor can be used instead of the temporary shelf 60. In that case, when re-transferring from the temporary placement conveyor, the conveyor can be rotated normally or reversely to realize the loading order on the car.

Further, in the article transfer device according to the embodiment of the present invention, the second pusher 50 is integrated with the movable fork 22 (at the same position), and the groove portion 23 on the movable fork 22 is provided with the wheel 53 of the second pusher 50. Is capable of moving forward and backward, but is not limited to this. The second pusher 50 may be provided separately from the movable fork 22 at a different position, for example, at a wider interval or a narrower interval than the fork interval. It may be more efficient depending on the situation of the target article.

Further, although the fixed fork 21 is fixed to the robot hand 11 in the article transfer device according to the embodiment of the present invention, it may be movable relative to the robot hand 11. In that case, the movable fork 22 may also be moved accordingly. This may be convenient depending on the installation location of the temporary shelves 60 and the car cart 110.

Further, in the article transfer device according to the embodiment of the present invention, the manipulator 10 is described as one unit, but two manipulators 10 are provided to transfer from the station conveyor 90 to the temporary shelf 60 and from the temporary shelf 60. The transfer to the car 110 may be shared. For example, by disposing the temporary shelves 60 on the front surface and the back surface, the efficiency may be dramatically improved.

Further, although the roller conveyor has been described as an example in the above general description, a belt conveyor other than the roller conveyor or another conveyor may be appropriately used.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be implemented without departing from the gist of the present invention. These are all part of this technical idea.

As described above, in the article transfer device and the article transfer system of the present invention, efficient loading from the conveyor to the car can be realized without manpower, and thus has high industrial applicability. ..

1 Article Transfer Device 10 Manipulator 11 Robot Hand 20 Fork Group 21 Fixed Fork 22 Movable Fork 23 Groove 25 Fork Spacing Adjuster 30 First Pusher 50 Second Pusher 51 Suction Pad 53 Wheel 60 Temporary Shelf 70 Article Posture Changer 80 control section 90 roller conveyor 94 station conveyor 100 article transfer system 110 car cart G, g article

Claims (15)

A fork group that can be placed on the upper surface of the article transferred from the conveyor and that extends in a substantially horizontal direction and that includes a fixed fork in the center and movable forks on both sides,
A robot hand holding the fork group,
A fork interval adjusting unit that is provided between the fork group and the robot hand and is capable of continuously adjusting the interval between the movable forks on both sides,
A first pusher for pushing the article from the conveyor to the upper surface of the fork group in a substantially horizontal state;
A manipulator that holds the robot hand so that it can move and rotate in three dimensions,
An article transfer device comprising: a control unit that controls the first pusher and the manipulator. The article transfer device according to claim 1, wherein a cross-sectional shape of each of the forks of the fork group in the extending direction is substantially parallel to the upper surface and the lower surface except for the tip portion. The article transfer device according to claim 1, wherein a cross-sectional shape of each fork of the fork group in the extending direction is thin at a front end portion and thick at a rear end portion. The article transfer device according to claim 1, wherein at least an upper surface of a movable fork of the fork group has a groove portion. A second pusher that can be extended from the robot hand in a substantially horizontal direction in the conveyor direction;
The article transfer device according to claim 1, further comprising: a suction pad provided at a tip portion of the second pusher. Before the article is pushed into the fork group by said first pusher, the distance between the tip of the tip and the fork group before Symbol suction pad, the suction pad to the position approximately equal to the depth of the article The article transfer device according to claim 5, wherein the article transfer apparatus is advanced . Furthermore,
The article transfer device according to claim 1, further comprising: a temporary storage shelf for storing the articles placed on the fork group. Furthermore,
A partition plate that rises upward on the temporary shelf,
A fork insertion groove formed between the partition plates,
The article transfer device according to claim 7, further comprising: an article placement surface formed at an upper end portion of the partition plate. The article transfer device according to claim 1, further comprising: an article attitude changing unit that receives an article placed on the fork group and changes the direction (posture) of the article. The article transfer device according to claim 1, further comprising: an article deviation prevention mechanism. 11. The article transfer device according to claim 10, wherein the article deviation prevention mechanism controls the fork group to incline in a direction in which the articles are prevented from deviation due to acceleration. An article transfer system comprising: the article transfer apparatus according to claim 1; and a car cart that receives an article transferred from the article transfer apparatus. An article transfer system comprising: the article transfer apparatus according to claim 7 or 8; and a car cart that receives an article transferred from the article transfer apparatus.
An article transfer system, wherein the loading of the articles from the temporary shelf to the car is performed by a loading logic. An article transfer system comprising: the article transfer apparatus according to claim 5 or 6; and a car cart that receives the transfer of the article from the article transfer apparatus.
The article placed on the fork group is transferred to the floor surface of the transferred section including the car or the immediate upper position of the article already mounted on the transferred section including the car, and the suction pad An article transfer system characterized in that the article is transferred into a transfer section including the car by retracting the fork group while holding the article. The article transfer system according to claim 12, further comprising: a load collapse prevention unit provided on an open surface of the car.

Images