JP7435878B2 - Transfer equipment and transfer method - Google Patents

Description

The present invention relates to a transfer device for transferring cargo from a container to be unloaded to a container to be loaded.

In this type of transfer device, both ends of two movable rail members that are parallel to each other are connected to two fixed rail members that extend in the Y direction orthogonal to the X direction, which is the length direction of these movable rail members. A movable body is supported on each of the two movable rail members so as to be movable back and forth in the X direction, and each movable body has a picking head capable of lifting a load so as to be movable up and down. A loading and unloading unit is used. In the prior art document cited as Patent Document 1, a processing unit for workpieces is used in place of the picking head required for the loading/unloading unit, but it is not possible to replace the picking head for picking the loads. For example, it can be used as a loading/unloading unit for lifting loads and lowering them to other locations. In this case, a container receiving area for unloading and a container receiving area for loading are set below the loading/unloading unit and within a movable area of the picking head in plan view.

Japanese Patent Application Publication No. 2003-305672

As mentioned above, it is possible to configure a transfer device that transfers a load lifted by a picking head from a container to be unloaded into a container to be loaded by using the configuration described in Patent Document 1. Even if it is something that can be easily accomplished by a person skilled in the art, there is a need for a configuration to efficiently pick the cargo from inside the container to be unloaded, or to manually pick the load without using a loading/unloading unit. Solved problems necessary for practical application, such as a configuration that allows the transfer work to be carried out safely and easily as necessary, such as transferring cargo from the container to be transported to the container to be transported. Must.

A transfer device according to one aspect of the present invention is provided with a load transfer work space in which a first container receiving area and a second container receiving area are lined up in a plan view. a conveyor that is placed on a side different from the front side of the work space and carries containers in and out of the first and second container receiving areas; and a conveyor that is located above the load transfer work space and is movable in three directions. A load transfer unit that is equipped with a picking head that can lift a load, and that transfers a load between first and second containers carried into the first and second container receiving areas, respectively. A configuration comprising: a load transfer unit that moves the picking head to a position where it does not interfere with manual work by switching the transfer work from automatic work performed by the load transfer unit to manual work performed by a worker. It has become.

A transfer method according to one aspect of the present invention is a transfer method using a transfer device provided with a load transfer work space in which a first container receiving area and a second container receiving area are lined up in a plan view. A step of transporting the first and second containers to the first and second container receiving areas, respectively, and a load transfer unit equipped with a picking head that is movable in three directions and capable of lifting the load, an automatic work process in which a load is automatically transferred between the second containers by a load transfer unit; a manual process in which a worker manually transfers the load between the first and second containers; and the automatic work The method includes a switching step of switching the transfer device between the manual step and the manual step.

In the transfer device of the present invention having the above configuration, the work of transferring the cargo in the container to be unloaded to the container to be delivered can be switched between automatic work performed by an automatic device and manual work performed by an operator as necessary. It can be used as a transfer device that can be used.

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 above transfer device. FIG. 3 is a plan view of the above-mentioned transfer device in a state where manual transfer work is performed. FIG. 4 is a plan view illustrating the moving range of the picking head in the above transfer device in the X direction. FIG. 5 is a plan view illustrating the movement range of the picking head in the Y-direction in the above transfer device. 6A to 6D are schematic plan views illustrating each stage of the transfer operation when each of the four picking heads in the transfer device handles one small-sized load. 7A to 7D are schematic plan views illustrating each stage of a transfer operation when four picking heads in the above transfer device handle one large-sized load. FIG. 8 is a side view showing another embodiment of safety measures. FIG. 9 is a front view of FIG. 8. FIG. 10 is a side view showing a modification of the embodiment of FIG. 8. FIG. 11 is a side view of the main parts showing yet another embodiment of the safety measures.

As shown in FIGS. 1 to 3, a loading/unloading unit 1 included in the transfer apparatus of the present invention according to the illustrated embodiment is installed horizontally on a pedestal 2. As shown in FIGS. The frame 2 includes a pair of side frames 5a, 5b in the X direction (horizontal direction), in which a pair of support columns 3a, 3b in the Y direction (back and forth direction) are connected and integrated with each other by Y direction connecting members 4a, 4b 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 pedestal 2 is installed so as to straddle a cargo transfer work space 9 where a container receiving site 7 for unloading and a container receiving site 8 for loading are adjacent in the X direction, and is installed at each container receiving site 7, 8. is connected to conveyors 10 and 11 for carrying in and carrying out containers Cy/Cx. Each of these loading/unloading conveyors 10 and 11 is of the same structure 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 parallel to each other. It is composed of an upper and lower two-layer carrying-in conveyor unit 12, carrying-out conveyor unit 13, and lifting/lowering transfer means 14A/14B. In addition, although the carrying-in conveyor unit 12 is on the upper side in the figure, the carrying-out conveyor unit 13 may be on the upper side.

The elevating and lowering transfer means 14A, 14B are container supporting conveyance bodies 14a, 14b that can be vertically raised and lowered in parallel between an upper limit position and a lower limit position connected to the upper and lower two-layer loading conveyor unit 12 and unloading conveyor unit 13. The container supporting carriers 14a, 14b have an operation for pulling the container Cy/Cx sent out from the carrying-in conveyor unit 12 to a fixed position on the container supporting carriers 14a, 14b, and a It is equipped with a retracting and sending means (a conveyor that can freely switch the rotational direction, a reciprocating body for pushing and pulling containers, etc.) that can selectively carry out an operation of sending out the container Cy/Cx onto the conveyor unit 13 for carrying out. The container supporting conveyance bodies 14a, 14b carry the supported containers Cy/Cx to each container receiving site 7/8 by stopping at each container receiving site 7/8 located in the middle of the parallel vertical path. You can. Incidentally, the lifting/lowering transfer means 14A, 14B provided in both conveyors 10, 11 are used when the loading/unloading conveyors 10, 11 simultaneously load/unload containers Cy/Cx to/from both container receiving areas 7, 8. integrates the respective container support carriers 14a and 14b into one container support having a width approximately 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 used as a carrier.

The means for loading and unloading containers Cy/Cx to and from the container receiving site 7 for unloading and the container receiving site 8 for loading have been briefly explained. The means for carrying in and out of the container Cy/Cx to and from the target container receiving site 8 may be of any configuration. In some cases, it is also possible to manually carry the containers Cy/Cx into and out of the container receiving site 7 for unloading and the container receiving site 8 for loading. In the illustrated configuration, the container receiving site 7 for unloading and the container receiving site 8 for loading are set at an intermediate height between the conveyor unit 12 for loading and the conveyor unit 13 for loading. , it can also be set to a height that connects to the carry-in conveyor unit 12 or the carry-out conveyor unit 13.

The loading and unloading unit 1 installed on the pedestal 2 has a pair of fixed rail members 15 and 16 in the X direction parallel to the Y direction, a pair of movable rail members 17 and 18 in the Y direction parallel to the X direction, and each of these movable rails. A pair of movable bodies 19, 20 and 21, 22 in the X direction supported by members 17 and 18, respectively, and picking heads 23 to 26 supported by each of these four movable bodies 19 to 22 so as to be movable up and down in the Z direction. It consists of More specifically, the pair of fixed rail members 15 and 16 in the X direction are fixedly supported at both ends in the Y direction by the upper ends of the pair of support columns 3a and 3b in the Y direction on the left and right side frames 5a and 5b of the frame 2. Two movable support stands 15a, 15b and 16a, 16b in the Y direction are supported on the upper side thereof so as to be able to reciprocate between both ends of the fixed rail members 15, 16 in the Y direction. The pair of movable rail members 17 and 18 in the Y direction are fixedly supported at both ends in the X direction on movable support stands 15a and 15b and 16a and 16b. Furthermore, the movable bodies 19, 20 and 21, 22 are supported on the mutually facing sides of the movable rail members 17, 18 so as to be able to reciprocate in the X direction between both ends of the movable rail members 17, 18 in the X direction. has been done. The movable bodies 19 to 22 are fixed to the lower end portions of lifting rail members 19a to 22a that are parallel to the Z direction (vertical up and down direction). Lifting supports 19b to 22b are provided between both ends of the lift supports 19b to 22b, and each of these lift supports 19b to 22b is provided with a lifting rod 23a to 23b parallel to the Z direction and provided with the picking heads 23 to 26 at the lower end. The upper end of 26a is fixedly supported. The picking heads 23 to 26 are used to pick up loads that can be attracted to the top surface of the load using negative pressure, loads that have a magnetic plate attached to the top surface of the load, or box-type loads that are formed from magnetic plates. For example, a type that magnetically attracts when energized can be used. Of course, it is also possible to use a picking head that is provided with a gripped part on the upper surface of the load and has a gripper that can grip and release the gripped part.

As shown in FIG. 3, etc., the lifting supports 19b to 22b (lifting rods 23a to 26a) are arranged in the X direction of the lifting rail members 19a, 20a/21a, and 22a supported by the same movable rail member 17/18. It is placed 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 At both ends of the rail members 17/18 in the X direction, the lift supports 19b, 20b/21b, 22b (lift rods 23a, 24a/25a, 26a) are placed adjacent to each other in the X direction, so that the end of the movement is reached. It is possible to reciprocate along the movable rail members 17/18 within the X-direction movement range Wx.

As shown in FIG. 4, a narrow waiting area Sa1 having a waiting position Sp1 where only the movable rail member 17 waits is provided at the front side of the load transfer work space 9 in the Y direction in a plan view. As shown, on the rear side in the Y direction of the load transfer work space 9 in plan view, there are two standby positions Sp2 in the Y direction where the two movable rail members 17 and 18 can be made to stand by in a state adjacent to each other in the Y direction. , Sp3 is provided. 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 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 movement range Wy, and 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 waiting area Sa2. It is.

A driving means for reciprocating the movable supports 15a, 15b and 16a, 16b in the Y direction relative to the fixed rail members 15, 16, and a drive means for moving the movable bodies 19, 20, 21, 22 in the X direction relative to the movable rail members 17, 18. As for the drive means for reciprocating the movement of the drive means and the drive means for driving the lifting supports 19b to 22b up and down with respect to the lifting rail members 19a to 22a, the specific structure is not shown, but conventionally known drive means are used in both cases. I can do it. For example, the driving means for reciprocating the movable supports 15a, 15b and 16a, 16b and the movable bodies 19, 20, 21, 22 covers approximately the entire length of the fixed rail members 15, 16 (movable rail members 17, 18). A long fixed screw shaft is installed parallel to the Y direction (X direction), and each of the movable supports 15a, 15b and 16a, 16b (movable bodies 19, 20 and 21, 22) has a fixed screw shaft attached to the fixed screw shaft. The female threaded body that is screwed into each of the movable supports 15a to 16b (movable bodies 19 to 22) is equipped with a motor that supports the female threaded body so that it can only rotate on its own axis and drives the female screw body in forward and reverse rotation. The picking heads 23 to 26 can be freely moved together with the lifting supports 19b to 22b (lifting rods 23a to 26a) within the X direction movement range Wx and the Y direction movement range Wy by driving the respective motors to rotate forward and backward. I can do it.

Further, as a driving means for driving the lifting supports 19b to 22b up and down with respect to the lifting rail members 19a to 22a, one lifting support stand 19b to 22b is driven up and down to each lifting rail member 19a to 22a. Therefore, for example, a rotatable screw shaft having a length extending substantially over the entire length of each lifting rail member 19a to 22a is supported along the Z direction, and the upper end of each lifting rail member 19a to 22a, for example, is supported along the Z direction. A motor for driving the screw shaft in forward and reverse rotation may be attached to the screw shaft, and a fixed female screw body that is screwed onto the screw shaft may be attached to each of the lifting supports 19b to 22b. According to this configuration, by driving the screw shaft to rotate in forward and reverse directions by the motor, each of the lifting supports 19b to 22b can be freely moved up and down.

Furthermore, as shown in FIGS. 1 to 3, a worker with a width that can cover the entire width of the load transfer work space 9 in the X direction is placed on the front floor side in the Y direction of the load transfer work space 9. A load transfer work area 27 is provided. Further, above the load transfer work space 9, there is a container receiving area 7 to be unloaded at a certain height above the container receiving area 7 to be unloaded and a certain height above the container receiving area 8 to be unloaded. An imaging device (camera) 28 that reads the positional information of the cargo inside the container Cy to be unloaded located at , and the loading inside the container Cx to be loaded located at the container receiving area 8 to be loaded. An imaging device (camera) 29 is provided that reads the area where the vehicle can be placed, etc. from the image. These imaging devices 28 and 29 are attached to the upper horizontal portion of a portal frame 30 whose legs on both sides in the Y direction are supported by side frames 5a and 5b.

Below, we will explain how to use the transfer device configured as described above. This transfer device is capable of automatic operation that operates the loading/unloading unit 1, and manual operation that does not use the loading/unloading unit 1. It is something. In either case, the container Cy to be unloaded is sent to the container receiving area 7 to be unloaded by the carrying-in conveyor unit 12 of the carrying-in/unloading conveyor 10 and the container support carrier 14a of the lifting/lowering transfer means 14A. Further, the container Cx to be loaded is sent to the container receiving site 8 to be loaded by the loading conveyor unit 12 of the loading/unloading conveyor 11 and the container support carrier 14b of the lifting/lowering transfer means 14B. In the case of automatic operation, as shown by solid lines in FIG. It is waiting at a position adjacent to the outside of the four corners in a plan view and at the maximum height. That is, the movable rail member 17 is located at the standby position Sp1 within the narrow standby area Sa1, and the movable rail member 18 is located at the standby position Sp2 within the wide standby area Sa2, so that the movable rail members 17 and 18 are not movable. The bodies 19, 20 and 21, 22 are located adjacent to each other on the outside of the four corners in a plan view of the container Cy to be unloaded that has been carried into the container receiving site 7 to be unloaded, and are located at positions adjacent to each other on the outside of the four corners, and each of the bodies 19, 20 and 21, 22 has its own lifting rods 23a to 26a. is waiting at the maximum height of the lifting rail members 19a to 22a.

For example, as shown in FIG. 6A, it is assumed that a plurality of small-sized cargos Bs are stored in the container Cy to be unloaded that has been brought into the container receiving site 7 to be unloaded. If four of the small size cargoes Bs have to be transferred to the container Cx to be loaded into the container Cx brought in at No. 8, as shown in FIG. As shown in FIG. 6B, the four picking heads 23 to 26 waiting at the . 26a) is lowered to bring the four picking heads 23 to 26 into contact with and attract the upper surfaces of the four small size loads Bs to be carried out. Of course, this assumes that the picking heads 23 to 26 are of the negative pressure suction type or the magnetic suction type, but a gripped part is provided above the load to be handled, and the picking heads 23 to 26 are assumed to be of the negative pressure suction type or magnetic suction type. If it is a gripping type equipped with a gripping tool for gripping, the gripping tools of each of the picking heads 23 to 26 will grip the upper portions of the four small-sized loads Bs to be carried out. The above operation can be automatically performed based on an image acquired by the imaging device 28 located directly above the container receiving site 7 to be unloaded.

When each of the picking heads 23 to 26 is in a state where it can lift the four small-sized loads Bs to be carried out located at a predetermined position in the container Cy to be carried out, each picking head 23 to 26 is Lift it up to the maximum height with Bs. Specifically, the elevating supports 19b to 22b (elevating rods 23a to 26a) are raised to the upper limit height relative to the elevating rail members 19a to 22a. After this, the lifted small-sized cargo Bs is transferred to a predetermined position (for example, the position shown in FIG. 6B) inside the container Cx to be loaded, which has been carried into the container receiving area 8 to be loaded. Specifically, as shown in FIG. 6C, the movement of the movable rail members 17, 18 in the Y direction and the movement of the movable bodies 19, 20 and 21, 22 on the respective movable rail members 17, 18 in the X direction are In combination, the lifted small-sized cargo Bs is moved to a position directly above a predetermined position in the container Cx to be loaded, and then the lifting rods 23a to 26a are lowered to the respective lifting rail members 19a to 22a, and picking is carried out. Each of the small size loads Bs lifted by the heads 23 to 26 can be lowered to a predetermined position within the container Cx to be loaded (see FIG. 6D). Selection of the unloading location of the small-sized cargo Bs into the container Cx to be loaded and confirmation that the unloading has been completed are performed using images acquired by the imaging device 29 located directly above the container receiving area 8 to be loaded. This can be done automatically based on.

If the entire small-sized cargo Bs lifted from inside the container Cy to be unloaded moves upward from inside the container Cy to be unloaded, at that point, the container Cy to be unloaded is moved to the container receiving area for unloading. It can be carried out from 7. Specifically, after lowering the container support carrier 14a of the lifting/lowering transfer means 14A supporting the container Cy to be unloaded and connecting it to the conveyor unit 13 for carrying out, the container Cy is unloaded from above the container support carrier 14a. The container Cy to be unloaded is then transported onto the conveyor unit 13. By doing this, it is possible to immediately start carrying in the next container Cy to be unloaded to the container receiving area 7 to be unloaded, without waiting for the completion of the transfer of the small size cargo Bs to the container Cx to be unloaded. .

On the other hand, when the transfer of the small size cargo Bs into the container Cx to be loaded is completed as described above, all the picking heads 23 to 26 are raised to the upper limit height and then moved to the standby position shown in FIG. 6A. to be restored. In this case as well, if the lifting rods 23a to 26a and the picking heads 23 to 26, which rise from inside the container Cx to be loaded, move upward from inside the container Cx to be loaded, at that point the container to be loaded Cx can be carried out from the container receiving site 8 to be loaded. Specifically, after lowering the container support carrier 14b of the lifting/lowering transfer means 14B supporting the container Cx to be loaded and connecting it to the conveyor unit 13 for carrying out, the container Cx is carried out from above the container support carrier 14b. The container Cx to be loaded will be carried out onto the conveyor unit 13. As a result, the task of transporting 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 operation of the small-sized cargo Bs, it was explained that all the picking heads 23 to 26 simultaneously transfer four small-sized cargos Bs, but this means that each of the picking heads 23 to 26 This is because the situation is such that it is possible to lift and lower the load Bs and transfer four small-sized loads Bs at the same time, and the number of small-sized loads Bs is within the range of one to four during one transfer operation. Transfer work can be done with . If the number of small-sized loads Bs to be transferred is three or less, one to three of the picking heads 23 to 26 will not be used, but among the movable bodies 19 to 22, For example, among the picking heads 23 to 26 whose standby position is shown in FIG. It is possible to select the picking head to be used from the one located near the container Cx to be loaded in the container receiving area 8 to be loaded.

Of course, the size of the load to be handled may be a vertically long medium-sized load in the Y direction that 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. , medium-sized horizontally long loads in the X direction that can be lifted by two picking heads 23, 24/25, and 26 that can be placed next to each other in the X direction can also be lifted by one or two picking heads using two picking heads. It is also possible to handle Furthermore, it is also possible to handle large-sized loads that must be lifted by all four picking heads 23-26. 7A to 7D explain the situation when one large-sized 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 explained based on FIG. This is the point where conveyance in the Y direction and unloading are performed. In this case, it is desirable that the four picking heads 23 to 26 be positioned so as to lift up positions near the four corners of the top surface of one large-sized load Bb.

As described above, the loading/unloading unit 1 is operated to carry cargo of various sizes in the container Cy to be unloaded, which has been carried into the container receiving area 7 to be unloaded, to the container receiving area 8 to be loaded. However, if, for example, the picking heads 23 to 26 break down or for some other reason it becomes necessary to perform the above work manually, please refer to Figure 1 and As shown in FIG. 3, the two movable rail members 17 and 18 in the Y direction are moved into the wide waiting area Sa2. That is, the movable rail member 18 is moved rearward in the Y direction to the limit position and stopped at the standby position Sp3, and the movable rail member 17 is moved rearward in the Y direction to a position adjacent to the movable rail member 18. and stop it at the standby position Sp2. Waiting the two movable rail members 17 and 18 adjacent to each other in the Y direction within this wide waiting area Sa2 is done at each stage when a series of transfer operations using the loading/unloading unit 1 is completed. Also good.

When the preparations for the manual work described above are completed, the front side in the Y direction of the load transfer work space 9 where the container reception area 7 for unloading and the container reception area 8 for loading in are parallel is released, and the load transfer operation is performed. A worker stands on the floor of the area 27 and is obstructed by the movable rail members 17 and 18, the lifting rail members 19a to 22a supported by these, the lifting rods 23a to 26a, and the picking heads 23 to 26. The various sizes of cargo in the container Cy to be unloaded, which was brought into the container receiving area 7 to be unloaded, are manually transferred to the container Cx to be loaded, which was brought into the container receiving area 8 to be unloaded. It can be transferred. Even when this manual loading and unloading work is performed, the content of the work can be managed based on the images acquired by the imaging devices 28 and 29. In addition, side frames 5a and 5b of the pedestal 2 supporting the fixed rail members 15 and 16 of the loading/unloading unit 1 are located on both the left and right sides of the loading/unloading work space 9 and the loading/unloading area 27 in the X direction. However, the self-supporting strength of the side frames 5a and 5b, in other words, the supporting strength of the loading/unloading unit 1 is sufficiently ensured by the X-direction connecting member 6 that connects the upper ends of the columns 3b on the rear side in the Y-direction. However, if necessary, the supports 3a on the front side in the Y direction may be moved to positions where they do not interfere with the above-mentioned manual work, for example, the container Cy to be unloaded located in the load transfer work space 9 and the container Cy to be loaded. They can be connected to each other by an X-direction connecting member at approximately the same height as the upper end of the container Cx. Note that 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.

In the above embodiment, the container Cy to be unloaded and the container Cx to be loaded are transferred between the conveyor unit 12 for loading and unloading conveyor unit 12 and the conveyor unit 13 for loading and unloading of the conveyor 11 for loading and unloading, via each container receiving site 7, 8. As the lifting/lowering transfer means 14A, 14B for vertically moving up and down in parallel, container supporting conveyors 14a, 14b are used. The means for transferring the containers Cy and Cx to the starting end of the unit 13 via the respective container reception areas 7 and 8 may be of any configuration.

When the loading and unloading process of containers Cy and Cx to and from the load transfer work space 9 is executed as described above, during the manual operation, the operator is involved in the container transfer route by the container support carriers 14a and 14b. This is extremely dangerous, and even during automatic operation by the loading/unloading unit 1, if lifting rods 23a to 26a with picking heads 23 to 26 at their lower ends are inserted into the container transfer path, equipment may be damaged. This will lead to a failure that may result in damage to the equipment. It is necessary to take safety measures to prevent such a situation from occurring, and examples of these safety measures will be described below.

As shown in FIGS. 1 and 2, a container Cy to be unloaded has been carried into the container receiving area 7 to be unloaded in the cargo transfer work space 9, and a container Cy has been carried into the container receiving area 8 to be unloaded. Obstacle detection means 31 is provided that generates a planar obstacle detection light beam film 31a that traverses the upper side of the container Cx to be loaded in the X direction from the outside of one end of the cargo transfer work space 9 to the outside of the other end. I can do it. This obstacle detection means 31 is a light transmission type consisting of a light projector 32a disposed outside one end of the load transfer work space 9 in the Y direction and a light receiver 32b disposed outside the other end of the load transfer work space 9 in the Y direction. However, a reflective type may be used in which the light emitter 32a is used as a light emitter/receiver and a light reflecting plate is used in place of the light receiver 32b. The light emitter (light emitter/receiver) 32a and the light receiver 32b (light reflecting plate) can be attached to the side frames 5a, 5b on both sides in the X direction that constitute the pedestal 2. The obstacle detection means 31 may be operated for a certain period of time immediately before the lifting/lowering transfer means 14A, 14B are operated. If a human hand or the like crosses the obstacle detection light film 31a while the obstacle detection means 31 is in operation, an obstacle detection signal is output from the obstacle detection means 31. Based on the detection signal, the operation of the lifting/lowering transfer means 14A, 14B can be brought to an emergency stop, and an alarm or lamp can be activated to notify the emergency stop.

Further, as shown in FIG. 8, the obstacle detection light film 33a is applied to containers carried into the container receiving area 7 for unloading and the container receiving area 8 for loading in the cargo transfer work space 9. It is also possible to use an obstacle detection means 33 that is formed above Cy and Cx in a direction that crosses the front and rear Y directions. In this case, the emitter (or light emitter/receiver) 34a and the light receiver (or light reflecting plate) 34b are located between the pair of supports 3a in the X direction on the front side in the Y direction of the side frames 5a and 5b that constitute the pedestal 2, and between the supports on the rear side. They can be attached to support frames 35a and 35b that are parallel to the X direction and are installed between the support frames 35a and 35b. In the figure, the light receiver (or light reflecting plate) 34b is arranged on the front side in the Y direction of the load transfer work space 9, but it may be arranged in the reverse order. However, the front support frame 35a and the obstacle detection equipment attached to it (the light receiver (or light reflecting plate) 34b and the light emitter (or light emitter/receiver) 34a) are placed at a height that does not fit into the worker's manual work space. It is necessary to attach it to the

When using the obstacle detection means 33 shown in FIG. 8, as shown in FIG. The means 33A and the obstacle detection means 33B for monitoring the upper side of the container Cx to be loaded into the container receiving area 8 to be loaded can be installed separately. In this case, if the loading/unloading conveyor 10 and the loading/unloading conveyor 11 including the lifting/lowering transfer means 14A, 14B are configured to be operated separately, the loading/unloading means 14A and the loading/unloading means 14A on the loading side While operating the side elevation transfer means 14B separately at arbitrary timing, the obstacle detection means 33A and the obstacle detection means 33B are operated at the time of each operation, and the cargo is unloaded by the respective obstacle detection light beam films 33a and 33b. By separately detecting obstacles on the target container Cy side and obstacles on the target container Cx side, safety can always be ensured.

In addition, as shown in FIG. 10, when a table 36 that can be used during manual work is installed on the front side of the load transfer work space 9 in the Y direction, the table 36 is arranged on the front side of the load transfer work space 9 in the Y direction. A light receiver (or light reflecting plate) 34b or a light emitter (or a light emitter/receiver) 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, a light reflecting plate 34b for the light emitter/receiver 34a is attached to the edge of the table 36 on the load transfer work space 9 side.

Further, as shown in FIG. 11, on the rear side in the Y direction of each container support conveyance body 14a, 14b provided in the lifting/lowering transfer means 14A, 14B, there is a gate-shaped support on the inside of which the containers Cy, Cx can pass and move in the Y direction. A frame 37 is attached, and a horizontal frame portion 37a along the X direction at the upper end of the gate-shaped support frame 37 is attached to the front support frame 35a (which may be the table 36) shown in FIG. It is also possible to configure the obstacle detection means 33A, 33B by attaching a light reflecting plate 38b to the light emitter/receiver 38a. According to this configuration, when the container support carriers 14a, 14b start moving up and down from their fixed positions in the load transfer work space 9, the light emitter/receiver 38a can be turned on to detect obstacles. . Of course, in this embodiment as well, it is possible to use an obstacle detection means consisting of a combination of a light emitter and a light receiver, or it is also possible to arrange the light emitter/receiver 38a and the light reflecting plate 38b shown in FIG. 11 in opposite positions. However, according to the embodiment shown in FIG. 11, there is no need to provide a current-carrying path between the container supporting conveyance bodies 14a, 14b, which are moving bodies, and the fixed position, and it is possible to easily eliminate obstacles. A detection means can be configured.

In addition, when the obstacle detection means 31, 33, 33A, 33B utilizes the obstacle detection light film 31a, 33a, 33b between the light emitter and receiver, the obstacle detection light film 31a, 33a, 33b In addition to the planar film of light rays projected from the slit-shaped opening of the projector, it means an aggregate of a large number of light rays projected individually from a large number of projectors arranged in parallel at appropriate intervals. Of course, as the obstacle detection means, it is also possible to use a type that does not use a light beam film for detecting obstacles between the light emitter and receiver, but uses, for example, an imaging device (camera).

[Supplement 1]
In the transfer device according to aspect 1 of the present invention, both ends of two movable rail members parallel to each other are fixed in the Y direction perpendicular to the X direction, which is the length direction of these movable rail members. A movable body is supported by a rail member so as to be movable in parallel and laterally, a movable body is supported on each of the two movable rail members so as to be movable back and forth in the X direction, and a picking head capable of lifting a load is raised and lowered on each movable body. In a transfer device equipped with a loading/unloading unit that can be freely installed, a container receiving area to be loaded and a loading/unloading area are located below the loading/unloading unit and within a movable area of the picking head in plan view. A load transfer work space is provided in which containers for receiving containers to be delivered are arranged in parallel in the X direction, and waiting areas for the two movable rail members are located above both outside of the load transfer work space in the Y direction. Among these waiting areas, one waiting area is a narrow waiting area where only one movable rail member on the side closer to this waiting area can wait, and the other waiting area is a narrow waiting area where only one movable rail member on the side closer to this waiting area can wait. A wide waiting area is provided in which rail members can be placed on standby adjacent to each other in the Y direction, and the floor surface on the side of the narrow waiting area with respect to the loading and unloading work space is provided with a space for the loading and unloading of workers. A work area has been set up.

In the transfer device according to Aspect 2 of the present invention, in Aspect 1, two movable bodies on which the picking head is provided so as to be movable up and down are provided on each of the two movable rail members, and two movable bodies are provided on each of the two movable rail members. The two movable bodies provided on the member are provided so as to be movable back and forth between both ends of each movable rail member so that they can be positioned adjacent to each other on either end of the movable rail member.

In the transfer device according to aspect 3 of the present invention, in the above aspect 1 or 2, the container that is carried into the container receiving area to be unloaded and the container that is carried into the container receiving area to be loaded are present above the container. Obstacle detection means for detecting obstacles is also provided.

In the transfer device according to aspect 4 of the present invention, in the above aspect 1, there is provided a conveyor for carrying in and out of the container receiving area to be loaded, and a conveyor for carrying in and out of the container receiving area to be loaded. Each of these conveyors is provided with an upper and lower two-layer carrying-in conveyor unit and carrying-out conveyor unit, and an elevating and lowering transfer means, and this elevating and lowering transfer means is connected to the load transfer work space. an obstacle that exists above a container carried into the container receiving area to be unloaded and the container receiving area to be loaded; Obstacle detection means for detecting an object is provided, and the obstacle detection means is composed of a light emitter/receiver and a light reflecting plate, and the light reflecting plate is attached to the container supporting conveyance body of the lifting/lowering transfer means. , the light projector/receiver is provided at a fixed position corresponding to the light reflecting plate when a container supported and transported by the container support transport body is located at each container reception site in the cargo transfer work space. .

In the transfer device according to aspect 5 of the present invention, in the above aspect 3 or 4, the obstacle detection means detects an obstacle present above the container carried into the container receiving area to be unloaded. It is divided into two parts: an object detection means and an obstacle detection means for detecting an obstacle present above a container that has been carried into a container receiving area.

[Supplement 2]
The present invention proposes a transfer device that can solve the conventional problems, and in order to make the relationship with the embodiments described later easier to understand, the transfer device according to the present invention is When the reference numerals used in the description of the embodiments are shown in parentheses, both ends of the two movable rail members (17, 18) parallel to each other are equal to It is supported by two fixed rail members (15, 16) in the Y direction perpendicular to the X direction, allowing free parallel lateral movement, and each of the two movable rail members (17, 18) A cargo unloading system in which movable bodies (19, 21) are supported so as to be able to reciprocate in the directions, and each movable body (19, 21) is provided with a picking head (23, 25) that can lift the cargo and is movable up and down. In a transfer device equipped with a carry-in unit (1),
On the lower side of the loading/unloading unit (1), within the movable area of the picking head (23, 25) in plan view, there is a receiving area (7) for the container (Cy) to be loaded and a receiving area (7) for the container (Cy) to be loaded. A load transfer work space (9) is provided in which receiving areas (8) for containers (Cx) are arranged in parallel in the X direction, and waiting areas (Sa1, Sa2) for the two movable rail members (17, 18) are provided. One of the waiting areas (Sa1, Sa2), which is set on both outside and upper sides of the load transfer work space (9) in the Y direction, is close to this waiting area (Sa1). A narrow waiting area where only one movable rail member (17) on the side can wait, and the other waiting area (Sa2) has two movable rail members (17, 18) adjacent to each other in the Y direction. There is a wide waiting area where workers can wait in the area, and there is a loading/unloading work area ( 27) is configured.

In the transfer device of the present invention having the above configuration, the container to be unloaded is carried into the container receiving area to be unloaded, the container to be unloaded is carried into the container receiving area to be unloaded, and when the preparation for work is completed. , the loading/unloading unit is operated so that the picking head lifts the load to be lifted in the container to be unloaded; Specifically, two movable rail members in the Y direction are moved laterally in the Y direction, and the movable body on each movable rail member is moved in the X direction on each movable rail member, so that the picking head provided on each movable base is moved. The picking head is positioned directly above the load to be lifted in the container to be unloaded, and then the picking head is lowered relative to each movable body to make it possible to lift the load to 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 are moved laterally in the Y direction, and the load on each movable rail member is moved horizontally in the Y direction. By moving the movable body in the is lowered 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 preparation for the work is completed, the two movable rail members in the Y direction are arranged in parallel in the A cargo transfer work space equipped with a container receiving area can be divided into waiting areas on both outside and upper sides in the Y direction, that is, a narrow waiting area and a wide waiting area. At this time, it is desirable that the movable body on each movable rail member be moved to a position adjacent to both sides in the Y direction of the container receiving area to be unloaded, which is the target to start work. By keeping the two movable rail members on standby in this way, the picking head of the movable body included in each movable rail member can be moved forward and backward in the Y direction of the container to be unloaded that has been carried into the container receiving area to be unloaded. Among the loads to be lifted in the container, the loads on the front side in the Y direction are lifted by the picking head waiting in front of the container to be unloaded in the Y direction, and the loads on the opposite side, that is, in the Y direction The load on the rear side of the container can be lifted by a picking head waiting behind the container to be unloaded in the Y direction. Of course, various situations can be considered, such as cases where the load to be lifted inside the container is biased to either the front or back of the container in the Y direction or to the left or right in the Compared to the case where the container is kept waiting on either the front or rear side in the Y direction of the container to be carried out, the lifting operation of the load by the picking head can be carried out more efficiently.

On the other hand, there are cases where the above-mentioned transfer work has to be performed manually due to some reason, such as a failure of the picking head. In such a case, a load transfer work area for the worker is set either in 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 In the load transfer work space, the cargo is manually transferred from the container to be unloaded to the container to be loaded, which is adjacent to the left and right in the X direction. If one of the movable rail members in the two directions is located, the movable rail member will interfere with the load transfer work performed by the worker. In order to avoid this phenomenon, if the movable rail member located directly in front of the worker is moved to the back side, the movable rail member to be moved to the back side will overlap the other movable rail member that was originally waiting at the back side. It is located just in front of the container, covering the back side of the container to be worked on and getting in the way of manual loading and unloading work.

However, according to the configuration of the present invention, when the above-mentioned transfer work must be performed manually, there is a wide waiting area where two movable rail members can be placed on standby adjacent to each other in the Y direction. , is provided on the opposite side (inner side) of the load transfer work area, so that both of the two movable rail members can be kept on standby in this wide waiting area. Therefore, one of the two movable rail members is positioned between the worker standing in the load transfer work area and the two containers arranged in parallel in the X direction in the load transfer work space, allowing manual transfer. There is no obstruction to the work, and the movable rail member waiting to be moved to the back side does not cover the back side of the load transfer work space and interfere with the manual transfer work. That is, the above-mentioned manual load transfer work can be performed safely and easily. Of course, the Y-direction length of the entire Y-direction movement area of the two movable rail members can be suppressed to the minimum necessary to prevent the entire transfer device from increasing in size.

When implementing the present invention, the movable body on which the picking head is movable 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 on each of the two movable rail members (17, 18), and the two movable bodies provided on each movable rail member (17, 18) (19, 20 and 21, 22) are arranged between both ends of each movable rail member (17, 18) so that they can be positioned adjacent to each other on either end of the movable rail member (17, 18). It can be provided so that it can be moved back and forth. According to this configuration, a total of four picking heads can be placed adjacent to each other in both the X and Y directions, and can cover the entire area inside the container carried into the container receiving area. Therefore, if the load to be transferred is a small load that can be lifted and unloaded with one picking head, four loads can be simultaneously picked up by two pickers lined up in the X or Y direction, regardless of the position of each load. If it is a medium-sized load that can be lifted and lowered by the picking head, it can handle two loads at the same time, and if it is a large-sized load that must be lifted and lowered by four picking heads, it can freely handle one load. Moreover, it can be handled efficiently.

When carrying out automatic transfer work or manual transfer work using the above-mentioned transfer device according to the present invention, if the load suspended by the picking head or manually is not completely removed from the container, each container cannot be Containers cannot be safely carried in and out of the site. Therefore, the obstacle detection means (31) detects the obstacles present above the containers (Cy, Cx) carried into the container receiving area (7) for unloading and the container receiving area (8) for loading. ) is desirable. According to this configuration, the loading/unloading operation of a container in a situation where a load or a person is present within the obstacle detection area of the obstacle detecting means is automatically carried out based on the obstacle detection signal of the obstacle detecting means. can be avoided, improving safety. When implementing this configuration, an obstacle that monitors from the X direction the obstacles that exist above the two containers (Cy, Cx) being carried into the two container receiving areas (7, 8) parallel to the X direction. By using the detection means (31), it is possible to ensure safety when carrying in and out of containers to both the container receiving area for unloading and the container receiving area for loading by using one obstacle detecting means. .

The transfer device of the present invention can be configured to manually transport containers into and out of a container receiving site for unloading and a container receiving site for loading. On the other hand, it is also possible to implement this by providing one conveyor for both container loading and unloading, but it is preferable to implement it as follows. That is, a conveyor (10) that carries in and out containers (Cy) to and from the container receiving site (7) to be unloaded, and a conveyor (10) that carries in and out of the container (Cx) to and from the container receiving site (8) to be unloaded. A conveyor (11) is provided, and each of these conveyors (10, 11) includes an upper and lower two-layer carrying-in conveyor unit (12), carrying-out conveyor unit (13), and lifting/lowering transfer means (14A, 14B), and the lifting/lowering transfer means (14A, 14B) includes a container that moves in parallel on the lifting path between the two conveyor units (12, 13) passing through the cargo transfer work space (9). Support conveyance bodies (14a, 14b) are provided to prevent obstacles that exist above the containers (Cy, Cx) carried into the container receiving area (7) to be unloaded and the container receiving area (8) to be loaded. Obstacle detection means (33A, 33B) for detecting objects is also provided, and the obstacle detection means (33A, 33B) is composed of a light emitter/receiver (38a) and a light reflecting plate (38b), and The plate (38b) is attached to the container support carrier (14a, 14b) of the lifting/lowering transfer means (14A, 14B), and the light emitter/receiver (38a) is attached to the container support carrier (14a, 14b). When the containers (Cy, Cx) to be transported are 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, there is no need to attach equipment that requires electricity, such as a projector or a light receiver, to each container support carrier (14a, 14b), which is a moving body, so it is not only easy to implement, but also Also, it is possible to shorten the length of the obstacle detection light beam film.

Of course, regardless of the configuration of the means for carrying containers into and out of the container receiving site (7) to be unloaded and the container receiving site (7) to be unloaded, Obstacle detection means (33A) that detects obstacles that exist above the container (Cy) that has been loaded, and obstacles that exist above the container (Cx) that has been carried into the container receiving area (8) to be loaded. It is also possible to provide two separate obstacle detection means (33B) for detecting. According to this configuration, even if the timing of loading and unloading containers to both container receiving areas is different, it is possible to reliably detect obstacles when loading and unloading containers to and from each container receiving area. Compared to the case where loading and unloading times have to be the same, it is possible to improve work efficiency and ensure safety.

[Supplement 3]
The transfer device according to aspect 1 of the present invention is provided with a load transfer work space in which a first container receiving area and a second container receiving area are lined up in a plan view, and a load transfer work space is provided on the front side of the load transfer work space in a plan view. In a transfer device in which a worker's load transfer work area is set, the transfer device is arranged on a side different from the front side of the load transfer work space in plan view, and is configured to transport containers to the first and second container receiving areas. The first and second containers are provided with a conveyor that performs carrying out and a picking head that is located above the cargo transfer work space and is movable in three directions along the rail member and can lift the cargo. and a load transfer unit that transfers loads between the first and second containers that have been delivered to each site.

In the transfer device according to aspect 2 of the present invention, in aspect 1, the load transfer operation is performed by switching the load transfer operation from automatic operation performed by the load transfer unit to manual operation performed by the worker. The unit moves the picking head to a position where it does not interfere with manual work.

In the transfer device according to aspect 3 of the present invention, in aspect 1 or 2, when the load transfer work is switched from automatic work performed by the load transfer unit to manual work performed by the worker, It has a waiting area where the picking head waits.

In the transfer device according to Aspect 4 of the present invention, in any one of Aspects 1 to 3, the image pickup device is located above the cargo transfer work space and captures an image of the inside of at least one of the first and second containers. Equipped with equipment.

In the transfer device according to aspect 5 of the present invention, in the above aspect 4, the first container is a container to be unloaded that accommodates the load to be transferred to the second container, and the imaging device is configured to at least An image of the inside of the first container is taken.

In the transfer device according to aspect 6 of the present invention, in any one of aspects 1 to 5, the conveyor includes a first conveyor that carries in and out the first container to and from the first container receiving area, and a first conveyor that carries the first container into and out of the first container receiving area; a second conveyor that carries the second container into and out of the second container receiving area, and each of the first and second conveyors includes a carry-in conveyor unit and a carry-out conveyor unit arranged in upper and lower layers. , a transfer means for transferring the first and second containers between the carry-in conveyor unit and the carry-out conveyor unit.

In the transfer device according to aspect 7 of the present invention, in the above aspect 6, the first and second container receiving areas are located between the conveyor unit for carrying in and the conveyor unit for carrying out, which are arranged in upper and lower layers. Height is set.

In the transfer device according to aspect 8 of the present invention, in any one of aspects 1 to 7, the load transfer unit is configured to handle the first and second containers carried into the first and second container receiving areas. Obstacle detection means is provided for detecting an obstacle present above at least one side.

The transfer device of the present invention can perform the work of transferring cargo in a container to be unloaded into a container to be delivered by switching between automatic work performed by an automatic device and manual work performed by a worker as necessary. It can be used as a transfer device.

1 Cargo loading and unloading unit 2 Frame 5a, 5b A pair of side frames in the X direction (left and right directions) 6 X direction connecting member 7 Container receiving area for cargo unloading 8 Container receiving area for cargo loading 9 Cargo transfer work space 10, 11 Conveyor for carrying in and carrying out 12 Conveyor unit for carrying in 13 Conveyor unit for carrying out 14A, 14B Lifting/lowering transfer means 14a, 14b Container support carrier 15, 16 Fixed rail member 15a to 16b Movable support stand 17, 18 Pair of Y direction (back and forth direction) Movable rail member 19-22 Movable body 19a-22a Elevating rail member 19b-22b Elevating support platform 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 Light emitter or light emitter/receiver 32b, 34b, 38b Light receiver or light reflector 35a, 35b Support frame 36 Table 37 Portal support frame Bs Small Size load Bb Large size load Cy Container for unloading Cx Container for loading Sp1 to Sp3 Waiting position Sa1 Narrow waiting area Sa2 Wide waiting area Wx X direction movement range Wy Y direction movement range

Claims (9)

In a transfer device provided with a cargo transfer work space in which a first container receiving area and a second container receiving area are lined up in plan view,
a conveyor that is disposed on a side different from the front side of the load transfer work space in plan view and that carries containers into and out of the first and second container receiving areas;
The first and second containers carried into the first and second container receiving areas, respectively, are provided with a picking head that is located above the load transfer work space and is movable in three directions and capable of lifting loads. This is a load transfer unit that transfers loads between containers, and the work of transferring loads is changed from automatic work performed by the load transfer unit to manual work performed by a worker, thereby eliminating interference with manual work. a load transfer unit that moves the picking head to a position where the picking head is not allowed to move;
A transfer device equipped with. The transfer device according to claim 1, wherein a worker's load transfer work area is set in front of the load transfer work space in plan view. The transfer device according to claim 1 or 2, further comprising a standby area where the picking head waits when the load transfer operation is switched from an automatic operation performed by the load transfer unit to a manual operation performed by an operator. Device. The transfer device according to any one of claims 1 to 3, further comprising an imaging device located above the cargo transfer work space and capturing an image of the inside of at least one of the first and second containers. The first container is a container to be unloaded that accommodates the load to be transferred to the second container,
The transfer device according to claim 4, wherein the imaging device images at least the inside of the first container. The conveyor includes a first conveyor that transports the first container into and out of the first container receiving area, and a second conveyor that transports the second container into and out of the second container receiving area,
Each of the first and second conveyors is
A carry-in conveyor unit and a carry-out conveyor unit arranged in upper and lower layers,
The transfer device according to any one of claims 1 to 5, further comprising a transfer means for transferring the first and second containers between the carry-in conveyor unit and the carry-out conveyor unit. 7. The transfer device according to claim 6, wherein the first and second container receiving areas are set at a height between the conveyor unit for carrying in and the conveyor unit for carrying out, which are arranged in upper and lower layers. 2. The load transfer unit further comprises an obstacle detection means for detecting an obstacle present above at least one of the first and second containers carried into the first and second container receiving areas. 8. The transfer device according to any one of 1 to 7. In a transfer method using a transfer device provided with a cargo transfer work space in which a first container receiving area and a second container receiving area are lined up in plan view,
carrying the first and second containers into the first and second container receiving areas, respectively;
an automatic work step of automatically transferring a load between the first and second containers by a load transfer unit equipped with a picking head that is movable in three directions and capable of lifting the load;
a manual step in which a worker manually transfers the load between the first and second containers;
a switching step of switching the transfer device between the automatic work step and the manual step;
Transfer method including.

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