WO2023032404A1 - 移載装置および搬送車 - Google Patents
移載装置および搬送車 Download PDFInfo
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- WO2023032404A1 WO2023032404A1 PCT/JP2022/023563 JP2022023563W WO2023032404A1 WO 2023032404 A1 WO2023032404 A1 WO 2023032404A1 JP 2022023563 W JP2022023563 W JP 2022023563W WO 2023032404 A1 WO2023032404 A1 WO 2023032404A1
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- transferred
- pair
- transfer
- posture
- transfer device
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- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000032258 transport Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000007246 mechanism Effects 0.000 description 43
- 230000008602 contraction Effects 0.000 description 10
- 230000009467 reduction Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Definitions
- the present invention relates to a transfer device and the like for transferring objects to be transferred.
- Patent Literature 1 discloses a transfer device provided with a side conveyor that moves an article by moving while holding the article from both sides.
- the side conveyors When an article is picked up from a shelf by the transfer device described above, if the article is not positioned or positioned properly, the side conveyors will evenly distribute the conveying force to both sides of the article, even if the article is sandwiched from both sides. cannot work. As a result, the article is tilted with respect to the transfer direction, which causes a problem in transferring the article.
- An object of one aspect of the present invention is to realize a transfer device or the like capable of correcting the posture of an object to be transferred.
- a transfer apparatus includes a placement section on which an object to be transferred is placed, a pair of left and right holders that sandwich the object to be transferred, and the a control unit for controlling respective operations of the pair of holders so as to sandwich an object to be transferred and transfer the object from the transfer source to the placement unit; a detection unit that detects the posture of the object to be transferred, and the control unit detects that the pair of holders is tilted with respect to the specified posture when the posture detected by the detection unit is inclined with respect to the specified posture.
- the posture of the object to be transferred is corrected by controlling the operation of transferring the object to be transferred differently.
- FIG. 4 is a plan view showing the configuration of a storage warehouse commonly associated with Embodiments 1 to 4 of the present invention
- FIG. 4 is a plan view showing a configuration of a transport vehicle that travels along a passage in the storage warehouse; It is a front view which shows the structure of the said conveyance vehicle. It is a block diagram which shows the structure of the control system of the transfer apparatus in the said conveyance vehicle.
- FIG. 5 is a diagram showing the transfer operation of the object to be transferred by the transfer device according to the first to third embodiments of the present invention; It is a figure which shows the transfer operation
- FIG. 1 is a plan view showing the configuration of the storage warehouse 100.
- FIG. 2 is a plan view showing the configuration of the transport vehicle 1 traveling on the passage 102 in the storage warehouse 100.
- FIG. 3 is a front view showing the configuration of the carrier 1. As shown in FIG.
- the storage warehouse 100 comprises a storage shelf 101 and an aisle 102.
- the passage 102 is formed in a straight line so that the carrier 1 can move back and forth.
- the storage racks 101 are arranged on both sides of the passage 102 .
- the storage shelf 101 is divided into a plurality of storage units 101a (transfer sources) that are continuously arranged along the path 102 .
- the storage shelf 101 and the passage 102 shown in FIG. 1 are of a single-stage configuration.
- the storage shelf 101 is provided with a plurality of stages of the storage shelf 101 and passages 102 shown in FIG.
- the storage shelf 101 further includes a lifting device (not shown) for lifting and lowering the carrier 1 to the passage 102 of each stage.
- the transport vehicle 1 includes a base 2 and a transfer device 3.
- the base 2 is configured to be able to reciprocate in the X1 direction along the longitudinal direction of the passage 102 and in the X2 direction opposite to the X1 direction.
- four wheels 21 are provided on the bottom surface of the base 2 .
- the base 2 is formed in a rectangular shape having short sides along the X1 and X2 directions and long sides along directions perpendicular to the X1 and X2 directions.
- the transfer device 3 is provided on the base 2 and has a clamping mechanism 5 (see FIGS. 2 and 3) that clamps the object 200 to be transferred.
- the transfer device 3 advances and retreats the clamping mechanism 5 in a Y1 direction (transfer direction) orthogonal to the X1 and X2 directions and a Y2 direction (transfer direction) opposite to the Y1 direction.
- the transfer device 3 transfers the object 200 to be transferred between the storage section 101a and a later-described mounting plate 68 (mounting section) provided in the transfer device 3 .
- the transfer device 3 has an advancing/retreating mechanism 4 and a holding mechanism 5.
- the advancing/retracting mechanism 4 advances and moves the clamping mechanism 5 from the base 2 to the storage portion 101a (in the Y1 direction or Y2 direction), and moves the clamping mechanism 5 from the storage portion 101a to the base 2 (in the Y2 direction or the Y1 direction). It is a mechanism provided for backward movement.
- the advance/retreat mechanism 4 has a slide plate 41 , a guide mechanism 42 and a drive mechanism 43 .
- the slide plate 41 is a plate member that supports the holding mechanism 5 and is arranged on the base 2 .
- the slide plate 41 is formed in a rectangular shape having long sides slightly shorter than the width (short sides) of the base 2 and short sides approximately 1/3 the length (long sides) of the base 2. It is arranged such that its longitudinal direction is perpendicular to the Y1 and Y2 directions.
- the guide mechanism 42 is a mechanism for guiding the slide plate 41 in the Y1 direction and the Y2 direction. As shown in FIG. 3 , the guide mechanism 42 has a pair of guide rails 421 and four rollers 422 .
- the guide rails 421 are formed linearly so as to extend in the Y1 direction and the Y2 direction, and are arranged near both side edges of the base 2 on the upper surface of the base 2 .
- the guide rails 421 are formed with recesses on the sides facing each other.
- the roller 422 is supported on the lower surface of the slide plate 41 so as to be rotatable.
- Two rollers 422 are arranged in each recess of one guide rail 421, and roll on the bottom surface of the recess in the Y1 direction and the Y2 direction.
- the drive mechanism 43 is a mechanism for driving the slide plate 41 on the base 2 in the Y1 direction and the Y2 direction.
- the drive mechanism 43 is provided linearly so as to extend in the Y1 direction and the Y2 direction, and is arranged parallel to the guide rails 421 at an intermediate position between the pair of guide rails 421 .
- the drive mechanism 43 uses a mechanism that converts rotary motion into linear motion, such as a timing belt, pulleys, and rack and pinion.
- the clamping mechanism 5 has an expansion/reduction mechanism 6 and a pair of belt conveyors 7 .
- the expansion/reduction mechanism 6 is a mechanism that moves the pair of belt conveyors 7 in the direction of narrowing the gap and the direction of expanding the gap along the X1 and X2 directions.
- the expansion/contraction mechanism 6 includes a pair of screw shafts 61, a pair of nuts 62, a common bearing 63, a pair of bearings 64, a slide shaft 65, a pair of holders 66, a pair of support members 67, and a pair of mounts. and a placement plate 68 .
- the screw shaft 61 is provided on the slide plate 41 and arranged near the side edge on one long side of the slide plate 41 .
- the screw shafts 61 are arranged in the X1 direction and the X2 direction so that their central axes are the same.
- the end near the side edge on the short side of the slide plate 41 is rotatably supported by a bearing 64
- the other end is rotatably supported by a common bearing 63 . .
- the nut 62 has a through hole into which the screw shaft 61 is inserted.
- the nut 62 is in rolling contact with the screw shaft 61 via steel balls (not shown), so that the nut 62 moves along the screw shaft 61 in the X1 direction or the X2 direction as the screw shaft 61 rotates.
- the screw shaft 61 and the nut 62 constitute a ball screw.
- the slide shaft 65 is provided on the slide plate 41 and arranged parallel to the screw shaft 61 in the vicinity of the side edge on the other long side of the slide plate 41 . Both ends of the slide shaft 65 are fixed by support members 67 and supported on the slide plate 41 .
- the holder 66 has a through hole into which the slide shaft 65 is inserted.
- the holder 66 is provided so that the slide shaft 65 can slide along the X1 direction and the X2 direction.
- the mounting plate 68 is arranged on the nut 62 and the holder 66 arranged side by side in the Y1 direction and the Y2 direction, respectively.
- a mounting plate 68 is fixed to these nuts 62 and holders 66 .
- the expansion/contraction mechanism 6 configured as described above moves the pair of nuts 62 toward or away from the common bearing 63 by rotating the pair of screw shafts 61 in opposite directions. do.
- the mounting plate 68 fixed to the nut 62 also moves together with the nut 62 .
- the holder 66 to which the mounting plate 68 is fixed moves along the slide shaft 65 as the mounting plate 68 moves. In this way, the pair of mounting plates 68 move in the direction in which the distance narrows or in the direction in which the distance widens.
- the belt conveyor 7 moves the holding surface of the belt 74 (holding body) holding the object 200 to be transferred in the Y1 direction and the Y2 direction while holding the object 200 to be transferred.
- the belt conveyor 7 has a support 71 , a pair of support plates 72 , a pair of driving rollers 73 and a belt 74 .
- the object to be transferred 200 is an article 202 such as baggage placed on a tray 201 . Since the tray 201 has a rectangular shape, the outer shape of the transfer object 200 also has a rectangular shape. Note that the shape of the tray 201 is not limited to a rectangle, and may be another shape.
- the support 71 is a member that supports the belt conveyor 7 on the expansion/contraction mechanism 6 . Specifically, the support 71 is arranged on the nut 62 and the holder 66 arranged side by side in the Y1 direction and the Y2 direction, similarly to the mounting plate 68, and is fixed to the nut 62 and the holder 66. there is As a result, the support 71 moves together with the mounting plate 68 .
- a pair of support plates 72 are arranged on the support 71 with a vertical interval therebetween.
- a support plate 72 arranged below is fixed on the support 71 .
- the upper support plate 72 is placed on the lower support plate 72 with spacers (not shown) interposed therebetween.
- the drive rollers 73 are arranged one by one on both ends of the pair of support plates 72 .
- a drive shaft of the drive roller 73 is rotatably supported by a pair of support plates 72 .
- the drive roller 73 rotates in forward and reverse directions by the rotational driving force transmitted to the drive shaft.
- the belt 74 has a constant width and is formed in an annular shape (endless).
- the belt 74 is made of a material having a large coefficient of friction, such as rubber.
- the belt 74 holds the transfer object 200 on the side facing the pair of belt conveyors 7 .
- the pinching mechanism 5 configured as described above moves the pair of belt conveyors 7 in the direction in which the distance between them narrows or in the direction in which the distance widens. Further, the pair of belt conveyors 7 moves the surface of the pair of left and right belts 74 holding the object 200 in the Y1 direction or the Y2 direction, thereby moving the object 200 in the Y1 direction or the Y2 direction. .
- the clamping mechanism 5 has the belt conveyor 7, it may have another mechanism instead of the belt conveyor 7 as long as it has an equivalent function.
- a mechanism may be a mechanism in which a reciprocating mechanism that moves in the Y1 direction and the Y2 direction is provided with a pad for holding the object 200, or a rubber roller feed mechanism.
- the rubber roller feed mechanism includes a plurality of rubber rollers arranged in the Y1 direction and the Y2 direction, and moves the object 200 by the rotationally driven rubber rollers.
- FIG. 4 is a block diagram showing the configuration of the control system.
- the transfer device 3 includes a control section 8.
- the control unit 8 controls the operations of the advancing/retreating mechanism 4 , the expansion/contraction mechanism 6 and the belt conveyor 7 in the transfer device 3 .
- the control unit 8 has an advance/retreat control unit 81, a clamping control unit 82, and a transfer control unit 83 in order to realize control functions.
- the transfer device 3 also includes a transfer position sensor 11, a clamping position sensor 12, an advance/retreat motor 44, an expansion/reduction motor 69, and a conveyor motor 75 as elements constituting a control system.
- the transfer position sensor 11 is a sensor that detects the position of the slide plate 41 in the Y1 direction and the Y2 direction, and is provided at a predetermined position on the base 2 . Specifically, the transfer position sensor 11 detects the retracted position, advanced position and intermediate position of the slide plate 41 .
- the retracted position is the position of the slide plate 41 when the slide plate 41 is in a prescribed position on the base 2 shown in FIG.
- the specified position of the slide plate 41 is the position where the slide plate 41 is arranged in the center of the base 2 while the transport vehicle 1 transports the object 200 to be transferred.
- the advanced position is the position of the slide plate 41 when the slide plate 41 is most advanced toward the storage portion 101a.
- the intermediate position is a position near the advanced position between the retracted position and the advanced position.
- the clamping position sensor 12 is a sensor that detects the position of the belt conveyor 7 and is provided at a predetermined position on the base 2 . Specifically, the pinching position sensor 12 detects the pinching position and the pinching release position.
- the nipping position is the position of the belt conveyor 7 at which the distance between the belt conveyor 7 and the object 200 to be transferred is narrowest.
- the nipping release position is the position of the belt conveyor 7 where the belt conveyor 7 is in a state where the distance between the belt conveyors 7 is widest.
- the detection unit 13 detects the posture of the object 200 to be transferred when the control unit 8 controls the operation of the transfer device 3 when transferring the object 200 to be transferred.
- a specific attitude detection method of the detection unit 13 will be described in Embodiments 1 to 4 described later.
- the conveyor motor 75 is a motor included in the belt conveyor 7 and drives the drive roller 73 to rotate.
- the advance/retreat motor 44 is a motor included in the advance/retreat mechanism 4 and drives the driven portion of the advance/retreat mechanism 4 .
- the expansion/reduction motor 69 is a motor included in the expansion/reduction mechanism 6 and drives the screw shaft 61 to rotate.
- the expansion/contraction motor 69 drives the pair of screw shafts 61 simultaneously. For this reason, the expansion/reduction mechanism 6 has a driving force transmission mechanism (not shown) for transmitting the driving force of the expansion/reduction motor 69 to the pair of screw shafts 61 .
- the advance/retreat control unit 81 causes the transfer device 3 to transfer the object 200 to be transferred from the storage unit 101 a to the placement plate 68 according to the position of the slide plate 41 detected by the transfer position sensor 11 (advance/retreat detection position). It controls the rotation and rotation stop of the advancing/retreating motor 44 when performing the loading operation. Specifically, the advance/retreat control unit 81 reverses the rotation of the advance/retreat motor 44 between the advancing movement period and the retreating movement period.
- the advance movement period is a period during which the slide plate 41 advances to the storage portion 101a until the advance/retreat detection position changes from the retreat position to the advance position.
- the retraction movement period is a period during which the slide plate 41 is retracted to the base 2 until the advance/retreat detection position changes from the advanced position to the retracted position.
- the clamping control unit 82 rotates and rotates the expansion/contraction motor 69 when the transfer device 3 performs the retraction operation according to the position of the belt conveyor 7 (conveyor detection position) and the forward/backward detection position detected by the clamping position sensor 12 .
- Control rotation stop Specifically, the clamping control unit 82 does not rotate the expansion/contraction motor 69 until the forward/backward detection position changes from the retracted position to the intermediate position, and when the intermediate position is detected, the interval between the pair of belt conveyors 7 is increased.
- the enlargement/reduction motor 69 is rotated in the direction of contraction. Also, the clamping control section 82 stops the rotation of the expansion/contraction motor 69 when the clamping position is detected.
- the clamping control unit 82 rotates the expansion/contraction motor 69 until the forward/backward detection position changes from the advanced position to the retracted position, and when the retracted position is detected, the interval between the pair of belt conveyors 7 expands. Enlargement/reduction motor 69 is rotated.
- the transfer control unit 83 controls the operation of the conveyor motors 75 in the pair of belt conveyors 7 when the transfer device 3 performs the retraction operation based on the forward/backward detection position. Specifically, the transfer control unit 83 does not rotate the conveyor motor 75 while the retreat position before the retraction operation is detected. Further, the transfer control unit 83 controls when the advance/retreat detection position changes from the retreat position to the intermediate position, when the advance/retreat detection position changes from the intermediate position to the advanced position, and when the advance/retreat detection position changes from the advanced position to the intermediate position. Occasionally, the conveyor motor 75 is rotated. Further, the transfer control unit 83 stops the rotation of the conveyor motor 75 when the advancing/retreating detection position changes from the intermediate position to the retreating position.
- the transfer control unit 83 controls the operation of the pair of belt conveyors 7 according to the posture (detected posture) of the object to be transferred 200 detected by the detection unit 13 . Specifically, the transfer control unit 83 synchronously controls the two conveyor motors 75 when the detected posture is the specified posture. In addition, when the detected posture is tilted with respect to the specified posture, the transfer control unit 83 performs two different movements so that the belts 74 of the pair of belt conveyors 7 transfer the object 200 differently.
- the two conveyor motors 75 are individually controlled.
- the specified posture is the posture of the object 200 to be transferred when the center line of the object to be transferred 200 is aligned with the transfer direction (Y1 direction and Y2 direction).
- the specified posture also includes the posture of the object to be transferred 200 in a state in which the center line of the object to be transferred 200 is inclined within the range of a predetermined minute angle with respect to the transfer direction.
- the transfer device 3 is mounted on the transport vehicle 1, it can also be applied to a device such as a stacker crane.
- FIG. 5 is a diagram showing the transfer operation of the transfer object 200 by the transfer device 3 according to Embodiments 1 to 3 of the present invention.
- constituent elements having functions equivalent to those of the constituent elements described above are given the same reference numerals, and explanations thereof are omitted. This also applies to each embodiment described later.
- the belt conveyor 7 arranged on the left side of the base 2 is called a belt conveyor 7L
- the belt conveyor 7 arranged on the right side of the base 2 is called a belt conveyor 7R.
- the slide plate 41 described above advances and moves toward the storage section 101a. In this state, the belt conveyors 7L and 7R are not yet operating.
- the slide plate 41 reaches the intermediate position, the belt conveyors 7L and 7R are moved in the direction in which the distance between the belt conveyors 7L and 7R is reduced by the clamping mechanism 5, as indicated by the two-dot chain line in FIG. belts 74L and 74R move at the same speed in the direction of the arrow. In this way, by performing the advancing operation and the clamping operation of the belt conveyors 7L and 7R at the same time, the transfer can be efficiently performed.
- the transfer control unit 83 continues to control the conveying speed of the belt conveyors 7L and 7R from the state of STEP3. As a result, when the posture of the object to be transferred 200 becomes the specified posture, the transfer control unit 83 determines that the detected posture detected by the detection unit 13 is the specified posture, and drives the belt conveyors 7L and 7R. , the rotational speed of the conveyor motor 75 of 1 is returned to the same speed. As a result, the conveying speeds of the belts 74L and 74R become equal.
- the pinching control unit 82 stops the movement of the belt conveyors 7L and 7R in the direction of narrowing the gap. Then, the advance/retreat control unit 81 moves the slide plate 41 (the belt conveyors 7L and 7R) to the base 2 side as it is, and stops the movement of the slide plate 41 when the slide plate 41 reaches the retreat position.
- the portion of the object to be transferred 200 held by the pair of belts 74L, 74R is moved by differentiating the motions of the belts 74L, 74R of the pair of belt conveyors 7L, 7R. can reduce the difference in distance between As a result, even if the object to be transferred 200 is tilted, its posture is corrected. Therefore, the object 200 to be transferred can be transferred smoothly.
- the transfer device 3 corrects the posture when the posture of the object 200 is inclined due to the contact of one of the belts 74L with the object 200 to be transferred.
- the present embodiment is not limited to such a case, and can also be applied to a case where the object to be transferred 200 is arranged in a tilted state in the storage section 101a. Specifically, when the belt conveyors 7L and 7R advance to the storage section 101a, as shown in STEP3 of FIG. control for This also applies to each embodiment described later.
- the detection unit 13 detects the posture of the object 200 to be transferred based on the difference in load applied to the pair of belt conveyors 7L and 7R. Further, the transfer control unit 83 controls the operating speed of one of the belts 74L, 74R of the belt conveyors 7L, 7R with a relatively light load to be faster than the operating speed of the other with a heavy load. The load on the belts 74L, 74R is detected by measuring the current flowing through the conveyor motors 75 that drive the belts 74L, 74R, respectively. The control will be described below.
- the transfer control unit 83 continues the above control until the load difference between the pair of belts 74L and 74R becomes equal to or less than the predetermined value D1.
- the load difference is equal to or less than the predetermined value D1
- the posture of the object 200 to be transferred can be corrected more accurately.
- the detection unit 13 detects the posture of the transfer object 200 based on an image of the transfer object 200 captured by an imaging device (not shown).
- the imaging device may be arranged in the transfer device 3 or may be arranged in the storage warehouse 100 .
- the transfer control unit 83 controls the conveying speed of one of the pair of belts 74L, 74R on which the object 200 is inclined to be slower than the conveying speed of the other.
- the transfer control unit 83 controls the conveying speed of the belt 74R to be faster than the conveying speed of the belt 74L, as in STEP 3 of the first embodiment.
- the portion of the object 200 held by one of the pair of belts 74L and 74R on which the object 200 is inclined is moved less than the portion of the object 200 held by the other. Thereby, the posture of the object 200 to be transferred is corrected.
- the transfer control unit 83 continues the above control until the posture of the object to be transferred 200 detected by the detection unit 13 reaches the specified posture. Specifically, the transfer control unit 83 compares the photographed image of the object 200 to be transferred with the image of the object 200 in the specified posture, so that the posture of the object to be transferred 200 reaches the specified posture. Determine whether or not. As a result, the posture of the object 200 to be transferred can be accurately corrected to the specified posture.
- FIG. 6 is a diagram showing the transfer operation of the object to be transferred 200 by the transfer device 3 according to Embodiment 4 of the present invention. In this embodiment, only operations different from those described in the first to third embodiments will be described.
- the detection unit 13 has two distance sensors 11L and 11R.
- the distance sensors 11L and 11R are arranged at two different measurement positions spaced apart in the left-right direction at the end of the base 2 of the transfer device 3 farthest from the storage section 101a.
- the distance sensors 11L and 11R are used to measure the distance between the object 200 placed in the storage portion 101a (not shown) on the opposite side of the storage portion 101a shown in FIG. 6 and the base 2.
- it may be arranged at the end of the base 2 opposite to the position described above.
- the detector 13 detects the attitude of the object 200 based on the difference in linear distance in the transfer direction from the object 200 measured by the distance sensors 11L and 11R.
- the transfer control unit 83 controls the conveying speed of one of the pair of belts 74L and 74R on the side of the measurement position where the relatively long linear distance is measured to be faster than the conveying speed of the other. The control will be described below.
- the part of the object 200 held by one of the pair of belts 74L, 74R on the measurement position side where the relatively long linear distance L1 or the linear distance L2 is measured is moved more than the portion of the object 200 held by the other. Thereby, the posture of the object 200 to be transferred is corrected.
- the transfer control unit 83 continues the above control until the difference between the straight distances L1 and L2 becomes equal to or less than the predetermined value D2. If the difference between the linear distances L1 and L2 is equal to or less than the predetermined value D2, the posture of the object 200 to be transferred can be considered to be corrected to the specified posture. The control of the conveying speed is continued until the value becomes equal to or less than the value D2. Thereby, the posture of the object to be transferred 200 can be corrected more accurately.
- the function of the transfer device 3 (hereinafter referred to as "device") is a program for causing a computer to function as the device, and the computer is used as each control block (especially each part included in the control unit 8) of the device. It can be realized by a program for functioning.
- the device comprises a computer having at least one control device (eg processor) and at least one storage device (eg memory) as hardware for executing the program.
- control device eg processor
- storage device eg memory
- the above program may be recorded on one or more computer-readable recording media, not temporary.
- the recording medium may or may not be included in the device.
- the program may be supplied to the device via any transmission medium, wired or wireless.
- control blocks can be realized by logic circuits.
- integrated circuits in which logic circuits functioning as the control blocks described above are formed are also included in the scope of the present invention.
- control blocks described above it is also possible to implement the functions of the control blocks described above by, for example, a quantum computer.
- a transfer apparatus includes a placement section on which an object to be transferred is placed, a pair of right and left holders that sandwich the object to be transferred, and a transfer device that sandwiches the object to be transferred.
- a control unit for controlling the operation of each of the pair of holders so as to transfer them from the original to the placement unit; and detecting the posture of the object to be transferred when the control is executed by the control unit.
- a detection unit for transferring the object to be transferred, wherein the control unit causes the pair of holders to transfer the object to be transferred when the posture detected by the detection unit is tilted with respect to the prescribed posture.
- the attitude of the object to be transferred is corrected by performing different controls.
- the pair of holders operate differently, it is possible to reduce the difference in the distance that the portions of the object to be transferred that are held by the pair of holders move. As a result, even if the object to be transferred is tilted, its posture is corrected. Therefore, the object to be transferred can be transferred smoothly.
- the detection unit detects the posture based on a difference in load applied to each of the pair of holders, and the control unit detects the relative load among the pair of holders.
- the operating speed of one light load is controlled to be higher than the operating speed of the other heavy load.
- the portion of the object to be transferred held by one of the pair of holders having a relatively light load is moved more than the portion of the object to be transferred held by the other. As a result, the posture of the object to be transferred is corrected.
- control unit continues the control until the load difference between the pair of holders becomes equal to or less than a predetermined value.
- the movement speed control is continued until the load difference becomes equal to or less than the predetermined value when it can be considered that the posture of the object to be transferred has been corrected to the specified posture. By doing so, the posture of the object to be transferred can be corrected more accurately.
- the detection unit detects a difference in linear distance in the transfer direction from the object to be transferred, which is measured at each of two different measurement positions spaced apart in the left-right direction of the transfer device.
- the control unit detects the posture based on the above-described posture, and makes the operating speed of one of the pair of holding bodies on the side of the measuring position where the relatively long linear distance is measured faster than the operating speed of the other. to control.
- the portion of the object held by one of the pair of holders on the measurement position side where the relatively long linear distance is measured is greater than the portion of the object to be transferred held by the other. move a lot. As a result, the posture of the object to be transferred is corrected.
- control unit continues the control until the difference between the straight-line distances becomes equal to or less than a predetermined value.
- the posture of the object to be transferred can be considered to be corrected to the specified posture, and the operation speed is controlled until the difference in linear distance becomes equal to or less than the predetermined value.
- the posture of the object to be transferred can be corrected more accurately.
- the detection unit detects the posture based on a photographed image of the object to be transferred, and the control unit detects the orientation of the object to be transferred among the pair of holders.
- the operating speed of one of the two sides is controlled to be slower than the operating speed of the other.
- the portion of the transfer object held by one of the pair of holders on the side on which the transfer object is tilted is moved less than the portion of the transfer object held by the other. As a result, the posture of the object to be transferred is corrected.
- control unit continues the control until the posture detected by the detection unit reaches the specified posture.
- the posture of the object to be transferred can be accurately corrected to the prescribed posture.
- the pair of holders are belts of a belt conveyor.
- the belt of the belt conveyor can ensure a large contact area with the object to be transferred, so it is suitable for transferring the object to be transferred.
- a carrier according to an aspect of the present invention is a carrier that carries the object to be transferred by moving along the continuous transfer source,
- the transfer device is provided, and the transfer device transfers the object to be transferred between the transfer source and the placing section.
Abstract
Description
本発明の実施形態1~3に共通する収納倉庫および搬送車について、図1~図3に基づいて説明する。図1は、収納倉庫100の構成を示す平面図である。図2は、収納倉庫100における通路102を走行する搬送車1の構成を示す平面図である。図3は、搬送車1の構成を示す正面図である。
本発明の実施形態1について、図5に基づいて説明すれば、以下のとおりである。図5は、本発明の実施形態1~3に係る移載装置3による被移載物200の移載動作を示す図である。なお、説明の便宜上、上述した構成要素と同等の機能を有する構成要素については、同じ符号を付記し、その説明を省略する。これは、後述する各実施形態についても同様である。
引き込み動作の開始前の状態では、図5に実線にて示すように、ベルトコンベヤ7L,7Rが挟持解除位置にある。また、被移載物200は、収納部101aにおいて中央からやや左側にずれた位置に配置されている。
ベルトコンベヤ7L,7Rは、さらに間隔を縮小する方向に移動すると、ベルトコンベヤ7Lが被移載物200の左側側面に接触する。この状態では、ベルトコンベヤ7Rは、被移載物200に接触していない。
STEP2において、被移載物200の左側側面にのみベルトコンベヤ7Lの力が作用することから、被移載物200の姿勢が傾く。これにより、ベルトコンベヤ7Rが被移載物200に接触する。また、この状態では、移載制御部83は、検知部13によって検知された検知姿勢が規定姿勢に対して傾いていると判断する。そして、移載制御部83は、ベルトコンベヤ7Lを駆動するコンベヤモータ75の回転速度を低下させるか、あるいはコンベヤモータ75の回転を停止させる一方、ベルトコンベヤ7Rを駆動するコンベヤモータ75の回転速度を上昇させる。これにより、ベルトコンベヤ7Rの搬送速度(動作速度)がベルトコンベヤ7Lの搬送速度よりも速くなる。
移載制御部83は、STEP3の状態から、さらにベルトコンベヤ7L,7Rの搬送速度の制御を継続する。これにより、被移載物200の姿勢が規定姿勢になると、移載制御部83は、検知部13によって検知された検知姿勢が規定姿勢であると判断し、ベルトコンベヤ7L,7Rを駆動するそれぞれのコンベヤモータ75の回転速度を同じ速度に戻す。これにより、ベルト74L,74Rの搬送速度が等しくなる。
本発明の実施形態2について、図5に基づいて説明すれば、以下のとおりである。本実施形態では、実施形態1で説明した動作と異なる動作についてのみ説明する。
本発明の実施形態3について、図5に基づいて説明すれば、以下のとおりである。本実施形態では、実施形態1および2で説明した動作と異なる動作についてのみ説明する。
本発明の実施形態4について、図6に基づいて説明すれば、以下のとおりである。図6は、本発明の実施形態4に係る移載装置3による被移載物200の移載動作を示す図である。本実施形態では、実施形態1~3で説明した動作と異なる動作についてのみ説明する。
図6に示すように、被移載物200の姿勢が傾いていない状態では、距離センサ11L,11Rによる被移載物200との直線距離L1,L2は等しい。
被移載物200の姿勢が傾いた状態では、直線距離L1が直線距離L2よりも短くなる。すると、移載制御部83は、実施形態1のSTEP3で行ったように、ベルト74Rの搬送速度をベルト74Lの搬送速度よりも速くする制御を行う。
被移載物200の姿勢が規定姿勢となった状態では、直線距離L1,L2が等しくなる。すると、移載制御部83は、実施形態1のSTEP4で行ったように、ベルト74L,74Rの搬送速度を等しくする制御を行う。
移載装置3(以下、「装置」と呼ぶ)の機能は、当該装置としてコンピュータを機能させるためのプログラムであって、当該装置の各制御ブロック(特に制御部8に含まれる各部)としてコンピュータを機能させるためのプログラムにより実現することができる。
本発明の一態様に係る移載装置は、被移載物が載置される載置部と、前記被移載物を挟み込む左右一対の保持体と、前記被移載物を挟み込んで移載元から前記載置部へ移載するように前記一対の保持体のそれぞれの動作を制御する制御部と、前記制御部により前記制御が実行されているときの前記被移載物の姿勢を検知する検知部と、を備え、前記制御部は、前記検知部により検知された前記姿勢が規定姿勢に対して傾いている場合、前記一対の保持体が前記被移載物を移載させる動作をそれぞれ異なるように制御することにより前記被移載物の姿勢を補正する。
本発明は上述した各実施形態に限定されるものではなく、請求項に示した範囲で種々の変更が可能である。また、異なる実施形態にそれぞれ開示された技術的手段を適宜組み合わせて得られる実施形態についても本発明の技術的範囲に含まれる。
3 移載装置
8 制御部
13 検知部
68 載置板(載置部)
74,74L,74R ベルト(保持体)
83 移載制御部
101a 収納部(移載元)
200 被移載物
L1,L2 直線距離
Claims (9)
- 被移載物が載置される載置部と、
前記被移載物を挟み込む左右一対の保持体と、
前記被移載物を挟み込んで移載元から前記載置部へ移載するように前記一対の保持体のそれぞれの動作を制御する制御部と、
前記制御部により前記制御が実行されているときの前記被移載物の姿勢を検知する検知部と、を備え、
前記制御部は、前記検知部により検知された前記姿勢が規定姿勢に対して傾いている場合、前記一対の保持体が前記被移載物を移載させる動作をそれぞれ異なるように制御することにより前記被移載物の姿勢を補正する、移載装置。 - 前記検知部は、前記一対の保持体のそれぞれにかかる負荷の差に基づいて前記姿勢を検知し、
前記制御部は、前記一対の保持体のうち、相対的に負荷が軽い一方の動作速度を負荷が重い他方の動作速度より速くするように制御する、請求項1に記載の移載装置。 - 前記制御部は、前記一対の保持体の負荷の差が所定値以下になるまで前記制御を継続する、請求項2に記載の移載装置。
- 前記検知部は、前記移載装置における左右方向に間隔をおいた異なる2つの測定位置のそれぞれで測定された前記被移載物との移載方向の直線距離の差に基づいて前記姿勢を検知し、
前記制御部は、前記一対の保持体のうち、相対的に長い前記直線距離が測定された前記測定位置側の一方の動作速度を他方の動作速度より速くするように制御する、請求項1から3のいずれか1項に記載の移載装置。 - 前記制御部は、前記直線距離の差が所定値以下になるまで前記制御を継続する、請求項4に記載の移載装置。
- 前記検知部は、前記被移載物が撮影された画像に基づいて前記姿勢を検知し、
前記制御部は、前記一対の保持体のうち、前記被移載物が傾いている側の一方の動作速度を他方の動作速度より遅くするように制御する、請求項1から5のいずれか1項に記載の移載装置。 - 前記制御部は、前記検知部により検知された前記姿勢が前記規定姿勢になるまで前記制御を継続する、請求項6に記載の移載装置。
- 前記一対の保持体はベルトコンベヤのベルトである、請求項1から7のいずれか1項に記載の移載装置。
- 連続する前記移載元に沿って移動することにより前記被移載物を搬送する搬送車であって、
請求項1から8のいずれか1項に記載の移載装置を備え、
前記移載装置は、前記移載元と前記載置部との間で前記被移載物を移載する、搬送車。
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CN202280060060.5A CN117957179A (zh) | 2021-09-06 | 2022-06-13 | 移载装置及搬运车 |
KR1020247010750A KR20240058134A (ko) | 2021-09-06 | 2022-06-13 | 이송·적재 장치 및 반송차 |
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Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002114317A (ja) | 2000-10-05 | 2002-04-16 | Kito Corp | 移載装置 |
JP2006151600A (ja) * | 2004-11-30 | 2006-06-15 | Toyota Industries Corp | 物品移載装置及び物品移載方法 |
JP2008063034A (ja) * | 2006-09-05 | 2008-03-21 | Daifuku Co Ltd | 物品搬送装置 |
JP2008239339A (ja) * | 2007-03-29 | 2008-10-09 | Ihi Corp | スタッカクレーン |
JP2010208816A (ja) * | 2009-03-11 | 2010-09-24 | Murata Machinery Ltd | 移載装置 |
JP2013047150A (ja) * | 2012-12-04 | 2013-03-07 | Ihi Corp | 物品移載装置 |
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002114317A (ja) | 2000-10-05 | 2002-04-16 | Kito Corp | 移載装置 |
JP2006151600A (ja) * | 2004-11-30 | 2006-06-15 | Toyota Industries Corp | 物品移載装置及び物品移載方法 |
JP2008063034A (ja) * | 2006-09-05 | 2008-03-21 | Daifuku Co Ltd | 物品搬送装置 |
JP2008239339A (ja) * | 2007-03-29 | 2008-10-09 | Ihi Corp | スタッカクレーン |
JP2010208816A (ja) * | 2009-03-11 | 2010-09-24 | Murata Machinery Ltd | 移載装置 |
JP2013047150A (ja) * | 2012-12-04 | 2013-03-07 | Ihi Corp | 物品移載装置 |
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TW202325630A (zh) | 2023-07-01 |
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