TWI483881B - And a transfer device transfer method - Google Patents

And a transfer device transfer method Download PDF

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Publication number
TWI483881B
TWI483881B TW100121006A TW100121006A TWI483881B TW I483881 B TWI483881 B TW I483881B TW 100121006 A TW100121006 A TW 100121006A TW 100121006 A TW100121006 A TW 100121006A TW I483881 B TWI483881 B TW I483881B
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TW
Taiwan
Prior art keywords
arm
cargo
speed
transfer
claw
Prior art date
Application number
TW100121006A
Other languages
Chinese (zh)
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TW201206795A (en
Inventor
Kazuhiko Ogawa
Original Assignee
Murata Machinery Ltd
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Priority to JP2010138779 priority Critical
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of TW201206795A publication Critical patent/TW201206795A/en
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Publication of TWI483881B publication Critical patent/TWI483881B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • B65G1/0435Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area

Description

Transfer device and transfer method

The present invention relates to a transfer device for transferring goods such as a stand for holding goods.

Previously, in order to maintain the transfer of cargo between the support of the cargo and the transport of the transported goods, the transported transport vehicle had a transfer device for the cargo.

As a manner of transferring the cargo between the first loading place and the second mounting place, a fork frame method in which the fork is lifted and transferred is exemplified; and a picking belt method in which the belt is slidably transferred and transported is picked up. a gripper method for holding and holding the goods on both sides of the load; and a push-pull method for carrying out the unloading and pulling of the goods by the claws of the telescopic arms, thereby transferring the goods.

Further, various techniques for safely transferring goods are provided for the transfer device.

For example, according to Patent Document 1, when the cargo is placed on the scaffold, the sliding fork is controlled by placing the cargo at a position close to the front end of the scaffold. Thereby, it is possible to confirm the authenticity of the goods on the scaffold by sliding the light sensor at the front end of the fork.

[Previous Technical Literature] [Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. Hei 5-208708

As described above, the transfer method for the transfer device is various, and each of the modes requires a technique for safely and efficiently transferring the goods corresponding to the method.

For example, in the case of the above-described push-pull transfer device, the transfer efficiency of the goods can be improved by increasing the elongation speed of the arms.

Further, when the transfer device takes in the cargo, the arm in the extended state is contracted, and the claw provided at the front end portion of the arm abuts against the rear end of the cargo. To this end, when the arm is contracted, it is desirable to abut the end of the cargo at a low speed as much as possible so as not to damage the cargo. Moreover, in order to perform this operation, it is necessary to detect the rear end of the cargo to be taken in with high precision.

Therefore, in the transfer device, for example, a detector such as a photodetector for detecting the rear end of the cargo is provided for detecting the rear end of the cargo. Further, when the arm is being extended for taking in the goods, the rear end of the cargo is detected by the detector.

In the transfer device, when the arm is contracted, based on the detection result of the detector, the contraction speed of the arm is decelerated before the claw abuts against the rear end of the cargo, thereby causing the claw to abut the cargo at a low speed. end.

However, as described above, the arm is elongated at a high speed in order to improve the transfer efficiency of the cargo. Therefore, the detector detects the rear end of the cargo during the advancement at a high speed.

In this case, a delay due to the response time of the detector with respect to the input and the processing time of the controller for calculating the output value from the detector may occur in the detection result of the detector. The degree of error cannot be ignored. Therefore, a problem arises in the operation control of the transfer device.

For example, the deceleration start timing of the contraction speed of the arm when the cargo is taken in is determined based on the position of the rear end of the cargo which is known based on the detection result of the detector. Therefore, there is a tendency for the claw to abut against the cargo in a state where the moving speed of the claw is not lowered to a speed safe for the cargo.

Of course, in order to prevent this problem from occurring, it is also considered to perform the expansion and contraction of the arm at a low speed, but this will result in a decrease in the efficiency of the transfer of the cargo, which is not realistic.

The present invention has been made in view of the above problems, and an object thereof is to provide a transfer device and a transfer method capable of taking in a cargo of a claw at a front end portion of a boom, and the transfer device and the transfer method can be moved safely and efficiently Loading goods.

In order to solve the above problems, a transfer device of the present invention is a transfer device in which a claw having a front end portion of the arm is abutted after the arm of the telescopic extension is extended. The rear end of the cargo at the first loading place and the said arm are contracted, whereby the cargo can be taken into the second loading place, the transfer device comprising: a controller for controlling the movement of the arm; and detecting The arm is configured to detect the rear end of the cargo, and the controller is configured to take the cargo into the second loading place: (a) extending the arm to a specific distance at a first speed Thereafter, changing the elongation speed of the arm to a second speed lower than the first speed; and (b) changing the elongation speed of the arm to the second speed, based on the detector As a result of the detection of the rear end of the cargo, the elongation of the arms is stopped, whereby the claws are located further rearward than the rear end of the cargo.

According to this configuration, when the cargo is taken in, the arm can be extended at a high speed, and the elongation speed of the arm can be changed to a low speed in the middle. Moreover, after the elongation of the arm changes to a low speed, the rear end of the cargo can be detected by the detector.

Therefore, according to the transfer device of this type, the arm can be efficiently extended, and the rear end of the cargo can be detected with high precision.

Further, since the elongation of the arm is stopped from the state in which the elongation speed of the arm is low, the elongation of the arm can be stopped in a state where the distance between the claw and the rear end of the cargo is extremely short. That is, the amount of elongation of the arm for taking in the goods can be minimized.

Thus, according to the transfer device of this type, the goods can be efficiently and safely transferred.

Moreover, in the transfer device of one aspect of the present invention, the controller is configured to cause the arm to be contracted at a third speed after the claw is positioned further rearward than the rear end of the cargo, thereby causing the arm to contract at a third speed. The claw is close to the rear end of the cargo; and (d) the contraction speed of the arm is a fourth speed higher than the third speed after the claw abuts the rear end of the cargo; thus controlling the arm The action.

According to this configuration, the claw for taking in the cargo can be abutted at the rear end of the cargo at a low speed, and then the cargo can be taken in at a high speed.

Further, as described above, the elongation of the arm is stopped in a state where the distance between the claw and the rear end of the cargo is extremely short. Therefore, even if the claw is approached to the rear end of the cargo at a low speed, the period during which the arm is contracted at a low speed is extremely short, and the efficiency of the entire transfer operation is not lowered. Further, when the arm is contracted, it is not necessary to perform complicated control such as initial contraction at a high speed and deceleration before the claw is about to come into contact with the cargo.

Moreover, in the transfer device of one aspect of the present invention, when the controller stops the extension of the arm, after the detector detects the rear end of the cargo, the arm extends only in the arm corresponding to the above The elongation of the arm is stopped in a state where the position of the claw of the transfer device is at a distance from the position of the detector.

According to this configuration, the distance between the rear end of the cargo and the claw in the state in which the extension of the arm is stopped is fixed irrespective of the size of the depth of the cargo. Thereby, the control for contracting the arms can be made common and easy to be realized regardless of the size of the depth of the goods to be taken in.

Moreover, in the transfer device of one aspect of the present invention, the controller may cause the arm to contract only at the third speed corresponding to the claw after the claw is located further rearward than the rear end of the cargo. The predetermined distance above the distance from the position of the detector is such that the jaws are proximate to the rear end of the cargo.

According to this configuration, when a plurality of goods having different depth sizes are sequentially taken in, the arm is always contracted by a fixed amount after the extending operation of the arm is completed, whereby the claw can be safely approached to each cargo. .

That is, when the arms are contracted, it is not necessary to perform control different from the depth dimension of each cargo, so that it is possible to easily and safely and efficiently transfer the cargo.

Further, the present invention can realize a transfer carriage as a transfer device including any of the above-described types.

Further, a transfer method of a type of the present invention is a transfer method performed by the transfer device of any of the above types, and when the goods are taken into the second placement place, After the arm is extended by a certain distance at a first speed, the elongation speed of the arm is changed to a second speed lower than the first speed, and the elongation speed of the arm is changed to the second speed, based on the above The detection of the rear end of the cargo detected by the detector stops the elongation of the arm, thereby causing the claw to be located further rearward than the rear end of the cargo.

Furthermore, the present invention can also be implemented as a program for causing a computer to execute each process included in the transfer method, and as a recording medium for recording the program. Further, the program can be transmitted via a transmission medium such as the Internet or a recording medium such as a DVD (digital versatile disc).

According to the present invention, it is possible to provide a transfer device and a transfer method capable of taking in goods at the tip end portion of the arm, and the transfer device and the transfer method can efficiently and safely transfer the load.

A transfer device according to an embodiment of the present invention will be described with reference to the drawings.

Fig. 1 is a view showing the outline of the configuration of a transfer device according to an embodiment of the present invention.

As shown in FIG. 1, the transfer device 100 includes: an arm 110; a claw 102 disposed at a front end portion of the arm 110; a detector 105 disposed at the arm 110; and a controller 108 for controlling the operation of the arm 110.

Furthermore, in the present embodiment, the transfer device 100 is provided in the transport carriage 150 that travels in the travel path 160 formed by two rails arranged in parallel. In other words, the transfer device 100 can move the transport vehicle 150 along the travel path 160, and transfer the cargo to each of the plurality of scaffolds provided in the bracket (not shown in FIG. 1) disposed in front of the transport carriage 150.

Further, the transfer device 100 includes two arms 110 which are arranged at a predetermined interval in the left-right direction (X-axis direction). The arms 110 further have claws 103 at the rear end portion in addition to the claws 102 at the front end portions.

The claws 102 at the distal end portion and the claws 103 at the rear end portion are respectively expandable and contractible from the arm 110 by being rotated about a rotation axis parallel to the Y-axis direction.

Further, the arm 110 includes a distal end portion 111, an intermediate portion 112, and a proximal end portion 113, and the portions form a tie rod structure. That is, when the intermediate portion 112 is slid so as to protrude toward the base end portion 113 by a driving device (not shown), the distal end portion 111 is slid so as to protrude from the intermediate portion 112 in conjunction with the operation. Thereby, the arm 110 is entirely elongated.

Further, when the extended arm 110 is contracted, when the intermediate portion 112 is slid back relative to the base end portion 113 by the driving means, the tip end portion 111 is opposed to the middle in conjunction with the action. The portion 112 slides in a manner of retraction. Thereby, the elongated arm 110 contracts.

The action of the arm 110 that is telescopic in this manner is controlled by the controller 108 as described above. The controller 108 is realized by a computer including, for example, an interface for inputting and outputting information, a CPU (Central Processing Unit) for executing a control program, and a memory.

Further, the controller 108 may be provided with the arm 110 together with the arm 110, or may be a communication device connected to the transport car 150 via a wired or wireless network, for example.

The detector 105 is a device for detecting the goods carried by the transfer device 100, and is realized by, for example, a photo-electrical sensor. Specifically, the detector 105 detects the rear end of the cargo when the transfer device 100 takes in the cargo.

The controller 108 controls the action of the arm 110 based on the detection result of the detector 105. The specific control content of the controller 108 will be described below using FIGS. 5 to 8.

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

Furthermore, since the two arms 110 perform the same operation, only one arm 110 will be described below.

Fig. 2 is a view showing the operation of the transfer device 100 of the embodiment when the goods are placed on the holder 300.

As shown in FIG. 2, the arm 110 is extended in a state where the claw 103 at the rear end portion of the arm 110 protrudes in the direction of the cargo 200. Thereby, the cargo 200 placed on the transport carriage 150 is pushed out to the scaffolding provided by the bracket 300.

Fig. 3 is a view showing the operation of the transfer device 100 according to the embodiment when the goods are taken in.

As shown in FIG. 3, after the arm 110 is extended to the end of the arm 110 before the pawl 102 is located further rearward than the rear end of the cargo 200 (the lower end of the cargo 200 of FIG. 3), the pawl 102 is directed toward the cargo 200. The direction is prominent.

Further, the arm 110 is contracted in this state. Thereby, the cargo 200 can be taken in from the scaffolding (first transfer site) of the rack 300 to the specific place on the transporting carriage 150 (second transfer place) while the claw 102 is brought into contact with the rear end of the cargo 200. .

Furthermore, the manner in which the claws grasp the rear end of the cargo and take in the same manner can also be referred to as a rear hook method.

When the transfer device 100 takes in the goods 200 in this manner, the operation of the arm 110 is controlled using the detection result of the detector 105 as described above.

Fig. 4 is a block diagram showing a control system relating to the operation of the transfer device 100 in the embodiment.

In the transfer device 100, the detector 105 notifies the controller 108 of the detection result of detecting the back end of the goods to be taken in. Specifically, when the arm 110 is extended for taking in the cargo, the rear end of the cargo is detected by the detector 105.

The controller 108 stops the elongation of the arm 110 based on the detection result notified by the detector 105.

Further, the controller 108 lowers the elongation speed of the arm 110 while the arm 110 is being extended, and causes the detector 105 to detect the rear end of the cargo in a state where the elongation speed is lowered.

As described above, in the embodiment, the transfer device 100 is characterized in that it is controlled by the operation of the arm 110 by the controller 108. Thus, the operation control of the arm 110 by the controller 108 will be specifically described with reference to FIGS. 5 to 8.

Fig. 5 is a view showing an extending operation of the arm 110 when the transfer device 100 takes in a load in the embodiment.

As shown in FIG. 5, in the transfer device 100, a back end detection area which is a region which is useful for detecting the rear end of the cargo 200 is defined.

Specifically, the maximum value and the minimum value of the depth dimensions (the length of the Y-axis direction of the goods) of the plurality of goods to be taken in by the transfer device 100 are used, and the range of the rear end positions of the plurality of goods is calculated.

As a result, the range from the position of the "rear position Min" to the position of the "rear position Max" in FIG. 5 is defined as the range of the rear end position distribution of the plurality of goods, that is, the rear end detection area. .

Furthermore, each of the plurality of goods to be taken in by the transfer device 100 is placed on the basis of the front end of each of the scaffolds placed thereon. That is, the distance between each of the plurality of goods and the front end of the scaffold is fixed. Therefore, the back end detection area can be specified only by the depth dimension of each of the plurality of goods that the transfer device 100 should take.

Moreover, the distance between each cargo and the front end of the scaffolding may not be fixed. In this case, for example, if the distance between each cargo and the front end of the scaffold is obtained and stored in advance, for example, when each cargo is placed on the scaffold, the rear end can be defined according to the distance between the memory and the depth of each cargo. Detection area.

In addition, it is described as the position of the "rear position Min", and specifically, it is the front side (the direction in which the goods are taken in) of the rear end of the cargo having the smallest depth dimension among the plurality of goods to be taken in the transfer device 100. set up. Thereby, even when the cargo having the smallest depth dimension is taken in, the rear end of the cargo can be surely detected.

Further, the back end detection area may be obtained by, for example, the controller 108 acquiring information such as the depth dimension of each of the plurality of goods that the transfer apparatus 100 should take in, and calculating based on the obtained information.

Further, the controller 108 can also acquire, in advance, information indicating the backend detection area via, for example, a network.

As shown in FIG. 5, the detector 105 includes a light projector 105b that emits light, and a light receiver 105a that detects light emitted from the light projector 105b. Further, the detector 105 is disposed such that the optical axis is orthogonal to the expansion/contraction direction (Y-axis direction) of the arm 110, that is, parallel to the X-axis direction and disposed at the end portion of the arm 110.

Further, in the present embodiment, the detector 105 is disposed on the near side (the upper side in FIG. 5) of the claw 102 and is disposed in the vicinity of the claw 102.

Therefore, the cargo 200 is disposed on the scaffolding of the bracket 300 as shown in FIG. 5. When the arm 110 is extended from the contracted state, the light from the light projector 105b is temporarily blocked by the cargo 200, and thereafter, the light receiver 105a detects the light from the light projector 105b. Light. Thereby, the rear end of the cargo 200 is detected by the detector 105.

The controller 108 of the transfer device 100 extends the arm 110 at a high speed during the period in which the detector 105 enters the rear end detection region so as to be defined, and thereafter, the arm 110 is extended at a low speed.

Specifically, as shown in FIG. 5, the controller 108 causes the arm 110 to extend only a certain distance (L1) at the first speed. Thereafter, the controller 108 changes the elongation speed of the arm 110 to a second speed that is lower than the first speed.

Thereafter, the arm 110 which is elongated at the second speed of the low speed is only extended by the timing of L2, and the detector 105 detects the rear end of the cargo 200. Specifically, the light receiver 105a detects the light from the light projector 105b that was previously blocked by the cargo 200.

The detector 105 transmits a signal to indicate the detection result to the controller 108. The controller 108 stops the elongation of the arm 110 based on the detection result.

As a result, the elongation of the arm 110 is stopped in a state where only the L3 is extended from the rear end of the cargo 200 by the detector 105. That is, in the state where the distance between the rear end of the cargo 200 and the claw 102 is L3, the elongation of the arm 110 is stopped.

Specifically, the L3 is the distance corresponding to the position of the pawl 102 and the position of the detector 105. For example, in the present embodiment, as shown in FIG. 5, the detector 105 is disposed on the near side (above the FIG. 5) of the claw 102, that is, the detector 105 is disposed to confirm whether or not the cargo 200 is present on the near side of the claw 102.

Therefore, at the point in time when the light receiver 105a detects the light from the light projector 105b while the arm 110 is extended, the claw 102 surely passes through the rear end position of the cargo 200.

Thus, the controller 108 can, for example, perform a stop control corresponding to the speed mode of the arm 110 to cause the elongation of the arm 110 to stop in the shortest time. Specifically, a specific control signal for causing the arm 110 elongated at the second speed to be safely and stopped for the shortest time is transmitted to the driving means of the driving arm 110.

Moreover, if the detector 105 is installed to detect whether there is a cargo 200 behind the pawl 102 (below the FIG. 5), then the pawl 102 does not pass the cargo 200 at the time point when the detector 105 detects the rear end of the cargo 200. After the end position.

Thus, the controller 108 performs a stop control corresponding to the speed mode of the arm 110 to, for example, the shortest after a specific time corresponding to the second speed from the time point when the detector 105 detects the rear end of the cargo 200. The time stops the elongation of the arm 110.

In summary, the controller 108 controls the action of the arm 110 to stop the extension of the arm 110 from the time the pawl 102 passes the timing of the rear end position of the cargo 200 for the shortest time.

As a result, L3 is the distance from the position of the claw 102 of the transfer device 100 to the position of the detector 105, and is fixed irrespective of the magnitude of the depth dimension of the cargo to be taken in.

In this manner, in the embodiment, the controller 108 detects the rear end of the cargo 200 from the detector 105, and in a state where the arm 110 extends only the distance corresponding to the position of the claw 102 of the transfer device 100 and the position of the detector 105, The elongation of the arm 110 is stopped.

Further, in the present embodiment, the detector 105 is disposed in the vicinity of the claw 102 as described above. Therefore, there is also a case where the position of the light detecting position in the detector 105 is strictly inconsistent with the position of the front surface of the claw 102 (the surface abutting the rear end of the cargo 200).

However, even in this case, if the distance in the Y-axis direction between the positions is as small as negligible, the light detection timing by the photoreceiver 105a of the detector 105 can be assumed to be after the claw 102 passes the cargo 200. The timing of the end position. That is, L3 can be assumed to be the distance between the rear end of the cargo 200 and the claw 102 in a state in which the arm 110 is extended.

Further, for example, correction of the distance corresponding to the position of the detection position of the light in the detector 105 and the position of the front surface of the claw 102 in the Y-axis direction may be performed on the L3 in reality, and the corrected L3 is taken as the cargo 200. The distance between the end and the jaw 102 is processed.

For example, the setting detector 105 is disposed on the near side of the claw 102, and the distance between the detection position of the light in the detector 105 and the Y-axis direction of the front surface of the claw 102 is Mmm. Further, it is assumed that the rear end of the cargo 200 is detected by the detector 105, and the arm 110 is stopped only by extending L3 = Nmm.

In this case, (N + M) mm can be treated as the corrected L3 (the distance between the rear end of the cargo 200 and the claw 102).

The change in the elongation speed of the arm 110 when the arm 110 described above is extended will be described with reference to Fig. 6 .

Fig. 6 is a view showing an example of a change in the elongation speed of the arm 110 in the operation of the transfer device 100 according to the embodiment.

In addition, FIG. 6 is a graph showing changes in the elongation speed of each arm 110 when three cargoes having different depth sizes are taken in.

As illustrated by the curves, the controller 108 causes the arms 110 to first elongate L1 at a first speed (V1) for either cargo. This V1 is, for example, the maximum elongation speed (the highest load of the empty load) of the arm 110 in the state without the cargo load.

Specifically, the controller 108 causes the arm 110 to elongate at a specific acceleration and to achieve an elongation speed of V1.

Thereafter, the controller 108 decelerates the elongation of the arm 110 by setting the elongation speed to the second speed (V2) at the timing when the extension distance of the arm 110 becomes L1. As this V2, even if the response delay of the detector 105 or the like is taken into consideration, the speed (detection speed) of the detection accuracy of the detector 105 is not substantially hindered.

Thus, the controller 108 changes the elongation speed of the arm 110 to the detection speed V2 lower than V1 after the arm 110 is extended by L1 only at the idling maximum speed V1.

After the elongation speed of the arm 110 is changed to the detection speed V2 by the control, the rear end of the cargo is accurately detected by the detector 105.

When the rear end of the cargo is detected by the detector 105, the controller 108 that acquires the detection result controls the arm 110 to cause the arm 110 to stop elongating in the shortest time. Thereby, the elongation of the arm 110 is decelerated and stopped.

Thus, after the controller 108 changes the elongation speed of the arm 110 to V2, the elongation of the arm 110 is stopped based on the detection result of the cargo rear end detected by the detector 105, whereby the claw 102 is positioned behind the cargo. The end is more rearward.

As described above, when the transfer device 100 takes in the goods, the same control of the arms 110 is performed regardless of the size of the depth of the goods. The difference in the size of the depth of the goods is only the detection timing of the back end of the goods detected by the detector 105.

Therefore, as shown in the respective graphs of Fig. 6, only the distance L2 at which the arm 110 is extended at a low speed of V2 will vary depending on the depth dimension of the cargo, and the distance L3 from the end of the detection of the cargo to the stop, and The size of the depth of the cargo is fixed regardless of the size.

In the transfer device 100, after the arm 110 is extended by the control, the claw 102 is protruded in the cargo direction and the arm 110 is contracted, whereby the cargo can be taken into the transport carriage 150.

The operation control of the arm 110 when the arm 110 is contracted in the transfer device 100 will be described with reference to FIGS. 7 and 8.

Fig. 7 is a view showing the operation of the contracting arm 110 when the transfer device 100 takes in the goods in the embodiment.

The controller 108 of the transfer device 100 contracts the arm 110 after the pawl 102 is positioned further rearward than the rear end of the cargo 200. Thereby, the claw 102 abuts against the rear end of the cargo 200.

Specifically, the controller 108 brings the pawl 102 close to the rear end of the cargo 200 by contracting the arm 110 at a third speed at a low speed.

Further, as described above, in a state where the arm 110 is extended, the distance between the claw 102 and the rear end of the cargo 200 is L3, so the controller 108 causes the arm 110 to contract only L3 at the third speed. Furthermore, the controller 108 can also cause the arm 110 to contract only the corrected L3 at a third speed.

As such, the arm 110 only contracts L3, whereby the pawl 102 abuts against the rear end of the cargo 200. Alternatively, the pawl 102 moves to the vicinity of the rear end of the cargo 200 (after that, even in the case where the rear arm 110 is contracted, the pawl 102 does not cause damage to the cargo 200, and the pawl 102 is brought close to the rear end of the cargo 200. position).

Thereafter, the controller 108 controls the operation of the arm 110 such that the contraction speed of the arm 110 becomes a fourth speed higher than the third speed after the pawl 102 abuts against the rear end of the cargo 200. Thus, the controller 108 causes the arm 110 to contract only L4.

As a result, the cargo 200 placed on the scaffolding of the bracket 300 is taken into the transporting carriage 150.

Fig. 8 is a view showing an example of a change in the contraction speed of the arm 110 in the operation of the transfer device 100 according to the embodiment.

In addition, in FIG. 8, the graph which shows the change of the contraction speed of each arm 110 in the case of carrying out the operation|movement of the three goods of the depth-di

As shown in the graphs, the controller 108 causes the arms 110 to contract only L3 at a third speed (V3) for either cargo. The V3 is as low as the speed (contact speed) of the damage to the cargo even if the paw 102 is in contact with the cargo.

Here, as described above, L3 is fixed regardless of the size of the depth dimension of the cargo. Therefore, the controller 108 controls the pawl 102 to approach the cargo, and controls the arm 110 to contract only L3 regardless of the depth dimension of the cargo to be taken in. Further, at this time, the speed is the contact speed V3 at a low speed as described above, and the claw 102 does not cause damage to the cargo.

Further, as shown in Fig. 6, L3 is the braking distance at which the elongation speed of the arm 110 changes from the low speed detection speed V2 to zero. That is, L3 is a very short distance, and even when the arm 110 is contracted at the contact speed V3 at a low speed, the time required to contract only L3 is extremely short.

Furthermore, the distance by which the arm 110 is contracted at the contact speed V3 may strictly not coincide with L3.

Specifically, in the case where the arm 110 is contracted when the cargo is taken in, the arm 110 is contracted only by a predetermined distance of L3 or more at the contact speed V3. Further, as long as the distance of the contraction arm 110 is extended from L3, it is sufficient to use the response speed of the detector 105 or the measured value of the difference between the distance between the claw 102 and the cargo rear end and L3.

Thereafter, the controller 108 controls the action of the arm 110 to cause the arm 110 to contract at a fourth speed (V4) at a high speed. This V4 is, for example, the maximum elongation speed (solid load maximum speed) of the arm 110 in a state where there is a cargo load.

Further, the controller 108 causes the arm 110 to contract only the distance L4 required to move the cargo to the transport carriage 150. Thereby, the cargo 200 in a state in which the claws 102 abut is taken into the transport carriage 150 at the maximum load speed V4.

Further, the L4 is obtained, for example, by the controller 108 using the position of the rear end of the cargo obtained when the arm 110 of FIG. 6 is extended. In this case, for example, L4 = L1 + L2.

Moreover, the controller 108 may also obtain a value of L4 by adding only a specific value to the depth dimension of the cargo.

As such, the transfer device 100 of the embodiment controls the arm 110 when the cargo is taken in, so that the arm 110 first elongates L1 at the high speed empty load maximum speed V1, after the detector 105 enters the rear end detection region. The elongation speed is set to the low speed detection speed V2.

Thereby, the efficiency of the extension operation of the arm 110 and the accuracy of the detection of the object to be taken in can be achieved.

Further, the transfer device 100 has the arm 110 in a state where the distance between the rear end of the cargo and the claw 102 is a distance L3 corresponding to the position of the claw 102 and the position of the detector 105 (including the corrected L3, the same applies hereinafter). Stop stretching.

That is, regardless of the depth dimension of the cargo to be taken in, the distance between the rear end of the cargo and the claw 102 is always L3, and the braking distance between L3 and the low speed extension is substantially the same, and therefore is a very short distance.

Thereafter, the transfer device 100 causes the claw 102 to approach the rear end of the cargo by contracting the arm 110 at the low contact speed V3, and thereafter, the contraction speed of the arm 110 is changed to the high speed real load maximum speed V4. And the goods are taken into the transport trolley 150.

Thereby, the impact at the time of contact of the claw 102 with the rear end of the cargo when the cargo is taken in can be alleviated, and damage of the cargo can be prevented.

Further, L3 is a very short distance as described above. Therefore, the time required for the arm 110 to contract only L3 is very short. Further, it is not necessary to perform complicated control in which the pawl 102 is changed to a low speed at a time point close to the rear end of the cargo after the arm 110 is initially contracted at a high speed.

Further, after the arm 110 is contracted only by L3, the contraction speed of the arm 110 is increased to the actual load maximum speed V4. That is, high-speed goods can be taken in without substantially harming the goods.

As described above, according to the transfer device 100 of the embodiment, the goods can be efficiently and safely transferred.

Further, in the present embodiment, as shown in FIGS. 5 and 7, the transfer device 100 is set to transfer the goods only with respect to one of the expansion and contraction directions (Y-axis directions) of the arms 110.

However, when the arm 110 can be extended not only with respect to the front but also with respect to the rear, the transfer device 100 can also transfer the goods with respect to both of the telescopic directions of the arms 110.

FIG. 9 is a view showing a configuration example of a case where the transfer device 100 of the embodiment transfers the goods with respect to both of the expansion and contraction directions of the arms 110.

In FIG. 9, the holder 300 and the holder 301 are disposed with the transfer device 100 interposed therebetween.

Further, in the transfer device 100 shown in FIG. 9, the detector 105 is also provided in the vicinity of the claw 103 at the rear end portion of the arm 110.

That is, the transfer device 100 shown in FIG. 9 can also transfer the cargo 200 with respect to the bracket 301 at the rear (upper in FIG. 9).

Specifically, when the cargo 200 on the transporting carriage 150 is placed on the bracket 301, the pawl 102 at the front end of the arm 110 functions as an element of the push-out cargo 200. Further, in the case where the cargo 200 placed on the bracket 301 is taken in, the claw 103 at the rear end portion of the arm 110 functions as an element for taking in the cargo 200.

Further, similarly to the operation control of the arm 110 described with reference to FIGS. 5 to 8, the controller 108 performs operation control of the arm 110 based on the detection result of the detector 105 in the vicinity of the claw 103.

That is, the transfer device 100 can also efficiently and safely transfer the cargo 200 to the rear bracket 301.

Further, in the present embodiment, the transfer device 100 is set to be disposed in the transport carriage 150 that moves along the travel path 160. However, the transfer device 100 can also be provided in other types of trolleys and the like.

The transfer device 100 can also be provided, for example, by an unmanned transport vehicle that does not have a specific travel track. Further, the transfer device 100 may be provided by, for example, a lifting platform of a stacker for transporting and transferring goods in an automatic warehouse.

That is, the transfer device 100 may be disposed in a device that needs to transfer the cargo and allows the claws 102 at the front end of the arm 110 to take in the cargo. The type of the device is not limited to a specific one.

Further, the transfer device 100 is provided with a pair of right and left arms 110. However, if at least one of the arms 110 is provided, the transfer device 100 can safely and efficiently transfer the goods according to the size of the processed goods.

Further, in the transfer device 100, the arm 110 is provided so that the arm 110 can advance toward the upper or lower side of the cargo. That is, the transfer device 100 adopts a method in which the claws 102 of the arms 110 are grasped by the rear end of the cargo, and the position of the claws 102 on the cargo can be the right end or the left end of the cargo.

Further, when the transfer device 100 contracts the arm 110 for taking in the goods, the contraction speed may be changed from V3 to V4 based on, for example, the detection result from the detector 105.

Specifically, when the detector 105 is disposed on the near side and the vicinity of the claw 102 as shown in FIG. 5 and the like, when the elongated arm 110 is contracted, the detector 105 is about to abut the cargo rear end of the claw 102. The previous timing detects the back end of the goods.

The controller 108 controls the action of the arm 110 by receiving the detection result so that the contraction speed of the arm 110 changes from V3 to V4.

Even so, the cargo can be efficiently taken in without causing damage to the cargo.

Further, in this manner, unlike the detector 105 described above, a detector for controlling the contraction operation of the arm 110 may be additionally provided.

Further, the other detector may be a contact detector for detecting contact of the pawl 102 with the cargo. In this case, after the claw 102 comes into contact with the cargo, control for changing the contraction speed of the arm 110 from V3 to V4 is started. However, even in this case, since the claw 102 abuts against the rear end of the cargo at the low speed contact speed V3, it is possible to transfer the cargo safely and efficiently.

Further, the arm 110 includes a distal end portion 111, an intermediate portion 112, and a proximal end portion 113, and the portions form a tie rod structure. However, as long as the arm 110 can be expanded and contracted with respect to the direction in which the cargo is transferred, the structure for stretching is not limited to a specific structure.

Moreover, the arm 110 can also be expanded and contracted with respect to the direction in which the goods are transferred by rotation, and does not linearly expand and contract with respect to the direction in which the goods are transferred.

Moreover, the detector 105 can also be implemented by a sensor other than a photo-inductor. In other words, the detection method used by the detector 105 may be a method using sound or a method using image analysis, and is not limited to a specific method as long as it is a rear end of the cargo that can be detected.

The transfer device and the transfer method of the present invention have been described above based on the embodiments. However, the present invention is not limited to the above embodiment. It is also within the scope of the present invention to incorporate various modifications of the present invention, or a combination of the various constituent elements described above, in the scope of the present invention, without departing from the spirit and scope of the invention.

(industrial availability)

The transfer device of the present invention is a transfer device for taking in cargo at the front end of the arm, and is a transfer device capable of efficiently and safely transferring goods. Therefore, the present invention is useful as a transfer device for transporting goods in a factory, a logistics warehouse, or the like, and a transfer method for transferring goods in a logistic warehouse or the like.

100. . . Transfer device

102, 103. . . claw

105‧‧‧Detector

105a‧‧‧receiver

105b‧‧‧Light projector

108‧‧‧ Controller

110‧‧‧ Arms

111‧‧‧Top part

112‧‧‧Intermediate

113‧‧‧ base end

150‧‧‧Transfer trolley

160‧‧‧Transition Road

200‧‧‧ goods

300, 301‧‧‧ bracket

L1, L2, L3, L4‧‧‧ elongation distance

V1‧‧‧ empty load maximum speed

V2‧‧‧Detection speed

V3‧‧‧ contact speed

V4‧‧‧ real load maximum speed

Fig. 1 is a view showing an outline of a configuration of a transfer device in an embodiment of the present invention.

Fig. 2 is a view showing the operation of the transfer device when the goods are placed on the holder in the embodiment.

Fig. 3 is a view showing the operation of the transfer device when the goods are taken in the embodiment;

Fig. 4 is a block diagram showing a control system relating to the operation of the transfer device in the embodiment.

Fig. 5 is a view showing an extending operation of the arm when the transfer device takes in the goods in the embodiment.

Fig. 6 is a view showing an example of a change in the elongation speed of the arm during the operation of the transfer device to take in the cargo in the embodiment.

Fig. 7 is a view showing the operation of the contraction arm when the transfer device takes in the goods in the embodiment.

Fig. 8 is a view showing an example of a change in the contraction speed of the arm during the movement of the transfer device by the transfer device in the embodiment.

Fig. 9 is a view showing an example of a configuration in which the transfer device of the embodiment performs cargo transfer on both of the telescopic directions of the arms.

Claims (5)

  1. A transfer device for causing a claw of a front end portion of the arm to abut against a rear end of a cargo to be loaded into a plurality of kinds of goods placed at a first loading place after the arm of the telescopic arm is extended The arm is contracted to take the cargo into the second mounting place, and includes: a controller that controls the operation of the arm; and a detector that is mounted on the arm and is detectable Each of the plurality of types of goods is at a rear end; the controller is configured to take the plurality of types of goods into the second placement place: (a) extending the arm at a first speed by a predetermined specific distance and After a plurality of goods are commonly used for a specific distance, the elongation speed of the arm is changed to a second speed lower than the first speed; and (b) after the elongation speed of the arm is changed to the second speed And extending the extension of the arm according to a detection result of the rear end of the cargo detected by the detector in the second speed movement together with the arm, thereby causing the claw to be located at a rear end of the cargo Party place.
  2. The transfer device of claim 1, wherein the controller controls the action of the arm in such a manner that the claw is located further rearward than the rear end of the cargo: (c) the arm is Shrinking at a third speed, whereby the claw is close to the rear end of the cargo; (d) after the claw abuts the rear end of the cargo, the contraction speed of the arm is higher than the third speed Four speeds.
  3. The transfer device of claim 2, wherein the controller is configured to stop the extension of the arm, and after the detector detects the rear end of the cargo, the extension of the arm only corresponds to The extension of the arm is stopped in a state where the position of the claw of the transfer device is at a distance from the position of the detector.
  4. The transfer device of claim 3, wherein the controller is configured to cause the arm to contract only at a position corresponding to the claw at the third speed after the claw is located further rearward than the rear end of the cargo. A predetermined distance above the distance from the position of the detector, whereby the jaws are brought close to the rear end of the cargo.
  5. A transfer method is performed by a transfer device for causing a claw of a front end portion of the arm to abut on a first placement place after the extension arm is extended The cargo rear end of the plurality of goods is taken up and the arm is contracted, whereby the cargo is taken into the second loading place, and the transfer device is attached to the arm and is provided to detect the above a detector for each of the plurality of types of goods, wherein the transfer method is performed when the plurality of types of goods are respectively taken into the second placement place, and the arm is extended by a predetermined specific distance at the first speed and the After a plurality of types of goods are commonly used for a specific distance, the elongation speed of the arm is changed to a second speed lower than the first speed, and after the elongation speed of the arm is changed to the second speed, Above The arm together stops the extension of the arm by the detection result of the cargo rear end detected by the detector in the second speed movement, whereby the claw is located further rearward than the cargo rear end.
TW100121006A 2010-06-17 2011-06-16 And a transfer device transfer method TWI483881B (en)

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JPWO2011158422A1 (en) 2013-08-19

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