JP7415626B2 - holding device - Google Patents

Description

The present invention relates to a holding device, and more particularly to a holding device in which a plurality of upper and lower support portions for supporting one piece of luggage from below are provided.

Conventionally, as a pallet storage device, a device that stacks pallets using a lifter is known (see, for example, Patent Document 1).
In the above-mentioned pallet storage device, the pallets that are conveyed one by one by the conveyor are fed to the holding means by the lifter and held while being stacked, or the pallets held in the stacked state are separated one by one. I pay it out while doing so.

Japanese Patent Application Publication No. 5-254662

However, in conventional pallet accommodating devices, when the number of pallet accommodating stages is increased, the stroke amount of the lifter increases, resulting in an increase in the size of the lifter.

An object of the present invention is to store luggage in a holding device with a space-saving structure.

A plurality of aspects will be described below as means for solving the problem. These aspects can be arbitrarily combined as necessary.

A holding device according to one aspect of the present invention includes a plurality of supports, a lifting device, a lifter, and a controller.
Each of the plurality of support parts is a member for supporting one piece of luggage, and is arranged in the vertical direction and protrudes and retreats laterally.
The lifting device raises and lowers the entire plurality of support parts between at least a first position and a second position located above the first position.
A lifter is a device that lifts and lowers cargo, and moves between a plurality of stopping positions where cargo is transferred to and from a support section.
The plurality of support parts as a whole include a first support part group in which cargo is transferred to and from the lifter when in the first position, and a group in which cargo is transferred to and from the lifter in the second position. and a second support part group located below the first support part group.
The upper limit position for lifting and lowering the lifter is a position corresponding to the uppermost support part of the first support part group when all of the plurality of support parts are in the first position, and a position corresponding to the uppermost support part of the first support part group when all of the plurality of support parts are in the second position. In some cases, the position is higher than the position corresponding to the uppermost support part of the second support part group.
This holding device can hold a large amount of baggage in a small space by combining the lifting and lowering of the entire plurality of support parts that individually support the baggage with the multi-step lifting and lowering of the lifter.
As an example, the operation of storing a plurality of items in a holding device will be described. For example, first, with all of the plurality of support parts in the first position, the lifter sequentially transfers the cargo to the support parts of the first support part group. Next, the elevating section raises the entire plurality of support sections, thereby arranging the entire plurality of support sections at the second position. Next, the lifter sequentially transfers the cargo to the support parts of the second support part group. In this way, the lifting and lowering of the lifter for the delivery of cargo is carried out at the height region where the first support section group is located when the entire support section is at the first position, and at the height region where the first support section group is located when the entire support section is at the second position. This is done only in the height region where the support group is located.
As a result, when all of the plurality of support parts are in the first position, the lifter only needs to be able to move to a height that allows access to the support parts of the first support part group, and when the plurality of support parts are in the second position, the lifter only needs to move to a height that allows access to the support parts of the first support part group. It is sufficient if it can be moved to a height that allows access to the supporting parts of the group. In other words, the stroke amount of the lifter can be reduced, and the size of the lifter can be reduced accordingly. As a result, the cargo can be stored in the holding device with a space-saving structure.

The holding device may further include a plurality of cargo detection sensors during transfer. The plurality of cargo detection sensors at the time of transfer are arranged at positions above each of the support parts of the first support part group when all of the plurality of support parts are in the first position, or at a position above each of the support parts of the first support part group when all of the plurality of support parts are in the second position. A load may be detected at a certain position above each of the supports of the second support group.
The controller is configured to control one of the supports of the first support part group when all of the plurality of support parts are in the first position, or one of the supports of the second support part group when the plurality of support parts are in the second position. When the lifter transfers a cargo to or from one of the supports, the lifter is raised to a position where the cargo is detected by the transfer cargo detection sensor corresponding to the target support, and the support is protruded or The lifter may be controlled to be lowered after the evacuation.
In this holding device, there is no need to provide cargo detection sensors during transfer so as to correspond to all the support parts. For example, the support parts of the first support part group when the plurality of support parts are in the first position and the first support part group of the support parts of the second support part group when the plurality of support parts are in the second position. The number of load detection sensors during transfer can be limited to the second support part group that has a larger number of support parts.
Note that "a position above each of the support parts" is, for example, a position higher than the top surface of the cargo placed on the support part, and a position lower than the support part above the support part.

The holding device may further include a plurality of stored baggage detection sensors. The plurality of storage baggage detection sensors are arranged to detect the baggage supported by the support parts of the first support part group when the plurality of support parts are all in the first position, or in the second position when the plurality of support parts are all in the second position. It may be provided at a position to detect each load supported by the support part of the second support part group when the support part is located at the position.
When transferring the cargo from the lifter to the support section, the controller may control the lifter to transfer the cargo to the support section corresponding to the uppermost stored cargo detection sensor that is not detecting the cargo. .
When transferring the cargo from the support section to the lifter, the controller may control the lifter to transfer the cargo from the support section corresponding to the lowest stored cargo detection sensor that is detecting the cargo.
In this holding device, it is not necessary to provide stored baggage detection sensors corresponding to all the support parts. For example, when all of the plurality of support parts are in the first position, among the first support part group and the second support part group of the first support part group, the number of stored baggage detection sensors is placed on the one with more support parts. can be restricted.

The holding device may further include a support portion first position detection sensor and a support portion second position detection sensor. The support portion first position detection sensor may detect that all of the plurality of support portions are in the first position. The support portion second position detection sensor may detect that all of the plurality of support portions are in the second position.
The controller moves the entire plurality of supports from the first position to the second position based on the detection signals from the support part first position detection sensor, the support part second position detection sensor, and the plurality of storage baggage detection sensors. Movement and movement of the entire plurality of supports from the second position to the first position may be determined.
In this device, the controller can determine the overall movement of the plurality of support parts by combining the detections of the above-mentioned sensors without the need for the host controller to consider the state of the holding device.

With the holding device according to the present invention, cargo can be stored with a space-saving structure.

FIG. 3 is a schematic side view of the holding device. FIG. 3 is a schematic plan view of the holding device. FIG. 3 is a schematic plan view of the holding device. FIG. 3 is a block diagram showing the control configuration of the holding device. 5 is a flowchart showing the basic control operation of the holding device. 5 is a flowchart showing the stacking control operation of the holding device. 5 is a flowchart showing a lifter lifting control operation of the holding device. FIG. 3 is a schematic side view of the holding device and is a diagram illustrating a stacking operation. FIG. 3 is a schematic side view of the holding device and is a diagram illustrating a stacking operation. FIG. 3 is a schematic side view of the holding device and is a diagram illustrating a stacking operation. FIG. 3 is a schematic side view of the holding device and is a diagram illustrating a stacking operation. FIG. 3 is a schematic side view of the holding device and is a diagram illustrating a stacking operation. FIG. 3 is a schematic side view of the first sensor, the cargo, the support section, and the lifter, and is a diagram illustrating the stacking operation. FIG. 3 is a schematic side view of the first sensor, the cargo, the support section, and the lifter, and is a diagram illustrating the stacking operation. FIG. 3 is a schematic side view of the first sensor, the cargo, the support section, and the lifter, and is a diagram illustrating the stacking operation. FIG. 3 is a schematic side view of the first sensor, the cargo, the support section, and the lifter, and is a diagram illustrating the stacking operation. FIG. 3 is a schematic side view of the first sensor, the baggage, the support section, and the lifter, and is a diagram illustrating the unloading operation. FIG. 3 is a schematic side view of the first sensor, the baggage, the support section, and the lifter, and is a diagram illustrating the unloading operation. FIG. 3 is a schematic side view of the first sensor, the baggage, the support section, and the lifter, and is a diagram illustrating the unloading operation. FIG. 3 is a schematic side view of the first sensor, the baggage, the support section, and the lifter, and is a diagram illustrating the unloading operation.

1. First Embodiment (1) Overall configuration of holding device A holding device 1 will be explained using FIGS. 1 to 3. FIG. 1 is a schematic side view of the holding device. 2 and 3 are schematic plan views of the holding device.
The holding device 1 is a device that holds a plurality of luggage P in multiple stages. Specifically, the holding device 1 supports and stores a plurality of packages P one by one from below. Therefore, the holding device 1 supplies the cargo P conveyed one by one by a conveyor to the support section 3 (described later) by a lifter 7 (described later) and holds it while stacking it, or pallets held in a stacked state. Dispense the cards one by one by separating them into stacks.
The cargo P is a plate-shaped member, for example, an iron pallet (a pallet without fork pockets on the side).

The holding device 1 has a frame 2 . The frame 2 is a stationary member and has an internal space in which a plurality of items P can be raised and lowered.
The holding device 1 has a plurality of support parts 3 (an example of support parts). The plurality of support parts 3 are plate-shaped members each supporting one piece of luggage P, and are arranged in the vertical direction and protrude and retreat laterally. Specifically, the four supporting parts 3 are arranged at planar positions to support the four corners of the luggage P. In FIG. 2, the support part 3 is protruded and in the support position, and in FIG. 3, the support part 3 is retracted and in the retracted position. As described above, a multi-stage shelf is realized by the plurality of support parts 3. Hereinafter, the plurality of support parts 3 will be collectively referred to as an entire support part group 3A.

The holding device 1 has a support opening/closing device 4 (FIG. 4). The support part opening/closing device 4 rotates and opens the support part 3 to move it to the support position, and rotates and closes the support part 3 to move it to the retreat position. The support part opening/closing device 4 is provided for each stage of the support part 3. In other words, the number of support opening/closing devices 4 is eight.
The support part opening/closing device 4 is composed of an air cylinder and a chuck, and the chucks are interconnected by rods. Therefore, the four supporting parts 3 open and close in conjunction with each other.
The holding device 1 has a support part lifting device 5. The support part elevating device 5 moves the entire support part group 3A into a first position (FIGS. 1, 8, 9 and 10) and a second position located above the first position (FIGS. 11 and 12). Move up and down between. The support part elevating device 5 holds the entire support part group 3A and has an elevating member 9 that can be raised and lowered along the frame 2. The support part elevating device 5 has an elevating mechanism (a motor, a chain, etc.) for elevating and lowering the elevating member 9.

The entire support section group 3A includes a first support section group 3B and a second support section group 3C located below the first support section group 3B. The first support part group 3B is arranged in the lifter transfer height area A (described later) when the entire support part group 3A is located at the first position (FIGS. 1, 8, 9, and 10). , and a lifter 7 (described later). The second support section group 3C is disposed in the lifter transfer height region A when the entire support section group 3A is located at the second position (FIGS. 11 and 12), and the second support section group 3C is arranged in the lifter transfer height region A, and the cargo P The delivery will take place.
The space in which the overall support part group 3A moves up and down is divided into a lifter transfer height area A, a lower area B, and an upper area C. Therefore, when the entire support part group 3A is in the first position, the second support part group 3C is located in the lower region B. Moreover, when the entire support part group 3A is in the second position, the first support part group 3B is located in the upper region C. Furthermore, the uppermost support part 3 of the overall support part group 3A is located higher when the overall support part group 3A is located at the second position than when it is located at the first position.

The holding device 1 has a lifter 7. The lifter 7 is a device that raises and lowers the cargo P. The lifter 7 is a known technology, and includes, for example, a base, a lifting platform, and a lifting mechanism (link, hydraulic cylinder).
A conveyor (not shown) carries the load P into and out of the lifter 7. The lifter 7 is provided with a guide (not shown) for positioning the cargo P on the lifter 7.

The lifter 7 moves between a plurality of stop positions at which the cargo P is delivered to and from the plurality of support sections 3. Specifically, the lifter 7 can transfer the cargo P to and from the plurality of supports 3 by moving within the lifter transfer height region A.
In addition, in the lifter transfer height area A, the uppermost support part 3 of the first support part group 3B when it is in the first position, and the uppermost support part 3 of the second support part group 3C when it is in the second position. The positions of the supporting parts 3 are the same, or the positions of the lowermost supporting parts 3 are the same.
The lifting upper limit position of the lifter 7 is the uppermost support part 3 of the first support part group 3B when the whole support part group 3A is in the first position, and the uppermost position of the lifter 7 when the whole support part group 3A is in the second position. This is the higher position compared to the uppermost support part 3 of the second support part group 3C. Note that in this embodiment, both are the same. From the above, the upper limit position of the lifter 7 is at the top or the top of the lifter transfer height area A.
This holding device 1 can hold a large amount of cargo P in a small space by combining the lifting and lowering of the plurality of support parts 3 that individually support the cargo P with the multi-step lifting and lowering of the lifter 7. In addition, in this embodiment, by raising and lowering the support part 3, it is possible to hold twice as many loads P as the lifter 7 can hold at the lifting/lowering stop position.
Note that the lower region B is a dead space created by the lifting mechanism of the lifter 7. Therefore, the lifter 7 cannot transfer the cargo P to or from the support section 3 located in the lower area B.

The holding device 1 includes a plurality of first sensors 11 (an example of cargo detection sensors during transfer). The plurality of first sensors 11 are arranged in the lifter transfer height region A, and are located above each of the support parts 3 of the first support part group 3B or each of the support parts 3 of the second support part group 3C. The baggage P is detected at a position above. Specifically, the plurality of first sensors 11 are provided on the frame 2, so the height position of the first sensors 11 is not changed. As shown in FIG. 1, four first sensors 11 are provided corresponding to the support parts 3 located in the lifter transfer height area A (only one side of the four sensors is shown in FIG. In FIG. 9, only one side of the top one is shown; in FIGS. 10 to 12, it is not shown). The first sensor 11 is a transmission type photoelectric sensor having a light projecting section and a light receiving section that are separated in the horizontal direction (FIGS. 13 to 20). For example, the first sensor 11 is turned ON when the cargo P blocks the light projection, and is turned OFF when the cargo P is removed from the light projection.
In addition, in the drawing, the lower square of the support part 3 is located on the optical axis of the first sensor 11, but by shifting the first sensor 11 in the depth direction of the drawing, each of the support parts 3 The "upper position" is at a lower position than the support part 3 above the support part 3.
The holding device 1 further includes a plurality of second sensors 13 (an example of a stored baggage detection sensor). The plurality of second sensors 13 are at positions where they each detect the load P supported on the support part 3 of the first support part group 3B when the whole support part group 3A is located at the first position, or when the whole support part group 3A is located at the first position. They are provided at positions for detecting the loads P supported by the support parts 3 of the second support part group 3C when located at the second position. Specifically, the plurality of second sensors 13 are provided on the frame 2, so their height positions are not changed. As shown in FIG. 1, four of the plurality of second sensors 13 are provided corresponding to the support parts 3 located in the lifter transfer height area A (in FIGS. 1 and 10, only one side of the four sensors is provided). In FIGS. 8 and 9, only one side of the top one is shown; in FIGS. 11 and 12, it is not shown). The second sensor 13 is a transmission type photoelectric sensor having a light projecting section and a light receiving section that are separated in the horizontal direction. For example, the second sensor 13 is turned ON when the load P is placed on the support section 3 and blocks the light projection, and is turned OFF when the load P is not placed on the support section 3 .

The holding device 1 includes a first limit switch 15 (an example of a support part first position detection sensor) and a second limit switch 17 (an example of a support part second position detection sensor).
The first limit switch 15 is a sensor that detects that the entire support group 3A is in the first position. The first limit switch 15 is, for example, a sensor that detects the upper end of the elevating member 9, and is provided on the frame 2.
The second limit switch 17 is a sensor that detects that the overall support group 3A is in the second position. The second limit switch 17 is, for example, a sensor that detects the upper end of the elevating member 9, and is provided on the frame 2.
Note that the type, number, position, etc. of the sensors that detect the position of the entire support part group 3a are not particularly limited.

(2) Control configuration of holding device The control configuration of the holding device 1 will be explained using FIG. 4. FIG. 4 is a block diagram showing the control configuration of the holding device.
The holding device 1 has a controller 51 .
The controller 51 is a computer having a processor (e.g., CPU), a storage device (e.g., ROM, RAM, HDD, SSD, etc.), and various interfaces (e.g., A/D converter, D/A converter, communication interface, etc.). It is a system. The controller 51 performs various control operations by executing programs stored in a storage unit (corresponding to part or all of the storage area of the storage device).
The controller 51 may be composed of a single processor, or may be composed of a plurality of independent processors for each control.
Part or all of the functions of each element of the controller 51 may be realized as a program executable by a computer system that constitutes the control section. In addition, a part of the functions of each element of the control section may be configured by a custom IC.

A plurality of support opening/closing devices 4 , support lifting/lowering devices 5 , and lifters 7 are connected to the controller 51 . Controller 51 sends control signals to these devices.
Connected to the controller 51 are four first sensors 11 , four second sensors 13 , a first limit switch 15 , and a second limit switch 17 . Controller 51 receives signals from these sensors.
Although not shown, the controller 51 is connected to a sensor for detecting the size, shape, and position of the luggage P, sensors and switches for detecting the status of each device, and an information input device.

(3) Stacking control operation The stacking control operation of the holding device 1 will be explained using FIGS. 5 to 16. FIG. 5 is a flowchart showing the basic control operation of the holding device. FIG. 6 is a flowchart showing the stacking control operation of the holding device. FIG. 7 is a flowchart showing the lifter lifting control operation of the holding device. 8 to 12 are schematic side views of the holding device and are diagrams for explaining the stacking operation. 13 to 16 are schematic side views of the first sensor, the cargo, the support section, and the lifter, and are diagrams for explaining the stacking operation.
The control flowchart described below is an example, and each step can be omitted or replaced as necessary. Further, a plurality of steps may be executed simultaneously, or some or all of the steps may be executed overlappingly.
Furthermore, each block in the control flowchart is not limited to a single control operation, and can be replaced with a plurality of control operations expressed by a plurality of blocks.
Note that the operation of each device is the result of instructions from the control unit to each device, and these are expressed by each step of the software application.

(3-1) Description of FIG. 5 In step S1, the entire support section group 3A is placed at the first position. Specifically, the controller 51 controls the support part elevating device 5 to execute the above operation. In this initial state, as shown in FIG. 1, the holding device 1 does not hold the cargo P, the first support group 3B is in the lifter transfer height area A, and the second support group 3C is in the lifter transfer height area A. It is in the lower region B. Note that the lifting platform of the lifter 7 is in the lowered position.
In step S2, as shown in FIGS. 8 to 10, the cargo P is carried into the first support section group 3B. In other words, the lifter 7 sequentially passes the cargo P to the support parts 3 of the first support part group 3B from above. Specifically, the controller 51 controls the support opening/closing device 4 and the lifter 7 to execute the above operation.

In step S3, as shown in FIG. 11, the entire support group 3A is placed at the second position. Specifically, the controller 51 executes the above operation by controlling the support part elevating device 5. At this time, the first support part group 3B is in the upper region C, and the second support part group 3C is in the lifter transfer height region A.
In step S4, as shown in FIG. 12, the cargo P is carried into the second support group 3C. In other words, the lifter 7 sequentially passes the cargo P to the support parts 3 of the second support part group 3C from above. Specifically, the controller 51 controls the support opening/closing device 4 and the lifter 7 to execute the above operation.

The lifter 7 moves up and down to transfer the cargo P in steps S2 and S4 above only within the lifter transfer height area A. As a result, when the overall support group 3A is in the first position, the lifter 7 only needs to be able to move to a height that allows it to access the supports 3 of the first support group 3B, and when the overall support group 3A is in the second position, It is only necessary to be able to move to a height that allows access to the support parts 3 of the second support part group 3C. In other words, the stroke amount of the lifter 7 can be reduced, and the lifter 7 can be made smaller accordingly. As a result, the cargo P can be stored in the holding device 1 with a space-saving structure.
Further, the number of stop positions of the lifter 7 is the same as the number of supporting parts 3 in the first supporting part group 3B or the second supporting part group 3C (in this embodiment, both are the same), and specifically These are four locations within the lifter transfer height area A, which is half the number of support parts 3 in the entire support part group 3A.

(3-2) Description of FIG. 6 FIG. 6 shows the contents of step S2 and step S4 in FIG.
In step S5, it is determined whether the number of packages P carried in has reached the scheduled number. Specifically, the controller 51 executes the above determination. If the planned number has not been reached, the process moves to step S6, and if the planned number has been reached, the process ends.
As described above, in this embodiment, the controller 51 determines the movement of the overall support group 3A from the first position to the second position by determining the number of items P. However, as a modification, the controller 51 moves the overall support group 3A from the first position to the second position based on a combination of the detection signals of the first limit switch 15 and the plurality of second sensors 13. You may decide. That is, the first limit switch 15 determines that the entire support group 3A is in the first position, and the plurality of second sensors 13 determines that the cargo P is placed on all the supports 3 of the first support group 3B. Once this is understood, the controller 51 decides to move the overall support group 3A from the first position to the second position. Therefore, even if the higher-level controller does not consider the state of the holding device 1, the controller 51 can determine the movement of the entire support part group 3A based on the combination of the detections of the above-mentioned sensors.

In step S6, it is determined whether a new load P has been carried into the lifter 7 from a conveyor (not shown). Specifically, the controller 51 executes the above judgment based on a signal from a sensor (not shown).
In step S7, the support section 3 to which the cargo P is to be carried is determined. Specifically, the controller 51 executes the above determination based on signals from the plurality of second sensors 13. More specifically, the controller 51 determines the support section 3 corresponding to the uppermost second sensor 13 that has not detected the cargo P as the delivery destination.

In step S8, the lifter 7 raises the cargo P to the support section 3 at the destination. Specifically, the controller 51 controls the lifter 7 to execute the above operation.
In step S9, the support section 3 at the destination moves from the retracted position (FIG. 3) to the support position (FIG. 2). Specifically, the controller 51 controls the support opening/closing device 4 to execute the above operation.
In step S10, the lifter 7 descends. Specifically, the controller 51 controls the lifter 7 to execute the above operation. As a result, the cargo P is placed on the support section 3.

(3-3) Explanation of FIG. 7 FIG. 7 is an explanation of the contents of step S8.
In step S11, as shown in FIG. 13, the lifter 7 starts to rise and continues to rise.
In step S12, as shown in FIG. 14, it waits for the first sensor 11 to turn on.
In step S13, as shown in FIG. 15, the lifter 7 stops rising. At this time, the lower surface of the cargo P is at a higher height than the upper surface of the support section 3.
Thereafter, steps S9 and S10 in FIG. 6 are executed, and as a result, the cargo P is placed on the support section 3 as shown in FIG.

As described above, the controller 51 performs the stacking operation when the overall support group 3A is located at the first position (lifter stacking operation with one of the supports 3 of the first support group 3B) in step S2. 7 transfers the cargo P), the lifter 7 is raised to a position where the cargo P is detected by the first sensor 11 corresponding to the target support section 3, and after the support section 3 is moved to the support position, the lifter 7 control to descend.
As described above, the controller 51 performs the stacking operation when the entire support section group 3A is located at the second position in step S4 (the stacking operation between the lifter and one of the supports 3 of the second support section group 3C). 7 transfers the cargo P), the lifter 7 is raised to a position where the cargo P is detected by the first sensor 11 corresponding to the target support section 3, and after the support section 3 is moved to the support position, the lifter 7 control to descend.

(4) Effects of Embodiment In this holding device 1, it is not necessary to provide the first sensor 11 so as to correspond to all the supporting parts 3. For example, the height of the support part 3 of the first support part group 3B when the whole support part group 3A is in the first position and the support part of the second support part group 3C when the whole support part group 3A is in the second position. By making the heights of the support parts 3 the same, the number of first sensors 11 can be limited to the number of support parts 3 in the first support part group 3B and the second support part group 3C.

In this holding device 1, it is not necessary to provide the second sensor 13 so as to correspond to all the supporting parts 3. For example, the support parts 3 of the first support part group 3B when the whole support part group 3A is in the first position and the support parts 3 of the second support part group 3C when the whole support part group 3A is in the second position. If the heights are the same, the number of second sensors 13 can be limited to the number of supports 3 in the first support group 3B and the second support group 3C.

(5) Unloading operation In the unloading operation, the reverse procedure of the above-mentioned stacking operation is executed. Therefore, details of the stacking operation will be omitted.
A part of the unloading operation is described below.

(5-1) Method for determining the source support section When transferring the cargo from the support section 3 to the lifter 7, the controller 51 selects the support section corresponding to the lowermost second sensor 13 that is detecting the cargo P. The lifter 7 is controlled to transfer the cargo P from the section 3.

(5-2) Method for determining the stop position of the lifter The controller 51 performs a step lowering operation when the overall support group 3A is located at the first position (with one of the supports 3 of the first support group 3B). (between which the lifter 7 transfers the cargo P), the lifter 7 is raised to a position where the cargo P is detected by the first sensor 11 corresponding to the target support section 3, and the support section 3 is moved to the retracted position. After that, the lifter 7 is controlled to be lowered.

An example of the unloading operation will be described with reference to FIGS. 17 to 20. 17 to 20 are schematic side views of the first sensor, the cargo, the support section, and the lifter, and are diagrams for explaining the unloading operation.
As shown in FIG. 17, the lifter 7 starts to rise from below the cargo P supported by the support section 3 and continues to rise. Therefore, the lifter 7 scoops up the cargo P from the support section 3.
Next, as shown in FIG. 18, the first sensor 11 is turned on.
Next, as shown in FIG. 19, the lifter 7 stops rising. At this time, the lower surface of the cargo P is at a higher height than the upper surface of the support section 3.

Thereafter, the support portion 3 is moved to the retracted position, and the lifter 7 is lowered. As a result, the cargo P moves below the support section 3, as shown in FIG.
As described above, the controller 51 performs an unloading operation when the overall support group 3A is located at the second position (when the lifter 7 is connected to one of the supports 3 of the second support group 3C). (transferring P), the lifter 7 is raised to a position where the cargo P is detected by the first sensor 11 corresponding to the target support section 3 to scoop up the cargo P, and then the support section 3 is moved to the evacuation position. After that, the lifter 7 is controlled to be lowered.
In this embodiment, the first sensor 11 and the second sensor 13 have the same role in both stacking and unloading. Therefore, control regarding stacking and unloading can be simplified.
Note that the holding device 1 can dispense the luggage P when instructed by a higher-level controller.

(5-3) Method for determining the movement timing of the overall support group In this embodiment, the controller 51 determines the movement of the overall support group 3A from the second position to the first position by grasping the number of packages P. decide.
However, as a modification, the controller 51 moves the overall support group 3A from the second position to the first position based on a combination of the detection signals of the second limit switch 17 and the plurality of second sensors 13. You may decide. In other words, the second limit switch 17 determines that the entire support group 3A is in the second position, and the plurality of second sensors 13 determines that the cargo P is not placed on all the supports 3 of the first support group 3B. Once this is understood, the controller 51 decides to move the overall support group 3A from the second position to the first position. Therefore, even if the higher-level controller does not consider the state of the holding device 1, the controller 51 can determine the movement of the entire support part group 3A based on the combination of the detections of the above-mentioned sensors.

2. Features of the Embodiments The embodiments can also be explained as follows.
The holding device 1 (an example of a holding device) includes a plurality of support parts 3, a support part elevating device 5, a lifter 7, and a controller 51.
The plurality of support parts 3 (an example of a plurality of support parts) are each members for supporting one baggage P (an example of a baggage), and are arranged in the vertical direction and protrude and retreat laterally.
The support part lifting device 5 (an example of a lifting device) raises and lowers the entire plurality of supports 3 between at least a first position and a second position located above the first position.
The lifter 7 (an example of a lifter) is a device that lifts and lowers the cargo P, and moves between a plurality of stop positions at which the cargo is delivered to and from the plurality of support sections 3.
The plurality of support parts 3 as a whole are divided into a first support part group 3B (an example of a first support part group) in which the cargo P is delivered to and from the lifter 7 when in the first position, and a first support part group 3B (an example of the first support part group) in the second position. At some point, the cargo P is delivered to and from the lifter 7, and the second support group 3C (an example of the second support group) is located below the first support group 3B. .
The lifting upper limit position of the lifter 7 is such that when all of the plurality of supporting parts 3 are in the first position, the uppermost supporting part 3 of the first supporting part group 3B and all of the plurality of supporting parts 3 are in the second position. At a certain time, it is at a higher position compared to the uppermost support part 3 of the second support part group 3C.
This holding device 1 can hold a large amount of cargo P in a space-saving manner by combining the lifting and lowering of the entire plurality of support parts 3 that individually support loads and the multi-step lifting and lowering of the lifter 7.
Specifically, the lifter 7 moves up and down to transfer the cargo P only in the lifter transfer height area A (an example of the height area where the first support section group is located). As a result, the lifter 7 only needs to be able to move to a height where it can access the supports 3 of the first support group 3B when all of the plurality of supports 3 are in the first position, and the lifter 7 only needs to be able to move to a height where it can access the supports 3 of the first support group 3B. When in position, it is only necessary to be able to move to a height that allows access to the support parts 3 of the second support part group 3C. In other words, the stroke amount of the lifter 7 can be reduced, and the lifter 7 can be made smaller accordingly. As a result, cargo can be stored in the holding device 1 with a space-saving structure.

3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various changes can be made without departing from the gist of the invention. In particular, the multiple embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(1) The protrusion and retraction of the support portion may be performed by moving forward and backward in a straight line using an air cylinder, for example, instead of rotation.
(2) The number of support portion groups may be three or more instead of two.
(3) The number of stages of support parts in each support part group may be 2 to 3, or 5 or more. The number of sensors is changed according to the number of stages of each support section group.
(4) The first support part group and the second support part group have the same number of support parts, which is four. However, the numbers may be different, and each number may be 2 or more.

(5) For example, if the number of support parts in the first support part group<the number of support parts in the second support part group, when the entire support part group is in the first position, the second support part group The first position may be set below the mounting height area A. This is to avoid that if the numbers of the two support parts are different, the upper support part of the second support part group will enter the lifter transfer area, making it impossible to distinguish it from the first support part. Further, if the number of support parts in the first support part group>the number of support parts in the second support part group, the second position may be similarly set.
Note that, for example, if the number of support parts in the first support part group<the number of support parts in the second support part group, when the entire support part group is in the first position, the second support part group is at the lifter transfer height. The first position may be set to be located in the area A.

(6) The types of the first sensor and the second sensor are not particularly limited. For example, a contact type sensor may be used.
(7) The type of cargo is not particularly limited, and includes, for example, iron pallets, wooden pallets, ordinary pallets, containers, and plate materials to be processed.
(8) The elevating device may use a linear motion mechanism such as a ball screw.

The present invention relates to a holding device, and more particularly to a holding device in which a plurality of upper and lower support portions for supporting one piece of luggage from below are provided.

1 : Holding device 2 : Frame 3 : Support part 3A : Whole support part group 3B : First support part group 3C : Second support part group 4 : Support part opening/closing device 5 : Support part elevating device 7 : Lifter 9 : Lifting member 11: First sensor 13: Second sensor 15: First limit switch 17: Second limit switch 51: Controller A: Lifter transfer height area B: Lower area C: Upper area P: Cargo

Claims (4)

A plurality of support parts, each of which is a member for supporting one piece of luggage, and which are arranged in the vertical direction and protrude and retreat laterally;
a lifting device that raises and lowers the entire plurality of support parts between at least a first position and a second position located above the first position;
a lifter that is a device for raising and lowering the load and moves between a plurality of stop positions for transferring the load to and from the support section;
comprising a controller;
The plurality of support parts as a whole include a first support part group in which cargo is transferred to and from the lifter when in the first position, and a group of supports in which cargo is delivered to and from the lifter when in the second position. and a second support section group where cargo is delivered and located below the first support section group,
The upper limit position for lifting and lowering the lifter is a position corresponding to the uppermost support part of the first support part group when all of the plurality of support parts are in the first position, and a position corresponding to the uppermost support part of the first support part group when all of the plurality of support parts are in the first position. The holding device is at a higher position than a position corresponding to the uppermost support part of the second support part group when in the second position. the upper position of each of the support parts of the first support part group when all of the plurality of support parts are in the first position, or the above position when all of the plurality of support parts are in the second position. further comprising a plurality of cargo detection sensors during transfer for detecting cargo at a position above each of the support parts of the second support part group,
The controller may control one of the support parts of the first support part group when all of the plurality of support parts are in the first position, or when the plurality of support parts are in the second position. When the lifter transfers a cargo to one of the supports of the second support group, the lifter moves the cargo to a position where the cargo is detected by the transfer cargo detection sensor corresponding to the target support. The holding device according to claim 1, wherein the lifter is raised and the support section is extended or retracted, and then the lifter is controlled to be lowered. A position where each of the loads supported by the support parts of the first support part group is detected when all of the plurality of support parts are in the first position, or a whole of the plurality of support parts is in the second position. further comprising a plurality of stored baggage detection sensors provided at positions that respectively detect the baggage supported by the support parts of the second support part group at a certain time,
The controller includes:
When transferring the cargo from the lifter to the support section, the lifter is controlled to transfer the cargo to the support section corresponding to the uppermost stored cargo detection sensor that is not detecting the cargo. death,
When transferring the cargo from the support section to the lifter, the lifter is controlled so that the cargo is transferred from the support section corresponding to the lowermost stored cargo detection sensor that is detecting the cargo. , The holding device according to claim 1 or 2. a support part first position detection sensor that detects that all of the plurality of support parts are in the first position;
further comprising a support part second position detection sensor that detects that all of the plurality of support parts are in the second position,
The controller determines the first position of the entire plurality of support parts based on detection signals from the support part first position detection sensor, the support part second position detection sensor, and the plurality of storage baggage detection sensors. 4. The holding device according to claim 3, wherein the holding device determines movement from the second position to the second position and movement of the entire plurality of supports from the second position to the first position.

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