JP7064174B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device that transfers a load from the container to be loaded into the container to be loaded into the container.

In this type of transfer device, two movable rail members parallel to each other have two fixed rail members in the Y direction orthogonal to the X direction, which is the length direction of the movable rail members. A movable body is supported so as to be movable in parallel and laterally, and a movable body that can be reciprocated in the X direction is supported by each of the two movable rail members. The provided loading / unloading unit is used. In the prior art document cited as Patent Document 1, a processing unit for the work is used instead of the picking head required for the loading / unloading unit, but the picking head for picking the load is replaced. For example, it can be used as a loading / unloading unit for lifting loads and unloading them to other places. In this case, a container receiving place to be carried out and a container receiving place to be carried in are set in the movable area of the picking head in a plan view under the loading / unloading unit.

Japanese Patent Application Laid-Open No. 2003-305672

As described above, it is possible to construct a transfer device for transferring a load lifted by a picking head from the container to be unloaded into the container to be loaded by using the configuration described in Patent Document 1. Even if it can be easily done by a person skilled in the art, it is configured to efficiently pick the load from the container to be unloaded, and the load is manually loaded without using the loading / unloading unit. Solves the problems necessary for practical use, such as a configuration that enables safe and easy transfer work to transfer the load from the container to be carried out to the container to be carried in as needed. Must.

The present invention proposes a transfer device capable of solving the above-mentioned conventional problems, and the transfer device according to the present invention makes it easy to understand the relationship with the examples described later. Therefore, when the reference numerals used in the description of the embodiment are shown in parentheses, both ends of the two movable rail members (17,18) parallel to each other are the movable rail members (17,18). ) Is supported in parallel and laterally by two fixed rail members (15, 16) in the Y direction orthogonal to the X direction, which is the length direction of the above two movable rail members (17, 18). A movable body (19,21) that can reciprocate in the X direction is supported for each, and each movable body (19,21) is provided with a picking head (23,25) that can lift a load. In the transfer device equipped with the loading / unloading unit (1)
Below the loading / unloading unit (1), within the movable area of the picking head (23,25) in plan view, the receiving area (7) of the container (Cy) to be loaded and loaded and the loading / unloading target. A load transfer work space (9) in which the receiving space (8) of the container (Cx) is parallel in the X direction is provided, and the waiting areas (Sa1, Sa2) of the two movable rail members (17,18) are provided. It is set above both outer sides in the Y direction with respect to the load transfer work space (9), and one of the waiting areas (Sa1 and Sa2) is close to this waiting area (Sa1). A narrow standby area where only one movable rail member (17) on the side can stand by, and the other standby area (Sa2) has two movable rail members (17, 18) adjacent to each other in the Y direction. It is a wide waiting area that can be made to stand by, and a worker's loading work area (on the floor surface on the side where the narrow waiting area (Sa1) is located with respect to the loading transfer work space (9)). 27) is set.

In the transfer device of the present invention having the above configuration, if the container to be unloaded is carried into the container receiving place to be carried out, the container to be carried in is carried into the container receiving place to be carried in, and the work is ready. The loading / unloading unit is operated so that the load to be lifted in the container to be loaded / unloaded is lifted by the picking head. Specifically, the picking head provided in each movable base is provided by moving the two movable rail members in the Y direction laterally in the Y direction and moving the movable body on each movable rail member in the X direction on each movable rail member. It is positioned directly above the load to be lifted in the container to be unloaded, and then the picking head is lowered for each movable body so that the load to be lifted can be lifted. Next, the picking head is raised to a predetermined height for each movable body, the load to be lifted is lifted by the picking head, and then the two movable rail members in the Y direction laterally move in the Y direction and on each movable rail member. By moving the movable body in the X direction, the load lifted by the picking head is moved to a predetermined height above the container to be loaded, and then the picking head is lowered for each movable body to lift the load. Is unloaded into the container to be loaded, each picking head is separated from the unloaded load, and then each picking head is raised.

According to the transfer device of the present invention that can be used as described above, at the stage when the above work preparation is completed, the two movable rail members in the Y direction are arranged in parallel in the X direction at the container receiving place to be loaded and the container to be loaded. The waiting area above both outer sides in the Y direction, that is, the narrow waiting area and the wide waiting area, can be made to stand by in the load transfer work space provided with the container receiving area. At this time, it is desirable to move the movable body on each movable rail member to a position adjacent to both sides in the Y direction of the container receiving place to be unloaded, which is the target for starting work. By making the two movable rail members stand by in this way, the picking heads of the movable bodies included in each movable rail member can be moved to the front and rear in the Y direction of the container to be unloaded, which has been carried into the container receiving area to be unloaded. Of the loads to be lifted in the container, the load on the front side in the Y direction is lifted by the picking head waiting on the front side in the Y direction of the container to be unloaded, and the opposite side, that is, the Y direction. The load on the rear side of the load can be lifted by a picking head that stands by on the rear side in the Y direction of the container to be unloaded. Of course, various situations can be considered, such as when the load to be lifted in the container is biased to either the front or back in the Y direction or the left or right in the X direction of the container, but as a whole, two movable rail members in the Y direction are loaded. Compared with the case where the container to be carried out is made to stand by on either side in the front or rear of the Y direction, the picking head can be used to lift the load more efficiently.

On the other hand, the above transfer work may have to be performed manually for some reason such as a failure of the picking head. In such a case, a worker's load transfer work area is set in either the front or back of the Y direction with respect to the load transfer work space, and the worker stands in this load transfer work area and is viewed from the worker. In the load transfer work space, the load is manually transferred from the adjacent containers to be unloaded to the container to be loaded in the X direction, and Y is on the side where this worker stands. If one of the two movable rail members is located, the movable rail member interferes with the load transfer work performed by the operator. In order to avoid this phenomenon, when the movable rail member located immediately in front of the operator is moved to the back side, the movable rail member to be moved to the back side is originally waiting on the back side of the other movable rail member. It will be located just before it, and it will cover the back side of the container to be worked on and interfere with the manual load transfer work.

However, according to the configuration of the present invention, when the transfer work must be performed manually, there is a wide standby area in which the two movable rail members can be made to stand by in a state of being adjacent to each other in the Y direction. Since it is provided on the side opposite to the side where the load transfer work area is located (back side), both of the two movable rail members can be made to stand by in this wide standby area. Therefore, one of the two movable rail members is located between the worker standing in the load transfer work area and the two containers parallel to each other in the X direction in the load transfer work space, and the load is manually transferred. It does not interfere with the work, and the movable rail member that has been waiting to move to the back side does not cover the back side of the load transfer work space and does not interfere with the manual transfer work. That is, the manual load transfer work can be performed safely and easily. Of course, the length of the entire moving region of the two movable rail members in the Y direction in the Y direction can be suppressed to the minimum necessary, and the entire transfer device can be prevented from becoming large.

When the present invention is carried out, the movable body provided with the picking head so as to be able to move up and down can be provided one for each of the two movable rail members (17, 18). Two movable bodies (19, 20 and 21, 22) are provided for each of the two movable rail members (17, 18), and the two movable bodies provided for each movable rail member (17, 18) are provided. (19,20 and 21,22) are located between both ends of each movable rail member (17,18) so that they can be located adjacent to each other on either side of the movable rail member (17,18). It can be provided so that it can move back and forth. According to this configuration, a total of four picking heads can be made to correspond to the entire area in the container carried into the container receiving place in a state of being adjacent to each other in both XY directions. Therefore, if the load to be transferred is a small-sized load that can be lifted and unloaded with one picking head, two pickings in which four loads are lined up in the X or Y direction at the same time regardless of the position of each load. Two loads can be lifted and unloaded at the same time for medium-sized loads that can be lifted and unloaded by the head, and one load can be freely lifted and unloaded for large-sized loads that must be lifted and unloaded with four picking heads. Moreover, it can be handled efficiently.

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

The transfer device of the present invention can be configured to manually carry in and out the container to the container receiving place to be carried out and the container receiving place to be carried in, or to both container receiving places. On the other hand, it is possible to provide one conveyor for loading and unloading each container, but it is desirable to carry out as follows. That is, the conveyor (10) for loading and unloading the container (Cy) to the container receiving area (7) to be loaded and unloaded, and the container (Cx) to be loaded and unloaded to the container receiving area (8) to be loaded and unloaded. A conveyor (11) is provided, and each of these two conveyors (10, 11) has a two-layer upper and lower loading conveyor unit (12), a loading conveyor unit (13), and a lifting transfer means (14A, 14B), and the elevating transfer means (14A, 14B) is a container that translates the elevating path between the two conveyor units (12, 13) via the load transfer work space (9). Obstacles existing above the containers (Cy, Cx) carried into the container receiving area (7) to be carried out and the container receiving area (8) to be carried in by providing support carriers (14a, 14b). An obstacle detecting means (33A, 33B) for detecting an object is provided, and the obstacle detecting means (33A, 33B) is composed of a light receiving receiver (38a) and a light reflecting plate (38b), and the light reflecting plate (38b). The plate (38b) is attached to the container support carrier (14a, 14b) of the elevating transfer means (14A, 14B), and the light receiving receiver (38a) is supported by the container support carrier (14a, 14b). When the container (Cy, Cx) to be transported is located at each of the container receiving areas (7, 8), it can be provided at a fixed position corresponding to the light reflecting plate (38b). According to this configuration, it is not necessary to attach a device requiring energization such as a floodlight or a light receiver to each container support carrier (14a, 14b) which is a moving body, so that it is not only easy to carry out. The effect of shortening the length of the ray film for detecting obstacles can also be obtained.

Of course, regardless of the configuration of the means for loading and unloading the container to the container receiving area to be loaded and unloaded and the container receiving area to be loaded and unloaded, the obstacle detecting means is carried into the container receiving area (7) to be loaded and unloaded. Obstacle detection means (33A) that detects obstacles on the upper side of the container (Cy) that has been loaded, and obstacles that exist on the upper side of the container (Cx) that has been carried into the container receiving area (8) to be loaded. It can also be provided separately for the obstacle detecting means (33B) for detecting the above. According to this configuration, even if the loading and unloading times of the containers to both container receiving areas are different, obstacles can be reliably detected at the time of loading and unloading the containers to each container receiving area. Compared to the case where the loading and unloading time must be the same, safety can be ensured while improving work efficiency.

FIG. 1 is a side view of a transfer device according to an embodiment of the present invention. FIG. 2 is a front view of the transfer device of the same as above. FIG. 3 is a plan view when the transfer device is in a situation where the transfer operation is manually performed. FIG. 4 is a plan view illustrating the movement range of the picking head in the X direction in the transfer device of the same as above. FIG. 5 is a plan view illustrating the movement range of the picking head in the Y direction in the transfer device of the same as above. 6A-6D are schematic plan views illustrating each step in the transfer operation when each of the four picking heads in the transfer device handles one small size load. 7A-7D are schematic plan views illustrating each step in the transfer operation when the four picking heads in the transfer device handle one large size load. FIG. 8 is a side view showing another embodiment of the safety measure. FIG. 9 is a front view of FIG. FIG. 10 is a side view showing a modified example of the embodiment of FIG. FIG. 11 is a side view of a main part showing another embodiment of the safety measure.

As shown in FIGS. 1 to 3, the loading / unloading unit 1 included in the transfer device of the present invention according to the illustrated embodiment is horizontally installed on the gantry 2. The gantry 2 includes a pair of side frames 5a and 5b in the X direction (left and right direction) in which a pair of columns 3a and 3b in the Y direction (front and rear direction) are connected and integrated with each other by Y direction connecting members 4a and 4b at positions near both upper and lower ends. It is composed of an X-direction connecting member 6 that connects and integrates the side frames 5a and 5b with each other at the upper end position of the support column 3b on the rear side in the Y direction.

The gantry 2 is installed so that the container receiving place 7 to be carried out and the container receiving place 8 to be carried in are straddling the cargo transfer work space 9 adjacent to each other in the X direction, and are installed in the container receiving places 7 and 8 respectively. Is connected to the conveyors 10 and 11 for carrying in and out of the container Cy / Cx. Each of the carry-in / carry-out conveyors 10 and 11 has the same structure as each other and is installed so as to extend along the Y direction to the rear side of the load transfer work space 9 in the Y direction in a state of being parallel to each other. It is composed of two upper and lower layers of a carry-in conveyor unit 12, a carry-out conveyor unit 13, and an elevating transfer means 14A / 14B. Although the carry-in conveyor unit 12 is on the upper side in the figure, the carry-out conveyor unit 13 may be on the upper side.

The elevating transfer means 14A and 14B are container support transport bodies 14a and 14b that can be moved up and down in parallel between the ascending limit position and the lowering limit position connected to the upper and lower two-layer loading conveyor unit 12 and the unloading conveyor unit 13. On the container support conveyors 14a and 14b, the container Cy / Cx sent out from the carry-in conveyor unit 12 is pulled to a fixed position on the container support conveyors 14a and 14b, and is in the fixed position. It is provided with a pull-in / delivery means (conveyor whose rotation direction can be switched, a reciprocating moving body for pushing / pulling a container, etc.) that can selectively perform an operation of sending the container Cy / Cx onto the carry-out conveyor unit 13. The container support carriers 14a and 14b are stopped at each container receiving place 7/8 located in the middle of the parallel ascending / descending path, so that the supporting container Cy / Cx is carried into each container receiving place 7/8. Can be done. In the up / down transfer means 14A and 14B provided on both conveyors 10 and 11, when the carry-in / carry-out conveyors 10 and 11 simultaneously carry in / out containers Cy / Cx to both container receiving areas 7 and 8. Integrates the container support conveyors 14a and 14b provided for each, and has one container support having a width substantially equal to the width in the X direction of the entire container receiving areas 7 and 8 (load transfer work space 9). It can also be a carrier.

In addition, although the means for loading and unloading the container Cy / Cx for the container receiving place 7 to be carried out and the container receiving place 8 to be carried in is briefly explained, the container receiving place 7 to be carried out and the loading / unloading are briefly described. The means for loading and unloading the container Cy / Cx to the target container receiving place 8 may have any configuration. In some cases, it is also possible to manually carry in and out the container Cy / Cx to the container receiving place 7 to be carried out and the container receiving place 8 to be carried in. In the illustrated configuration, the container receiving place 7 to be carried out and the container receiving place 8 to be carried in are set at an intermediate height between the carrying-in conveyor unit 12 and the carrying-out conveyor unit 13. It can also be set to a height connected to the carry-in conveyor unit 12 or the carry-out conveyor unit 13.

The loading / unloading unit 1 installed on the gantry 2 has a pair of fixed rail members 15 and 16 in the X direction parallel to the Y direction, and a pair of movable rail members 17 and 18 in the Y direction parallel to the X direction. A pair of movable bodies 19, 20 and 21 and 22 in the X direction supported by the members 17 and 18, respectively, and picking heads 23 to 26 supported by each of the four movable bodies 19 to 22 in the Z direction so as to be able to move up and down in the Z direction. It is composed of. More specifically, the pair of fixed rail members 15 and 16 in the X direction have both ends in the Y direction fixedly supported by the upper ends of the pair of columns 3a and 3b in the Y direction in the left and right side frames 5a and 5b of the gantry 2. On the upper side thereof, two movable support bases 15a, 15b and 16a, 16b in the Y direction are supported so as to be reciprocally movable between both ends of the fixed rail members 15 and 16 in the Y direction, respectively. Both ends of the pair of movable rail members 17 and 18 in the Y direction are fixedly supported on the movable support bases 15a and 15b and 16a and 16b in the X direction. Further, the movable bodies 19, 20 and 21 and 22 are supported on the side facing each other of the movable rail members 17 and 18 so as to be reciprocally movable in the X direction between both ends of the movable rail members 17 and 18 in the X direction. Has been done. The lower end portions of the elevating rail members 19a to 22a parallel to the Z direction (vertical vertical direction) are fixed to the movable bodies 19 to 22, and the elevating rail members 19a to 22a are fixed to the elevating rail members 19a to 22a in the Z direction. Elevating supports 19b to 22b that are freely supported between both ends are provided, and each of these elevating supports 19b to 22b is provided with the picking heads 23 to 26 at the lower ends of the elevating rods 23a to parallel to the Z direction. The upper end of 26a is fixedly supported. The picking heads 23 to 26 are for a load that can be attracted to the upper surface of the load by negative pressure, a load having a magnetic plate attached to the upper surface of the load, or a box-type load formed from the magnetic plate. A type that magnetically attracts by energization can be used. Of course, it is also possible to use a picking head provided with a gripping tool capable of gripping and releasing the gripped portion by providing a gripped portion on the upper surface of the load.

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

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

A driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b with respect to the fixed rail members 15 and 16, and moving bodies 19, 20 and 21 and 22 with respect to the movable rail members 17 and 18 in the X direction. Although no specific structure is shown for the driving means for reciprocating the elevating rail members 19a to 22a and the driving means for elevating the elevating support bases 19b to 22b with respect to the elevating rail members 19a to 22a, conventionally known driving means are used. You can. For example, the driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b and the movable bodies 19, 20 and 21 and 22 covers substantially the entire length of the fixed rail members 15, 16 (movable rail members 17, 18). A fixed screw shaft of length is erected in parallel with the Y direction (X direction), and each of the movable supports 15a, 15b and 16a, 16b (movable bodies 19, 20 and 21 and 22) is attached to the fixed screw shaft. A female screw body to be screwed is supported only by rotation, and a motor for driving the female screw body in forward and reverse rotation is mounted, and the female screw body provided in each movable support base 15a to 16b (movable body 19 to 22) is provided. The picking heads 23 to 26 can be freely moved within the X-direction moving range Wx and the Y-direction moving range Wy together with the elevating support bases 19b to 22b (elevating rods 23a to 26a) by being driven by the motors in the forward and reverse rotations, respectively. Can be made to.

Further, as a driving means for driving the elevating support bases 19b to 22b up and down with respect to the elevating rail members 19a to 22a, one elevating support base 19b to 22b is driven up and down with respect to the elevating rail members 19a to 22a. Therefore, for example, a self-rotating screw shaft having a length substantially the entire length thereof is supported in each of the elevating rail members 19a to 22a along the Z direction, and for example, the upper end of each elevating rail member 19a to 22a is supported. A motor for driving the screw shaft in forward and reverse rotation is attached to each of the elevating support bases 19b to 22b, and a fixed female screw body screwed into the screw shaft can be attached to each of the elevating support bases 19b to 22b. According to this configuration, each of the elevating support bases 19b to 22b can be freely moved up and down by driving the screw shaft in forward and reverse rotation by the motor.

Further, as shown in FIGS. 1 to 3, a worker having a width capable of covering the entire width of the load transfer work space 9 in the X direction on the floor surface side on the front side in the Y direction of the load transfer work space 9. The cargo transfer work area 27 is provided. Further, above the loading transfer work space 9, the container receiving area 7 to be unloaded is located at a certain height above the container receiving area 7 to be unloaded and a constant height above the container receiving area 8 to be loaded. An image pickup device (camera) 28 that reads the position information of the load inside the container Cy to be carried out from the image, and the loading inside the container Cx to be carried in located at the container receiving place 8 to be carried in. An image pickup device (camera) 29 that reads an area or the like that can be placed from an image is arranged. These image pickup devices 28 and 29 are attached to the upper end horizontal portion of the portal frame 30 in which the legs on both sides in the Y direction are supported by the side frames 5a and 5b.

Hereinafter, the method of using the transfer device configured as described above will be described. This transfer device can perform automatic operation for operating the load / carry-out unit 1 and manual operation without using the load / carry-in / carry-in unit 1. It is a thing. In either case, the container Cy to be carried out is sent to the container receiving place 7 to be carried out by the carry-in conveyor unit 12 of the carry-in / carry-out conveyor 10 and the container support carrier 14a of the elevating / moving transfer means 14A. Further, the container Cx to be carried in is sent to the container receiving place 8 to be carried in by the carry-in conveyor unit 12 of the carry-in / carry-out conveyor 11 and the container support carrier 14b of the elevating transfer means 14B. Therefore, in the case of automatic operation, as shown by the solid line in FIG. 4, the four picking heads 23 to 26 of the loading / unloading unit 1 are the container Cy of the loading / unloading target sent to the container receiving area 7 to be loaded / unloaded. It stands by at the position adjacent to the outside of the four corners in the plan view and at the ascending limit height. That is, the movable rail member 17 is located at the standby position Sp1 in the narrow standby area Sa1, and the movable rail member 18 is located at the standby position Sp2 in the wide standby area Sa2, and the movable rail members 17 and 18 are movable. The bodies 19, 20 and 21 and 22 are located adjacent to the outside of the four corners in the plan view of the container Cy to be unloaded, which has been carried into the container receiving area 7 to be unloaded, and the elevating rods 23a to 26a provided therein. Is on standby at the ascending limit height of the elevating rail members 19a to 22a.

As shown in FIG. 6A, for example, it is assumed that a plurality of small-sized load Bs are stored in the container Cy to be carried out to the container receiving place 7 to be carried out, and the container receiving place to be carried in. When four small-sized cargo Bs must be transferred to the container Cx to be loaded into the container Cx to be loaded into 8, as shown in FIG. 6A, the outside of the four corners of the container Cy to be loaded and the ascending limit position. As shown in FIG. 6B, the four picking heads 23 to 26 waiting at the above are moved in the Y direction of the movable rail members 17 and 18, and the movable bodies 19, 20 and 21 on the movable rail members 17 and 18 are moved. , 22 are combined to move in the X direction to move to a position directly above the four small-sized loads Bs to be carried out, and then the elevating support bases 19b to 22b (elevating rod 23a) are moved to the elevating rail members 19a to 22a. -26a) is lowered so that the four picking heads 23-26 are brought into contact with and attracted to the upper surfaces of the four small-sized loads Bs to be carried out. Of course, it is assumed that the picking heads 23 to 26 are of the negative pressure suction type or the magnetic suction type, but a gripped portion is provided on the upper part of the load to be handled, and the picking heads 23 to 26 are the gripped portions. If it is a gripping type equipped with a gripping tool for gripping, the gripping tools of the picking heads 23 to 26 will grip the gripped portion on the upper part of the four small-sized loads Bs to be carried out. The above operation can be automatically performed based on the image acquired by the image pickup apparatus 28 located directly above the container receiving place 7 to be unloaded.

When the picking heads 23 to 26 are in a state where the four small size loads Bs to be carried out at predetermined positions in the container Cy to be carried out can be lifted, the picking heads 23 to 26 can be lifted from the small size loads to be carried out. Lift up to the ascending limit height with Bs. Specifically, the elevating support bases 19b to 22b (elevating rods 23a to 26a) are raised to the ascending limit height with respect to the elevating rail members 19a to 22a. After that, the lifted small-sized cargo Bs is transferred to a predetermined position (for example, the position shown in FIG. 6B) in the container Cx to be loaded, which is being carried into the container receiving place 8 to be loaded. Specifically, as shown in FIG. 6C, the movement of the movable rail members 17 and 18 in the Y direction and the movement of the movable bodies 19, 20 and 21 and 22 on the movable rail members 17 and 18 in the X direction are performed. In combination, the lifted small-sized load Bs is moved to just above a predetermined position in the container Cx to be loaded, and then the lifting rods 23a to 26a are lowered with respect to the lifting rail members 19a to 22a for picking. Each small-sized load Bs lifted by the heads 23 to 26 can be unloaded at a predetermined position in the container Cx to be loaded (see FIG. 6D). The image acquired by the image pickup device 29 located directly above the container receiving place 8 to be loaded is to select the unloading place of the small-sized load Bs into the container Cx to be loaded and to confirm that the unloading is completed. It can be done automatically based on.

If the entire small-sized load Bs lifted from the container Cy to be unloaded moves upward from the container Cy to be unloaded, then the container Cy to be unloaded is moved to the container receiving area to be unloaded. It can be carried out from 7. Specifically, after lowering the container support transport body 14a of the elevating transfer means 14A supporting the container Cy to be unloaded and connecting it to the carry-out conveyor unit 13, it is carried out from the container support transport body 14a. The container Cy to be unloaded is to be carried out onto the conveyor unit 13. As a result, the work of carrying the next container Cy to be unloaded into the container receiving place 7 to be unloaded can be started immediately without waiting for the completion of the transfer of the small-sized cargo Bs to the container Cx to be carried in. ..

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

In the above-mentioned transfer work of the small size load Bs, it was explained that all the picking heads 23 to 26 transfer the four small size load Bs at the same time, but this is because each of the picking heads 23 to 26 has a small size. This is because the load Bs can be lifted and unloaded and four small size load Bs can be transferred at the same time. Therefore, the small size load Bs can be transferred within the range of 1 to 4 in one transfer operation. You can do the transfer work at. If the number of small-sized load Bs to be transferred is three or less, one to three picking heads among the picking heads 23 to 26 will not be used, but among the movable bodies 19 to 22, To prevent a movable body equipped with a picking head that will not be used from interfering with the movement of other picking heads in the XY directions, for example, among the picking heads 23 to 26 having the standby position shown in FIG. 6A, the load is loaded. It can be selected to be used from the picking head located near the container Cx to be carried in at the container receiving place 8 to be carried in.

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

By operating the loading / unloading unit 1 as described above, loads of various sizes in the container Cy to be loaded / unloaded are carried into the container receiving area 8 to be loaded into the container receiving area 7 to be loaded / unloaded. It can be transferred to the container Cx to be loaded, but if, for example, the picking heads 23 to 26 fail or if for some reason it becomes necessary to manually perform the above work, FIG. 1 and FIG. As shown in FIG. 3, the two movable rail members 17 and 18 in the Y direction are moved into the wide standby area Sa2. That is, the movable rail member 18 is moved to the rear side in the Y direction to the limit position and stopped at the standby position Sp3, and the movable rail member 17 is moved to the rear side in the Y direction to the position adjacent to the movable rail member 18. And stop at the standby position Sp2. Standing the two movable rail members 17 and 18 in the wide standby area Sa2 in a state of being adjacent to each other in the Y direction is performed at each stage when a series of transfer work using the loading / unloading unit 1 is completed. Is also good.

When the preparation for the above manual work is completed, the front side in the Y direction of the load transfer work space 9 in which the container receiving area 7 to be loaded and the container receiving area 8 to be loaded are parallel is released, and the load transfer work is performed. An operator stands on the floor surface of the area 27 and is disturbed by the movable rail members 17 and 18, the elevating rail members 19a to 22a supported by these, the elevating rods 23a to 26a, and the picking heads 23 to 26. By hand, loads of various sizes in the container Cy to be carried out to the container receiving place 7 to be carried out are manually transferred to the container Cx to be carried in to the container receiving place 8 to be carried in. Can be reprinted. Even when the load transfer work is performed manually, the work content can be managed based on the images acquired by the image pickup devices 28 and 29. The side frames 5a and 5b of the gantry 2 that support the fixed rail members 15 and 16 of the loading / unloading unit 1 are located on the left and right sides of the loading / unloading work space 9 and the loading / unloading work area 27 in the X direction. However, the self-supporting strength of the side frames 5a and 5b, in other words, the support strength of the loading / unloading unit 1 is sufficiently increased by the X-direction connecting member 6 connecting the vicinity of the upper ends of the columns 3b on the rear side in the Y direction. However, if necessary, the columns 3a on the front side in the Y direction are located at positions that do not interfere with the above manual work, for example, the container Cy to be carried out and the container Cy to be carried in, which are located in the load transfer work space 9. It is possible to connect to each other by the X-direction connecting member at almost the same height as the upper end of the container Cx. The X-direction connecting member 6 can also be provided at a position where the rear ends of the pair of fixed rail members 15 and 16 in the X-direction of the loading / unloading unit 1 are directly connected to each other.

In the above embodiment, the container Cy to be carried out and the container Cx to be carried in are passed between the carry-in conveyor unit 12 and the carry-out conveyor unit 13 of the carry-in / carry-out conveyor 11 via the respective container receiving places 7 and 8. As the elevating and transferring means 14A and 14B for elevating and transferring, the container support conveyors 14a and 14b that move up and down in parallel in the vertical and vertical directions are used. The means for transferring the containers Cy and Cx to the starting end of the unit 13 via the container receiving areas 7 and 8 may have any configuration.

When the loading / unloading process of the containers Cy and Cx for the loading / unloading work space 9 is executed as described above, the manual operation during the manual work is entered into the container transfer path by the container support transport bodies 14a and 14b. Even during automatic work by the loading / unloading unit 1, if the lifting rods 23a to 26a provided with the picking heads 23 to 26 at the lower ends are inserted in the container transfer path, the equipment Will induce a failure with damage. It is necessary to take safety measures to prevent such a situation from occurring, and an example of this safety measure will be described below.

As shown in FIGS. 1 and 2, the container Cy to be unloaded and the container Cy to be unloaded into the container receiving area 7 to be unloaded in the loading work space 9 and the container receiving area 8 to be loaded are carried in. An obstacle detecting means 31 for generating a planar obstacle detecting light film 31a that crosses the upper side of the container Cx to be loaded in the X direction from the outside of one end to the outside of the other end of the loading work space 9 is provided. Can be done. The obstacle detecting means 31 is a light-transmitting type including a floodlight 32a arranged on the outside of one end in the Y direction of the load transfer work space 9 and a light receiver 32b arranged on the outside of the other end of the Y direction of the load transfer work space 9. However, a reflective type may be used, in which the projector 32a is used as a light emitting and receiving device and a light reflecting plate is used instead of the light receiving device 32b. The floodlight (projector / receiver) 32a and the receiver 32b (light reflector) can be attached to the side frames 5a and 5b on both sides in the X direction constituting the gantry 2. The obstacle detecting means 31 may be operated for a certain period of time immediately before the raising / lowering transfer means 14A and 14B are operated. Therefore, if there is a human hand or the like that intersects with the obstacle detecting light film 31a while the obstacle detecting means 31 is operating, the obstacle detecting means 31 outputs an obstacle detecting signal, so that the obstacle is detected. Based on the detection signal, the operation of the elevating transfer means 14A and 14B can be urgently stopped, and an alarm or a lamp for notifying the urgent stop can be activated.

Further, as shown in FIG. 8, the obstacle detection light film 33a is carried into the container receiving place 7 to be carried out and the container receiving place 8 to be carried in in the load transfer work space 9. It is also possible to use the obstacle detecting means 33 that forms the upper side of Cy and Cx in a direction crossing the front-back Y direction. In this case, the floodlight (or floodlight) 34a and the light receiver (or light reflector) 34b are between the pair of columns 3a in the X direction on the front side in the Y direction of the side frames 5a and 5b constituting the gantry 2 and the columns on the rear side. It can be distributed and attached to the support frames 35a and 35b installed between 3b and parallel to the X direction. In the figure, the light receiver (or light reflector) 34b is arranged on the front side in the Y direction of the load transfer work space 9, but it may be arranged upside down. However, the support frame 35a on the front side and the obstacle detection device (receiver (or light reflector) 34b or floodlight (or light emitter) 34a) attached to the support frame 35a do not enter the manual work space of the operator. It is necessary to attach it to the space.

When the obstacle detection means 33 shown in FIG. 8 is used, as shown in FIG. 9, an obstacle detection that monitors the upper side of the container Cy to be carried out and carried into the container receiving place 7 to be carried out is observed. The means 33A and the obstacle detecting means 33B for monitoring the upper side of the container Cx to be carried in to the container receiving place 8 to be carried in can be separately installed. In this case, if the carry-in / carry-out conveyor 10 including the up-and-down transfer means 14A and 14B and the carry-in / carry-out conveyor 11 are configured to be operated separately, the carry-in side up / down transfer means 14A and carry-out are carried out. While operating the up-and-down transfer means 14B on the side separately at arbitrary timings, the obstacle detecting means 33A and the obstacle detecting means 33B are operated at the time of each operation, and the light films 33a and 33b for detecting obstacles carry out the cargo. Obstacles on the target container Cy side and obstacles on the target container Cx side can be detected separately to ensure safety at all times.

As shown in FIG. 10, when a table 36 that can be used for manual work is erected on the front side of the load transfer work space 9 in the Y direction, it is arranged on the front side of the load transfer work space 9 in the Y direction. The light receiver (or light reflector) 34b or the floodlight (or light projector) 34a can be attached to the edge of the table 36 on the load transfer work space 9 side or the lower side thereof. In the figure, the light reflecting plate 34b for the light emitting / receiving device 34a is attached to the edge of the table 36 on the load transfer working space 9 side.

Further, as shown in FIG. 11, a portal support that allows the containers Cy and Cx to pass and move in the Y direction behind the container support and transport bodies 14a and 14b provided in the elevating transfer means 14A and 14B in the Y direction. A frame 37 is attached, and is attached to the front support frame 35a (which may be the table 36) shown in FIG. 8 to the horizontal frame portion 37a along the X direction of the upper end of the portal support frame 37. Obstacle detecting means 33A and 33B can also be configured by attaching a light reflecting plate 38b to the light emitting / receiving device 38a. According to this configuration, when the container support transport bodies 14a and 14b start to move up and down from a fixed position in the load transfer work space 9, the light emitting / receiving device 38a can be switched to ON to detect obstacles. .. Of course, also in this embodiment, it is possible to use an obstacle detecting means composed of a combination of a floodlight and a light receiver, and the light projector 38a and the light reflector 38b shown in FIG. 11 are arranged at opposite positions with each other. Although it is possible to install it, according to the embodiment shown in FIG. 11, it is not necessary to provide an energization path between the container support and transport bodies 14a and 14b which are moving bodies and the fixed position, and an obstacle can be easily and easily installed. The detection means can be configured.

When the obstacle detecting means 31, 33, 33A, 33B uses the obstacle detecting light films 31a, 33a, 33b between the light emitting and receiving devices, the obstacle detecting light films 31a, 33a, 33b. Means a collection of a large number of light rays individually projected from a large number of floodlights arranged in parallel at appropriate intervals, in addition to a planar ray film projected from a slit-shaped opening of the floodlight. Of course, as the obstacle detecting means, a type that does not use the light film for detecting obstacles between the light emitting and receiving devices, for example, using an image pickup device (camera) can also be used.

The transfer device of the present invention can switch the work of transferring the load in the container to be carried out into the container to be carried in by switching between the automatic work performed by the automatic device and the manual work performed by the operator as necessary. It can be used as a transfer device.

1 Loading / unloading unit 2 Stand 5a, 5b X-direction (left-right direction) pair of side frames 6 X-direction connecting member 7 Container receiving area for loading / unloading 8 Container receiving area for loading 9 Loading transfer work space 10, 11 Carry-in / carry-out conveyor 12 Carry-in / carry-out conveyor unit 13 Carry-out conveyor unit 14A, 14B Elevating transfer means 14a, 14b Container support carrier 15,16 Fixed rail member 15a to 16b Movable support base 17,18 Y direction (front-back direction) pair Movable rail member 19-22 Movable body 19a-22a Elevating rail member 19b-22b Elevating support stand 23-26 Picking head 23a-26a Elevating rod 27 Load transfer work area 28,29 Imaging device 31, 33, 33A, 33B Obstacle detection means 31a, 33a, 33b Obstacle detection light film 32a, 34a, 38a Floodlight or light emitter 32b, 34b, 38b Receiver or light reflector 35a, 35b Support frame 36 Table 37 Gate-shaped support frame Bs Small Size load Bb Large size load Cy Container to be loaded Cx Container to be loaded Sp1 to Sp3 Standby position Sa1 Narrow waiting area Sa2 Wide waiting area Wx X direction movement range Wy Y direction movement range

Claims (5)

Both ends of the two movable rail members parallel to each other are supported in parallel and laterally by two fixed rail members in the Y direction orthogonal to the X direction, which is the length direction of the movable rail members. Each of the two movable rail members is supported by a movable body that can be reciprocated in the X direction, and each movable body is equipped with a loading / unloading unit in which a picking head capable of lifting a load is provided so as to be able to move up and down. In the transfer device
Below the loading / unloading unit, in the movable area of the picking head in a plan view, there is a loading / unloading work space in which the container receiving area to be loaded and unloaded and the container receiving area to be loaded are arranged in parallel in the X direction. The waiting areas of the two movable rail members provided are set above both outer sides in the Y direction with respect to the load transfer work space, and one of the waiting areas is the waiting area. The narrow standby area where only one movable rail member on the side closer to the side can stand by, and the other standby area is a wide standby area where the two movable rail members can stand by in a state of being adjacent to each other in the Y direction. A transfer device in which a worker's load transfer work area is set on the floor surface on the side where the narrow standby area is located with respect to the load transfer work space. The movable body provided with the picking head so as to be able to move up and down is provided with two each of the two movable rail members, and the two movable bodies provided with each movable rail member are the movable rail members. The transfer device according to claim 1, which is provided so as to be reciprocally movable between both ends of each movable rail member so that both ends can be positioned adjacent to each other. Claim 1 or claim 1 or claim 1, wherein an obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and the container carried into the container receiving place to be carried in is provided. 2. The transfer device according to 2. A conveyor for loading and unloading containers to the container receiving area to be loaded and unloaded and a conveyor for loading and unloading containers to the container receiving area to be loaded and unloaded are provided. It is provided with a layer loading / unloading conveyor unit, a loading / unloading conveyor unit, and an elevating / moving transfer means, and the elevating / transferring means is a container support that moves an elevating path between the two conveyor units via the load transfer work space. An obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and the container receiving place to be carried in is provided with a carrier, and the obstacle detecting means is provided. Is composed of a light receiving receiver and a light reflecting plate, the light reflecting plate is attached to the container-supporting and transporting body of the elevating transfer means, and the light-receiving and receiving device is a container supported and transported by the container-supporting and transporting body. The transfer device according to claim 1 , wherein is provided at a fixed position corresponding to the light ray reflecting plate when is located at each container receiving place in the load transfer work space.
The obstacle detecting means includes an obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and an upper side of the container carried into the container receiving place to be carried in. The transfer device according to claim 3 or 4, which is divided into two obstacle detecting means for detecting an obstacle existing in the above.

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