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JP7064174B2 - Transfer device - Google Patents

Transfer device Download PDF

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JP7064174B2
JP7064174B2 JP2018204640A JP2018204640A JP7064174B2 JP 7064174 B2 JP7064174 B2 JP 7064174B2 JP 2018204640 A JP2018204640 A JP 2018204640A JP 2018204640 A JP2018204640 A JP 2018204640A JP 7064174 B2 JP7064174 B2 JP 7064174B2
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container
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load
movable rail
carried
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JP2020070142A (en
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清 清水
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Daifuku Co Ltd
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Description

本発明は、荷搬出対象のコンテナ内から荷搬入対象のコンテナ内に荷を移し変える移載装置に関するものである。 The present invention relates to a transfer device that transfers a load from the container to be loaded into the container to be loaded into the container.

この種の移載装置には、互いに平行な2本の可動レール部材の両端部が、これら可動レール部材の長さ方向であるX方向に対して直交する2本のY方向の固定レール部材によって平行横動自在に支持され、前記2本の可動レール部材のそれぞれに、X方向に往復移動自在に可動体が支持され、各可動体に、荷を吊上げることが出来るピッキングヘッドが昇降自在に設けられて成る荷搬出搬入ユニットが利用される。特許文献1として引用した先行技術文献に記載のものは、前記荷搬出搬入ユニットに必要なピッキングヘッドに代えて、ワークに対する処理ユニットが使用されているが、荷をピッキングするためのピッキングヘッドに代えれば、荷を吊上げて他の場所に降ろすための荷搬出搬入ユニットとして利用出来る。この場合、前記荷搬出搬入ユニットの下側で、平面視における前記ピッキングヘッドの移動可能領域内に、荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場が設定されることになる。 In this type of transfer device, two movable rail members parallel to each other have two fixed rail members in the Y direction orthogonal to the X direction, which is the length direction of the movable rail members. A movable body is supported so as to be movable in parallel and laterally, and a movable body that can be reciprocated in the X direction is supported by each of the two movable rail members. The provided loading / unloading unit is used. In the prior art document cited as Patent Document 1, a processing unit for the work is used instead of the picking head required for the loading / unloading unit, but the picking head for picking the load is replaced. For example, it can be used as a loading / unloading unit for lifting loads and unloading them to other places. In this case, a container receiving place to be carried out and a container receiving place to be carried in are set in the movable area of the picking head in a plan view under the loading / unloading unit.

特開2003-305672号公報Japanese Patent Application Laid-Open No. 2003-305672

上記のように、仮に特許文献1に記載の構成を利用して、荷搬出対象のコンテナ内からピッキングヘッドで吊上げた荷を荷搬入対象のコンテナ内に移載する移載装置を構成することが当業者にとって容易に成し得る程度のことであるとしても、荷搬出対象のコンテナ内からの荷のピッキング動作を効率良く行わせるための構成や、荷搬出搬入ユニットを利用せずに人手によって荷搬出対象のコンテナ内から荷搬入対象のコンテナ内に荷を移し変える移載作業も必要に応じて安全且つ容易に行えるようにするための構成など、実用化の面で必要になる問題点を解決しなければならない。 As described above, it is possible to construct a transfer device for transferring a load lifted by a picking head from the container to be unloaded into the container to be loaded by using the configuration described in Patent Document 1. Even if it can be easily done by a person skilled in the art, it is configured to efficiently pick the load from the container to be unloaded, and the load is manually loaded without using the loading / unloading unit. Solves the problems necessary for practical use, such as a configuration that enables safe and easy transfer work to transfer the load from the container to be carried out to the container to be carried in as needed. Must.

本発明は、上記のような従来の問題点を解消することのできる移載装置を提案するものであって、本発明に係る移載装置は、後述する実施例との関係を理解し易くするために、当該実施例の説明において使用した参照符号を括弧付きで付して示すと、互いに平行な2本の可動レール部材(17,18)の両端部が、これら可動レール部材(17,18)の長さ方向であるX方向に対して直交する2本のY方向の固定レール部材(15,16)によって平行横動自在に支持され、前記2本の可動レール部材(17,18)のそれぞれに、X方向に往復移動自在に可動体(19,21)が支持され、各可動体(19,21)に、荷を吊り上げることが出来るピッキングヘッド(23,25)が昇降自在に設けられて成る荷搬出搬入ユニット(1)を備えた移載装置において、
前記荷搬出搬入ユニット(1)の下側で、平面視における前記ピッキングヘッド(23,25)の移動可能領域内に、荷搬出対象のコンテナ(Cy)の受け入れ場(7)と荷搬入対象のコンテナ(Cx)の受け入れ場(8)がX方向に並列する荷移載作業空間(9)が設けられ、2本の前記可動レール部材(17,18)の待機エリア(Sa1,Sa2)が、前記荷移載作業空間(9)に対してY方向の両外側上方に設定され、この待機エリア(Sa1,Sa2)の内、一方の待機エリア(Sa1)は、この待機エリア(Sa1)に近い側の1本の可動レール部材(17)のみが待機可能な狭幅待機エリアとし、他方の待機エリア(Sa2)は、2本の前記可動レール部材(17,18)をY方向に隣接する状態で待機させることが出来る広幅待機エリアとし、前記荷移載作業空間(9)に対して前記狭幅待機エリア(Sa1)のある側の床面上には、作業者の荷移載作業エリア(27)が設定された構成になっている。
The present invention proposes a transfer device capable of solving the above-mentioned conventional problems, and the transfer device according to the present invention makes it easy to understand the relationship with the examples described later. Therefore, when the reference numerals used in the description of the embodiment are shown in parentheses, both ends of the two movable rail members (17,18) parallel to each other are the movable rail members (17,18). ) Is supported in parallel and laterally by two fixed rail members (15, 16) in the Y direction orthogonal to the X direction, which is the length direction of the above two movable rail members (17, 18). A movable body (19,21) that can reciprocate in the X direction is supported for each, and each movable body (19,21) is provided with a picking head (23,25) that can lift a load. In the transfer device equipped with the loading / unloading unit (1)
Below the loading / unloading unit (1), within the movable area of the picking head (23,25) in plan view, the receiving area (7) of the container (Cy) to be loaded and loaded and the loading / unloading target. A load transfer work space (9) in which the receiving space (8) of the container (Cx) is parallel in the X direction is provided, and the waiting areas (Sa1, Sa2) of the two movable rail members (17,18) are provided. It is set above both outer sides in the Y direction with respect to the load transfer work space (9), and one of the waiting areas (Sa1 and Sa2) is close to this waiting area (Sa1). A narrow standby area where only one movable rail member (17) on the side can stand by, and the other standby area (Sa2) has two movable rail members (17, 18) adjacent to each other in the Y direction. It is a wide waiting area that can be made to stand by, and a worker's loading work area (on the floor surface on the side where the narrow waiting area (Sa1) is located with respect to the loading transfer work space (9)). 27) is set.

上記構成の本発明移載装置では、荷搬出対象のコンテナ受け入れ場に荷搬出対象のコンテナを搬入し、荷搬入対象のコンテナ受け入れ場に荷搬入対象のコンテナを搬入して、作業準備が整えば、荷搬出対象のコンテナ内の吊上げ対象荷を前記ピッキングヘッドによって吊り上げるように、荷搬出搬入ユニットを作動させる。具体的には、Y方向2つの可動レール部材をY方向に横動させると共に各可動レール部材上の可動体を各可動レール部材上でX方向に移動させて、各可動台が備えるピッキングヘッドを荷搬出対象のコンテナ内の吊上げ対象荷の真上に位置させ、この後、各可動体に対してピッキングヘッドを降下させて、吊上げ対象荷に対し吊り上げ可能状態にさせる。次に各可動体に対してピッキングヘッドを所定高さまで上昇させて、当該ピッキングヘッドにより吊上げ対象荷を吊り上げ、続いてY方向2つの可動レール部材のY方向横動と、各可動レール部材上の可動体のX方向の移動とにより、ピッキングヘッドにより吊り上げている荷を荷搬入対象のコンテナの上方所定高さに移動させ、続いて各可動体に対しピッキングヘッドを降下させて、吊り上げている荷を荷搬入対象のコンテナ内に降ろし、この降ろした荷から各ピッキングヘッドを切り離した後に各ピッキングヘッドを上昇させる。 In the transfer device of the present invention having the above configuration, if the container to be unloaded is carried into the container receiving place to be carried out, the container to be carried in is carried into the container receiving place to be carried in, and the work is ready. The loading / unloading unit is operated so that the load to be lifted in the container to be loaded / unloaded is lifted by the picking head. Specifically, the picking head provided in each movable base is provided by moving the two movable rail members in the Y direction laterally in the Y direction and moving the movable body on each movable rail member in the X direction on each movable rail member. It is positioned directly above the load to be lifted in the container to be unloaded, and then the picking head is lowered for each movable body so that the load to be lifted can be lifted. Next, the picking head is raised to a predetermined height for each movable body, the load to be lifted is lifted by the picking head, and then the two movable rail members in the Y direction laterally move in the Y direction and on each movable rail member. By moving the movable body in the X direction, the load lifted by the picking head is moved to a predetermined height above the container to be loaded, and then the picking head is lowered for each movable body to lift the load. Is unloaded into the container to be loaded, each picking head is separated from the unloaded load, and then each picking head is raised.

上記のように使用出来る本発明の移載装置によれば、上記の作業準備が整う段階ではY方向2つの可動レール部材を、X方向に並列する荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場を備えた荷移載作業空間に対して、Y方向両外側上方の待機エリア、即ち、狭幅待機エリアと広幅待機エリアとに分けて待機させておくことが出来る。このとき各可動レール部材上の可動体は、作業開始の対象である荷搬出対象のコンテナ受け入れ場のY方向両側に隣接する位置に移動させておくことが望ましい。このように2つの可動レール部材を待機させておくことにより、各可動レール部材が備える可動体のピッキングヘッドを、荷搬出対象のコンテナ受け入れ場に搬入された荷搬出対象のコンテナのY方向前後に振り分け配置させることになるので、当該コンテナ内の吊上げ対象荷の内、Y方向の前側の荷は、荷搬出対象のコンテナのY方向前側で待機するピッキングヘッドによって吊り上げ、反対側、即ち、Y方向の後ろ側の荷は、荷搬出対象のコンテナのY方向後ろ側で待機するピッキングヘッドによって吊り上げるように吊上げ動作を行わせることが出来る。勿論、コンテナ内の吊上げ対象荷が当該コンテナのY方向前後又はX方向左右の何れかに偏っている場合など、種々の状況は考えられるが、全体としては、Y方向2つの可動レール部材を荷搬出対象のコンテナのY方向前後何れか片側に待機させておく場合と比較して、ピッキングヘッドによる荷の吊上げ動作を能率良く行わせることが出来る。 According to the transfer device of the present invention that can be used as described above, at the stage when the above work preparation is completed, the two movable rail members in the Y direction are arranged in parallel in the X direction at the container receiving place to be loaded and the container to be loaded. The waiting area above both outer sides in the Y direction, that is, the narrow waiting area and the wide waiting area, can be made to stand by in the load transfer work space provided with the container receiving area. At this time, it is desirable to move the movable body on each movable rail member to a position adjacent to both sides in the Y direction of the container receiving place to be unloaded, which is the target for starting work. By making the two movable rail members stand by in this way, the picking heads of the movable bodies included in each movable rail member can be moved to the front and rear in the Y direction of the container to be unloaded, which has been carried into the container receiving area to be unloaded. Of the loads to be lifted in the container, the load on the front side in the Y direction is lifted by the picking head waiting on the front side in the Y direction of the container to be unloaded, and the opposite side, that is, the Y direction. The load on the rear side of the load can be lifted by a picking head that stands by on the rear side in the Y direction of the container to be unloaded. Of course, various situations can be considered, such as when the load to be lifted in the container is biased to either the front or back in the Y direction or the left or right in the X direction of the container, but as a whole, two movable rail members in the Y direction are loaded. Compared with the case where the container to be carried out is made to stand by on either side in the front or rear of the Y direction, the picking head can be used to lift the load more efficiently.

一方、ピッキングヘッドの故障など、何等かの理由によって手作業で上記の移載作業を行わなければならない場合がある。このような場合、前記荷移載作業空間に対してY方向前後何れかに作業者の荷移載作業エリアが設定され、この荷移載作業エリアに作業者が立って、当該作業者から見て前記荷移載作業空間内でX方向左右に隣り合う荷搬出対象のコンテナから荷搬入対象のコンテナへの荷の移載を手作業で行うことになるが、この作業者が立つ側にY方向2つの可動レール部材の一方が位置していると、当該可動レール部材が作業者の行う荷移載作業の邪魔になる。この現象を回避するために、作業者の直前に位置する可動レール部材を奥側に移動させると、この奥側に移動させる可動レール部材が元々奥側に待機している他方の可動レール部材の直前に位置することになり、作業対象のコンテナの奥側の上に被さって人手による荷移載作業の邪魔になる。 On the other hand, the above transfer work may have to be performed manually for some reason such as a failure of the picking head. In such a case, a worker's load transfer work area is set in either the front or back of the Y direction with respect to the load transfer work space, and the worker stands in this load transfer work area and is viewed from the worker. In the load transfer work space, the load is manually transferred from the adjacent containers to be unloaded to the container to be loaded in the X direction, and Y is on the side where this worker stands. If one of the two movable rail members is located, the movable rail member interferes with the load transfer work performed by the operator. In order to avoid this phenomenon, when the movable rail member located immediately in front of the operator is moved to the back side, the movable rail member to be moved to the back side is originally waiting on the back side of the other movable rail member. It will be located just before it, and it will cover the back side of the container to be worked on and interfere with the manual load transfer work.

しかしながら上記本発明の構成によれば、手作業で上記の移載作業を行わなければならない場合には、2本の可動レール部材をY方向に隣接する状態で待機させることが出来る広幅待機エリアが、前記荷移載作業エリアのある側とは反対側(奥側)に設けられているので、この広幅待機エリアに2本の可動レール部材の両方を移動待機させておくことが出来る。従って、荷移載作業エリアに立つ作業者と前記荷移載作業空間内でX方向に並列する2つのコンテナとの間に、2本の可動レール部材の一方が位置して手作業による移載作業の邪魔になることが無くなり、しかも奥側へ移動待機された可動レール部材が前記荷移載作業空間奥側の上に被さって、手作業による移載作業の邪魔になることもない。即ち、手作業での上記荷移載作業を安全且つ容易に行うことが出来る。勿論、2本の可動レール部材のY方向の移動領域全体のY方向長さは必要最小限に抑えて、移載装置全体が大型化するのを抑制出来る。 However, according to the configuration of the present invention, when the transfer work must be performed manually, there is a wide standby area in which the two movable rail members can be made to stand by in a state of being adjacent to each other in the Y direction. Since it is provided on the side opposite to the side where the load transfer work area is located (back side), both of the two movable rail members can be made to stand by in this wide standby area. Therefore, one of the two movable rail members is located between the worker standing in the load transfer work area and the two containers parallel to each other in the X direction in the load transfer work space, and the load is manually transferred. It does not interfere with the work, and the movable rail member that has been waiting to move to the back side does not cover the back side of the load transfer work space and does not interfere with the manual transfer work. That is, the manual load transfer work can be performed safely and easily. Of course, the length of the entire moving region of the two movable rail members in the Y direction in the Y direction can be suppressed to the minimum necessary, and the entire transfer device can be prevented from becoming large.

上記本発明を実施する場合、前記ピッキングヘッドが昇降自在に設けられた前記可動体は、2本の可動レール部材(17,18)のそれぞれに1つずつ設けておくことも可能であるが、2本の可動レール部材(17,18)のそれぞれに当該可動体(19,20及び21,22)を2つずつ設け、各可動レール部材(17,18)に設けられた2つの前記可動体(19,20及び21,22)は、当該可動レール部材(17,18)の両端何れ側でも互いに隣接する状態で位置し得るように、各可動レール部材(17,18)の両端部間で往復移動自在に設けることが出来る。この構成によれば、合計4つのピッキングヘッドをXY両方向に関して互いに隣接する状態で、前記コンテナ受け入れ場に搬入されたコンテナ内の全域に対応させることが出来る。従って、移載対象の荷が1つのピッキングヘッドで吊上げ降ろしが可能な小サイズの荷であれば、それぞれの荷の位置に関係なく4つの荷を同時に、X方向又はY方向に並ぶ2つのピッキングヘッドで吊上げ降ろしが可能な中サイズの荷であれば2つの荷を同時に、そして4つのピッキングヘッドで吊上げ降ろしを行わなければならないような大サイズの荷であれば1つの荷を、それぞれ自在に且つ効率良く取り扱うことが出来る。 When the present invention is carried out, the movable body provided with the picking head so as to be able to move up and down can be provided one for each of the two movable rail members (17, 18). Two movable bodies (19, 20 and 21, 22) are provided for each of the two movable rail members (17, 18), and the two movable bodies provided for each movable rail member (17, 18) are provided. (19,20 and 21,22) are located between both ends of each movable rail member (17,18) so that they can be located adjacent to each other on either side of the movable rail member (17,18). It can be provided so that it can move back and forth. According to this configuration, a total of four picking heads can be made to correspond to the entire area in the container carried into the container receiving place in a state of being adjacent to each other in both XY directions. Therefore, if the load to be transferred is a small-sized load that can be lifted and unloaded with one picking head, two pickings in which four loads are lined up in the X or Y direction at the same time regardless of the position of each load. Two loads can be lifted and unloaded at the same time for medium-sized loads that can be lifted and unloaded by the head, and one load can be freely lifted and unloaded for large-sized loads that must be lifted and unloaded with four picking heads. Moreover, it can be handled efficiently.

上記本発明による移載装置によって自動移載作業又は手作業による移載作業を行う場合、ピッキングヘッドや人手で吊り下げ状態にある荷がコンテナ内から完全に離れた状態でなければ、各コンテナ受け入れ場に対するコンテナの搬入搬出作業を安全に行うことが出来ない。従って、荷搬出対象のコンテナ受け入れ場(7)と荷搬入対象のコンテナ受け入れ場(8)とに搬入されたコンテナ(Cy,Cx)の上側に存在する障害物を検出する障害物検出手段(31)を併設しておくのが望ましい。この構成によれば、前記障害物検出手段の障害物検出領域内に荷や人手が存在する状況でのコンテナの搬入搬出作業を、当該障害物検出手段の障害物検出信号に基づいて自動的に回避することが出来、安全性が向上する。この構成を実施する場合、X方向に並列する2つのコンテナ受け入れ場(7,8)に搬入されている2つのコンテナ(Cy,Cx)の上側に存在する障害物をX方向から監視する障害物検出手段(31)を使用すれば、1つの障害物検出手段によって荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場の両方に対してコンテナの搬入搬出時の安全を確保することが出来る。 When performing automatic transfer work or manual transfer work by the transfer device according to the present invention, each container is accepted unless the load suspended by the picking head or manually is completely separated from the inside of the container. It is not possible to safely carry in and out the container to the site. Therefore, the obstacle detecting means (31) for detecting the obstacle existing above the container (Cy, Cx) carried into the container receiving place (7) to be carried out and the container receiving place (8) to be carried in. ) Is desirable. According to this configuration, the loading / unloading work of the container in the situation where a load or a man is present in the obstacle detection area of the obstacle detection means is automatically performed based on the obstacle detection signal of the obstacle detection means. It can be avoided and safety is improved. When implementing this configuration, an obstacle that monitors the obstacles above the two containers (Cy, Cx) carried into the two container receiving areas (7, 8) that are parallel in the X direction from the X direction. If the detection means (31) is used, it is possible to ensure the safety at the time of loading and unloading the container for both the container receiving place to be carried out and the container receiving place to be carried in by one obstacle detecting means. ..

本発明の移載装置では、荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場に対しコンテナを搬入搬出する作業を手作業で行うように構成することも出来るし、両コンテナ受け入れ場に対し、それぞれ1つのコンテナ搬入搬出兼用のコンベヤを設けて実施することも可能であるが、以下のように実施するのが望ましい。即ち、前記荷搬出対象のコンテナ受け入れ場(7)に対しコンテナ(Cy)の搬入搬出を行うコンベヤ(10)と、前記荷搬入対象のコンテナ受け入れ場(8)に対しコンテナ(Cx)の搬入搬出を行うコンベヤ(11)とを設け、これら両コンベヤ(10,11)のそれぞれは、上下二層の搬入用コンベヤユニット(12)と搬出用コンベヤユニット(13)、及び昇降移載手段(14A,14B)によって構成し、この昇降移載手段(14A,14B)には、前記荷移載作業空間(9)内を経由する前記両コンベヤユニット(12,13)間の昇降径路を平行移動するコンテナ支持搬送体(14a,14b)を設け、前記荷搬出対象のコンテナ受け入れ場(7)と荷搬入対象のコンテナ受け入れ場(8)とに搬入されたコンテナ(Cy,Cx)の上側に存在する障害物を検出する障害物検出手段(33A,33B)を併設し、この障害物検出手段(33A,33B)は、投受光器(38a)と光線反射板(38b)とから構成し、前記光線反射板(38b)は、昇降移載手段(14A,14B)の前記コンテナ支持搬送体(14a,14b)に取り付け、前記投受光器(38a)は、前記コンテナ支持搬送体(14a,14b)が支持搬送するコンテナ(Cy,Cx)が前記各コンテナ受け入れ場(7,8)に位置するときに、前記光線反射板(38b)に対応する固定位置に設けることが出来る。この構成によれば、運動体である各コンテナ支持搬送体(14a,14b)に投光器や受光器のような通電が必要な機器を取り付ける必要がないので、簡単に実施することが出来るだけでなく、障害物検出用光線膜の長さを短く出来る効果も得られる。 The transfer device of the present invention can be configured to manually carry in and out the container to the container receiving place to be carried out and the container receiving place to be carried in, or to both container receiving places. On the other hand, it is possible to provide one conveyor for loading and unloading each container, but it is desirable to carry out as follows. That is, the conveyor (10) for loading and unloading the container (Cy) to the container receiving area (7) to be loaded and unloaded, and the container (Cx) to be loaded and unloaded to the container receiving area (8) to be loaded and unloaded. A conveyor (11) is provided, and each of these two conveyors (10, 11) has a two-layer upper and lower loading conveyor unit (12), a loading conveyor unit (13), and a lifting transfer means (14A, 14B), and the elevating transfer means (14A, 14B) is a container that translates the elevating path between the two conveyor units (12, 13) via the load transfer work space (9). Obstacles existing above the containers (Cy, Cx) carried into the container receiving area (7) to be carried out and the container receiving area (8) to be carried in by providing support carriers (14a, 14b). An obstacle detecting means (33A, 33B) for detecting an object is provided, and the obstacle detecting means (33A, 33B) is composed of a light receiving receiver (38a) and a light reflecting plate (38b), and the light reflecting plate (38b). The plate (38b) is attached to the container support carrier (14a, 14b) of the elevating transfer means (14A, 14B), and the light receiving receiver (38a) is supported by the container support carrier (14a, 14b). When the container (Cy, Cx) to be transported is located at each of the container receiving areas (7, 8), it can be provided at a fixed position corresponding to the light reflecting plate (38b). According to this configuration, it is not necessary to attach a device requiring energization such as a floodlight or a light receiver to each container support carrier (14a, 14b) which is a moving body, so that it is not only easy to carry out. The effect of shortening the length of the ray film for detecting obstacles can also be obtained.

勿論、荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場に対しコンテナを搬入搬出する手段の構成に関係なく、前記障害物検出手段は、荷搬出対象のコンテナ受け入れ場(7)に搬入されたコンテナ(Cy)の上側に存在する障害物を検出する障害物検出手段(33A)と、荷搬入対象のコンテナ受け入れ場(8)に搬入されたコンテナ(Cx)の上側に存在する障害物を検出する障害物検出手段(33B)の2つに分けて設けることも出来る。この構成によれば、両コンテナ受け入れ場に対するコンテナの搬入搬出時期が異なっても、各コンテナ受け入れ場に対するコンテナの搬入搬出時に確実に障害物検出を行うことが出来るので、両コンテナ受け入れ場に対するコンテナの搬入搬出時期を同一にしなければならない場合と比較して、作業効率を高めながら安全性も確保出来る。 Of course, regardless of the configuration of the means for loading and unloading the container to the container receiving area to be loaded and unloaded and the container receiving area to be loaded and unloaded, the obstacle detecting means is carried into the container receiving area (7) to be loaded and unloaded. Obstacle detection means (33A) that detects obstacles on the upper side of the container (Cy) that has been loaded, and obstacles that exist on the upper side of the container (Cx) that has been carried into the container receiving area (8) to be loaded. It can also be provided separately for the obstacle detecting means (33B) for detecting the above. According to this configuration, even if the loading and unloading times of the containers to both container receiving areas are different, obstacles can be reliably detected at the time of loading and unloading the containers to each container receiving area. Compared to the case where the loading and unloading time must be the same, safety can be ensured while improving work efficiency.

図1は、本発明の一実施例に係る移載装置の側面図である。FIG. 1 is a side view of a transfer device according to an embodiment of the present invention. 図2は、同上移載装置の正面図である。FIG. 2 is a front view of the transfer device of the same as above. 図3は、同上移載装置が人手での移載作業を行う状況にあるときの平面図である。FIG. 3 is a plan view when the transfer device is in a situation where the transfer operation is manually performed. 図4は、同上移載装置におけるピッキングヘッドのX方向の移動範囲を説明する平面図である。FIG. 4 is a plan view illustrating the movement range of the picking head in the X direction in the transfer device of the same as above. 図5は、同上移載装置におけるピッキングヘッドのY方向の移動範囲を説明する平面図である。FIG. 5 is a plan view illustrating the movement range of the picking head in the Y direction in the transfer device of the same as above. 図6A~図6Dは、同上移載装置における4つのピッキングヘッドが各々1つの小サイズ荷を取り扱う場合の移載作業における各段階を説明する概略平面図である。6A-6D are schematic plan views illustrating each step in the transfer operation when each of the four picking heads in the transfer device handles one small size load. 図7A~図7Dは、同上移載装置における4つのピッキングヘッドが1つの大サイズ荷を取り扱う場合の移載作業における各段階を説明する概略平面図である。7A-7D are schematic plan views illustrating each step in the transfer operation when the four picking heads in the transfer device handle one large size load. 図8は、安全対策の別実施例を示す側面図である。FIG. 8 is a side view showing another embodiment of the safety measure. 図9は、図8の正面図である。FIG. 9 is a front view of FIG. 図10は、図8の実施例の変形例を示す側面図である。FIG. 10 is a side view showing a modified example of the embodiment of FIG. 図11は、安全対策の更なる別実施例を示す要部の側面図である。FIG. 11 is a side view of a main part showing another embodiment of the safety measure.

図1~図3に示すように、図示する一実施例に係る本発明の移載装置が備える荷搬出搬入ユニット1は、架台2の上に水平に据え付けられている。架台2は、Y方向(前後方向)一対の支柱3a,3bを上下両端近傍位置でY方向連結部材4a,4bにより互いに連結一体化したX方向(左右方向)一対の側枠5a,5bと、この側枠5a,5bどうしをY方向後ろ側の支柱3bの上端部位置で互いに連結一体化するX方向連結部材6から構成されたものである。 As shown in FIGS. 1 to 3, the loading / unloading unit 1 included in the transfer device of the present invention according to the illustrated embodiment is horizontally installed on the gantry 2. The gantry 2 includes a pair of side frames 5a and 5b in the X direction (left and right direction) in which a pair of columns 3a and 3b in the Y direction (front and rear direction) are connected and integrated with each other by Y direction connecting members 4a and 4b at positions near both upper and lower ends. It is composed of an X-direction connecting member 6 that connects and integrates the side frames 5a and 5b with each other at the upper end position of the support column 3b on the rear side in the Y direction.

前記架台2は、荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8とがX方向に隣り合う荷移載作業空間9を跨ぐように設置され、各コンテナ受け入れ場7,8には、コンテナCy/Cxの搬入搬出用コンベヤ10,11が接続されている。これら搬入搬出用コンベヤ10,11のそれぞれは、互いに並列する状態で、前記荷移載作業空間9のY方向後ろ側へY方向に沿って延びるように設置された、互いに同一構造のものであって、上下二層の搬入用コンベヤユニット12と搬出用コンベヤユニット13、及び昇降移載手段14A/14Bから構成されている。尚、図では搬入用コンベヤユニット12が上側となっているが、搬出用コンベヤユニット13が上側にあっても良い。 The gantry 2 is installed so that the container receiving place 7 to be carried out and the container receiving place 8 to be carried in are straddling the cargo transfer work space 9 adjacent to each other in the X direction, and are installed in the container receiving places 7 and 8 respectively. Is connected to the conveyors 10 and 11 for carrying in and out of the container Cy / Cx. Each of the carry-in / carry-out conveyors 10 and 11 has the same structure as each other and is installed so as to extend along the Y direction to the rear side of the load transfer work space 9 in the Y direction in a state of being parallel to each other. It is composed of two upper and lower layers of a carry-in conveyor unit 12, a carry-out conveyor unit 13, and an elevating transfer means 14A / 14B. Although the carry-in conveyor unit 12 is on the upper side in the figure, the carry-out conveyor unit 13 may be on the upper side.

前記昇降移載手段14A,14Bは、上下二層の搬入用コンベヤユニット12と搬出用コンベヤユニット13に接続する上昇限位置と下降限位置との間で平行昇降自在なコンテナ支持搬送体14a,14bを備え、このコンテナ支持搬送体14a,14b上には、搬入用コンベヤユニット12から送り出されるコンテナCy/Cxをこのコンテナ支持搬送体14a,14b上の定位置まで引き込む動作と、前記定位置にあるコンテナCy/Cxを搬出用コンベヤユニット13上へ送り出す動作を、選択的に行える引込み送り出し手段(回転方向切り換え自在なコンベヤやコンテナ押し引き用往復移動体など)を備えたものである。このコンテナ支持搬送体14a,14bは、その平行昇降経路の中間に位置する各コンテナ受け入れ場7/8において停止することにより、支持しているコンテナCy/Cxを各コンテナ受け入れ場7/8に搬入することが出来る。尚、両コンベヤ10,11が備える昇降移載手段14A,14Bは、搬入搬出用コンベヤ10,11が両コンテナ受け入れ場7,8に対して同時にコンテナCy/Cxの搬入搬出を行うものであるときは、それぞれが備えるコンテナ支持搬送体14a,14bを一体化して、両コンテナ受け入れ場7,8の全体(荷移載作業空間9)のX方向の巾とほぼ等しい横巾を有する1つのコンテナ支持搬送体とすることも出来る。 The elevating transfer means 14A and 14B are container support transport bodies 14a and 14b that can be moved up and down in parallel between the ascending limit position and the lowering limit position connected to the upper and lower two-layer loading conveyor unit 12 and the unloading conveyor unit 13. On the container support conveyors 14a and 14b, the container Cy / Cx sent out from the carry-in conveyor unit 12 is pulled to a fixed position on the container support conveyors 14a and 14b, and is in the fixed position. It is provided with a pull-in / delivery means (conveyor whose rotation direction can be switched, a reciprocating moving body for pushing / pulling a container, etc.) that can selectively perform an operation of sending the container Cy / Cx onto the carry-out conveyor unit 13. The container support carriers 14a and 14b are stopped at each container receiving place 7/8 located in the middle of the parallel ascending / descending path, so that the supporting container Cy / Cx is carried into each container receiving place 7/8. Can be done. In the up / down transfer means 14A and 14B provided on both conveyors 10 and 11, when the carry-in / carry-out conveyors 10 and 11 simultaneously carry in / out containers Cy / Cx to both container receiving areas 7 and 8. Integrates the container support conveyors 14a and 14b provided for each, and has one container support having a width substantially equal to the width in the X direction of the entire container receiving areas 7 and 8 (load transfer work space 9). It can also be a carrier.

尚、荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8に対するコンテナCy/Cxの搬入搬出のための手段を簡単に説明したが、この荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8に対するコンテナCy/Cxの搬入搬出のための手段は如何なる構成のものであっても良い。場合によっては、荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8に対するコンテナCy/Cxの搬入搬出を手作業で行うことも可能である。尚、図示の構成では、荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8は、搬入用コンベヤユニット12と搬出用コンベヤユニット13との間の中間高さに設定しているが、搬入用コンベヤユニット12又は搬出用コンベヤユニット13に接続する高さに設定することも出来る。 In addition, although the means for loading and unloading the container Cy / Cx for the container receiving place 7 to be carried out and the container receiving place 8 to be carried in is briefly explained, the container receiving place 7 to be carried out and the loading / unloading are briefly described. The means for loading and unloading the container Cy / Cx to the target container receiving place 8 may have any configuration. In some cases, it is also possible to manually carry in and out the container Cy / Cx to the container receiving place 7 to be carried out and the container receiving place 8 to be carried in. In the illustrated configuration, the container receiving place 7 to be carried out and the container receiving place 8 to be carried in are set at an intermediate height between the carrying-in conveyor unit 12 and the carrying-out conveyor unit 13. It can also be set to a height connected to the carry-in conveyor unit 12 or the carry-out conveyor unit 13.

架台2上に据え付けられた荷搬出搬入ユニット1は、Y方向と平行でX方向一対の固定レール部材15,16、X方向と平行でY方向一対の可動レール部材17,18、これら各可動レール部材17,18のそれぞれに支持されたX方向一対の可動体19,20及び21,22、及びこれら合計4つの可動体19~22のそれぞれにZ方向昇降自在に支持されたピッキングヘッド23~26から構成されている。更に詳述すると、X方向一対の固定レール部材15,16は、そのY方向の両端が、架台2の左右両側枠5a,5bにおけるY方向一対の支柱3a,3bの上端に固定支持されたもので、その上側には、Y方向2つの可動支持台15a,15b及び16a,16bがそれぞれ固定レール部材15,16のY方向両端部間で往復移動自在に支持されている。Y方向一対の可動レール部材17,18は、そのX方向の両端が可動支持台15a,15b及び16a,16b上に固定支持されている。又、可動体19,20及び21,22は、可動レール部材17,18の互いに対面する側部に、これら各可動レール部材17,18のX方向両端部間でX方向に往復移動自在に支持されている。これら可動体19~22には、Z方向(垂直上下方向)に平行な昇降用レール部材19a~22aの下端近傍部が固着され、これら各昇降用レール部材19a~22aには、そのZ方向の両端部間で昇降自在に支持された昇降支持台19b~22bが設けられ、これら各昇降支持台19b~22bに、下端に前記ピッキングヘッド23~26を備えたZ方向に平行な昇降ロッド23a~26aの上端部が固定支持されている。前記ピッキングヘッド23~26は、負圧により荷の上面に対して吸着させることが出来るものや、荷の上面に磁性板が添着されている荷や磁性板から成形されたボックスタイプの荷に対しては、通電により磁気吸着するタイプのものが利用出来る。勿論、荷の上面に被把持部を設けておき、ピッキングヘッドには、前記被把持部を把持及び解放自在な把持具を備えたものも利用可能である。 The loading / unloading unit 1 installed on the gantry 2 has a pair of fixed rail members 15 and 16 in the X direction parallel to the Y direction, and a pair of movable rail members 17 and 18 in the Y direction parallel to the X direction. A pair of movable bodies 19, 20 and 21 and 22 in the X direction supported by the members 17 and 18, respectively, and picking heads 23 to 26 supported by each of the four movable bodies 19 to 22 in the Z direction so as to be able to move up and down in the Z direction. It is composed of. More specifically, the pair of fixed rail members 15 and 16 in the X direction have both ends in the Y direction fixedly supported by the upper ends of the pair of columns 3a and 3b in the Y direction in the left and right side frames 5a and 5b of the gantry 2. On the upper side thereof, two movable support bases 15a, 15b and 16a, 16b in the Y direction are supported so as to be reciprocally movable between both ends of the fixed rail members 15 and 16 in the Y direction, respectively. Both ends of the pair of movable rail members 17 and 18 in the Y direction are fixedly supported on the movable support bases 15a and 15b and 16a and 16b in the X direction. Further, the movable bodies 19, 20 and 21 and 22 are supported on the side facing each other of the movable rail members 17 and 18 so as to be reciprocally movable in the X direction between both ends of the movable rail members 17 and 18 in the X direction. Has been done. The lower end portions of the elevating rail members 19a to 22a parallel to the Z direction (vertical vertical direction) are fixed to the movable bodies 19 to 22, and the elevating rail members 19a to 22a are fixed to the elevating rail members 19a to 22a in the Z direction. Elevating supports 19b to 22b that are freely supported between both ends are provided, and each of these elevating supports 19b to 22b is provided with the picking heads 23 to 26 at the lower ends of the elevating rods 23a to parallel to the Z direction. The upper end of 26a is fixedly supported. The picking heads 23 to 26 are for a load that can be attracted to the upper surface of the load by negative pressure, a load having a magnetic plate attached to the upper surface of the load, or a box-type load formed from the magnetic plate. A type that magnetically attracts by energization can be used. Of course, it is also possible to use a picking head provided with a gripping tool capable of gripping and releasing the gripped portion by providing a gripped portion on the upper surface of the load.

図3などに示されるように、昇降支持台19b~22b(昇降ロッド23a~26a)は、同一可動レール部材17/18に支持されている昇降用レール部材19a,20a/21a,22aのX方向に対面する側部に配置されている。又、図4に示すように、可動レール部材17に支持されているX方向2つの可動体19,20と可動レール部材18に支持されているX方向2つの可動体21,22は、当該可動レール部材17/18のX方向両端部で昇降支持台19b,20b/21b,22b(昇降ロッド23a,24a/25a,26a)がX方向に隣接する状態が移動の行程端となるように、それぞれX方向移動範囲Wx内で可動レール部材17/18に沿って往復移動可能である。 As shown in FIG. 3 and the like, the elevating support bases 19b to 22b (elevating rods 23a to 26a) are in the X direction of the elevating rail members 19a, 20a / 21a, 22a supported by the same movable rail member 17/18. It is located on the side facing the. Further, as shown in FIG. 4, the two movable bodies 19 and 20 in the X direction supported by the movable rail member 17 and the two movable bodies 21 and 22 in the X direction supported by the movable rail member 18 are movable. The rail members 17/18 have the elevating supports 19b, 20b / 21b, 22b (elevating rods 23a, 24a / 25a, 26a) adjacent to each other in the X direction at both ends in the X direction so that the movement end ends. It can reciprocate along the movable rail member 17/18 within the movement range Wx in the X direction.

図4に示すように、平面視において前記荷移載作業空間9のY方向前側には、可動レール部材17のみを待機させる待機位置Sp1を備えた狭幅待機エリアSa1が設けられ、図3に示すように、平面視において前記荷移載作業空間9のY方向後ろ側には、2つの可動レール部材17,18をY方向に隣接する状態で待機させることが出来るY方向2つの待機位置Sp2,Sp3を備えた広幅待機エリアSa2が設けられている。従って、図5に示すように、可動レール部材17は、狭幅待機エリアSa1内の待機位置Sp1と、広幅待機エリアSa2内の荷移載作業空間9に隣接する側の待機位置Sp2との間のY方向移動範囲Wy内をY方向に往復移動可能であり、可動レール部材18は、図5に示すように、狭幅待機エリアSa1内の待機位置Sp1に位置する可動レール部材17に対してY方向後ろ側に隣接する行程限位置p4と、広幅待機エリアSa2内の荷移載作業空間9から離れた側の待機位置Sp3との間のY方向移動範囲Wy内をY方向に往復移動可能である。 As shown in FIG. 4, a narrow standby area Sa1 having a standby position Sp1 for waiting only the movable rail member 17 is provided on the front side in the Y direction of the load transfer work space 9 in a plan view, and is shown in FIG. As shown, on the rear side of the load transfer work space 9 in the Y direction in a plan view, two movable rail members 17 and 18 can be made to stand by in a state of being adjacent to each other in the Y direction. , Sp3 is provided with a wide standby area Sa2. Therefore, as shown in FIG. 5, the movable rail member 17 is located between the standby position Sp1 in the narrow standby area Sa1 and the standby position Sp2 on the side adjacent to the load transfer work space 9 in the wide standby area Sa2. The movable rail member 18 can reciprocate in the Y direction within the Y-direction moving range Wy, and the movable rail member 18 is relative to the movable rail member 17 located at the standby position Sp1 in the narrow standby area Sa1 as shown in FIG. It is possible to reciprocate in the Y direction within the Y direction movement range Wy between the stroke limit position p4 adjacent to the rear side in the Y direction and the standby position Sp3 on the side away from the load transfer work space 9 in the wide standby area Sa2. Is.

固定レール部材15,16に対して可動支持台15a,15b及び16a,16bをY方向に往復移動させる駆動手段、可動レール部材17,18に対して可動体19,20及び21,22をX方向に往復移動させる駆動手段、及び昇降用レール部材19a~22aに対して昇降支持台19b~22bを昇降駆動させる駆動手段については、具体構造を示していないが、何れも従来周知の駆動手段が利用出来る。例えば可動支持台15a,15b及び16a,16bや可動体19,20及び21,22を往復移動させる駆動手段としては、固定レール部材15,16(可動レール部材17,18)内の略全長に及ぶ長さの固定スクリューシャフトをY方向(X方向)と平行に架設し、可動支持台15a,15b及び16a,16b(可動体19,20及び21,22)の各々には、前記固定スクリューシャフトに螺嵌する雌ネジ体を自転のみ可能に支承すると共に当該雌ネジ体を正逆回転駆動するモーターを搭載し、この各可動支持台15a~16b(可動体19~22)が備える雌ネジ体を各々前記モーターにより正逆回転駆動することにより、昇降支持台19b~22b(昇降ロッド23a~26a)と共にピッキングヘッド23~26を前記X方向移動範囲Wx内及びY方向移動範囲Wy内で自在に移動させることが出来る。 A driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b with respect to the fixed rail members 15 and 16, and moving bodies 19, 20 and 21 and 22 with respect to the movable rail members 17 and 18 in the X direction. Although no specific structure is shown for the driving means for reciprocating the elevating rail members 19a to 22a and the driving means for elevating the elevating support bases 19b to 22b with respect to the elevating rail members 19a to 22a, conventionally known driving means are used. You can. For example, the driving means for reciprocating the movable support bases 15a, 15b and 16a, 16b and the movable bodies 19, 20 and 21 and 22 covers substantially the entire length of the fixed rail members 15, 16 (movable rail members 17, 18). A fixed screw shaft of length is erected in parallel with the Y direction (X direction), and each of the movable supports 15a, 15b and 16a, 16b (movable bodies 19, 20 and 21 and 22) is attached to the fixed screw shaft. A female screw body to be screwed is supported only by rotation, and a motor for driving the female screw body in forward and reverse rotation is mounted, and the female screw body provided in each movable support base 15a to 16b (movable body 19 to 22) is provided. The picking heads 23 to 26 can be freely moved within the X-direction moving range Wx and the Y-direction moving range Wy together with the elevating support bases 19b to 22b (elevating rods 23a to 26a) by being driven by the motors in the forward and reverse rotations, respectively. Can be made to.

又、昇降用レール部材19a~22aに対して昇降支持台19b~22bを昇降駆動させる駆動手段としては、各昇降用レール部材19a~22aに対して1つの昇降支持台19b~22bを昇降駆動させれば良いので、例えば各昇降用レール部材19a~22a内にその略全長に及ぶ長さの自転可能なスクリューシャフトをZ方向に沿って支承すると共に、例えば各昇降用レール部材19a~22aの上端に前記スクリューシャフトを正逆回転駆動するモーターを取り付け、各昇降支持台19b~22bには、前記スクリューシャフトに螺嵌する固定の雌ネジ体を取り付けて構成することが出来る。この構成によれば、前記モーターによりスクリューシャフトを正逆回転駆動することにより、各昇降支持台19b~22bを自在に昇降移動させることが出来る。 Further, as a driving means for driving the elevating support bases 19b to 22b up and down with respect to the elevating rail members 19a to 22a, one elevating support base 19b to 22b is driven up and down with respect to the elevating rail members 19a to 22a. Therefore, for example, a self-rotating screw shaft having a length substantially the entire length thereof is supported in each of the elevating rail members 19a to 22a along the Z direction, and for example, the upper end of each elevating rail member 19a to 22a is supported. A motor for driving the screw shaft in forward and reverse rotation is attached to each of the elevating support bases 19b to 22b, and a fixed female screw body screwed into the screw shaft can be attached to each of the elevating support bases 19b to 22b. According to this configuration, each of the elevating support bases 19b to 22b can be freely moved up and down by driving the screw shaft in forward and reverse rotation by the motor.

更に、図1~図3に示すように、前記荷移載作業空間9のY方向前側の床面側には、当該荷移載作業空間9のX方向の全巾をカバー出来る巾の作業者の荷移載作業エリア27が設けられている。又、前記荷移載作業空間9の上方には、荷搬出対象のコンテナ受け入れ場7の上方一定高さと荷搬入対象のコンテナ受け入れ場8の上方一定高さに、荷搬出対象のコンテナ受け入れ場7に位置する荷搬出対象のコンテナCyの内部の荷の位置情報などを画像から読み取る撮像装置(カメラ)28と、荷搬入対象のコンテナ受け入れ場8に位置する荷搬入対象のコンテナCxの内部の荷載置可能なエリアなどを画像から読み取る撮像装置(カメラ)29とが配設されている。これら撮像装置28,29は、側枠5a,5bにY方向両側の脚部が支持された門形フレーム30の上端水平部に取り付けられる。 Further, as shown in FIGS. 1 to 3, a worker having a width capable of covering the entire width of the load transfer work space 9 in the X direction on the floor surface side on the front side in the Y direction of the load transfer work space 9. The cargo transfer work area 27 is provided. Further, above the loading transfer work space 9, the container receiving area 7 to be unloaded is located at a certain height above the container receiving area 7 to be unloaded and a constant height above the container receiving area 8 to be loaded. An image pickup device (camera) 28 that reads the position information of the load inside the container Cy to be carried out from the image, and the loading inside the container Cx to be carried in located at the container receiving place 8 to be carried in. An image pickup device (camera) 29 that reads an area or the like that can be placed from an image is arranged. These image pickup devices 28 and 29 are attached to the upper end horizontal portion of the portal frame 30 in which the legs on both sides in the Y direction are supported by the side frames 5a and 5b.

以下、以上のように構成された移載装置の使用方法について説明すると、この移載装置は、荷搬出搬入ユニット1を稼働させる自動運転と、荷搬出搬入ユニット1を使用しない手作業とが可能なものである。何れの場合も荷搬出対象のコンテナCyは、搬入搬出用コンベヤ10の搬入用コンベヤユニット12と昇降移載手段14Aのコンテナ支持搬送体14aにより荷搬出対象のコンテナ受け入れ場7に送り込まれる。又、荷搬入対象のコンテナCxは、搬入搬出用コンベヤ11の搬入用コンベヤユニット12と昇降移載手段14Bのコンテナ支持搬送体14bにより荷搬入対象のコンテナ受け入れ場8に送り込まれる。而して自動運転の場合は、図4に実線で示すように荷搬出搬入ユニット1の4つのピッキングヘッド23~26は、荷搬出対象のコンテナ受け入れ場7に送り込まれた荷搬出対象のコンテナCyの平面視における四隅外側に隣り合う位置で且つ上昇限高さで待機してる。即ち、可動レール部材17は、狭幅待機エリアSa1内の待機位置Sp1に位置すると共に、可動レール部材18は、広幅待機エリアSa2内の待機位置Sp2に位置し、可動レール部材17,18の可動体19,20及び21,22は、荷搬出対象のコンテナ受け入れ場7に搬入された荷搬出対象のコンテナCyの平面視で四隅外側に隣り合う位置にあって、それぞれが備える昇降ロッド23a~26aは、昇降用レール部材19a~22aの上昇限高さで待機している。 Hereinafter, the method of using the transfer device configured as described above will be described. This transfer device can perform automatic operation for operating the load / carry-out unit 1 and manual operation without using the load / carry-in / carry-in unit 1. It is a thing. In either case, the container Cy to be carried out is sent to the container receiving place 7 to be carried out by the carry-in conveyor unit 12 of the carry-in / carry-out conveyor 10 and the container support carrier 14a of the elevating / moving transfer means 14A. Further, the container Cx to be carried in is sent to the container receiving place 8 to be carried in by the carry-in conveyor unit 12 of the carry-in / carry-out conveyor 11 and the container support carrier 14b of the elevating transfer means 14B. Therefore, in the case of automatic operation, as shown by the solid line in FIG. 4, the four picking heads 23 to 26 of the loading / unloading unit 1 are the container Cy of the loading / unloading target sent to the container receiving area 7 to be loaded / unloaded. It stands by at the position adjacent to the outside of the four corners in the plan view and at the ascending limit height. That is, the movable rail member 17 is located at the standby position Sp1 in the narrow standby area Sa1, and the movable rail member 18 is located at the standby position Sp2 in the wide standby area Sa2, and the movable rail members 17 and 18 are movable. The bodies 19, 20 and 21 and 22 are located adjacent to the outside of the four corners in the plan view of the container Cy to be unloaded, which has been carried into the container receiving area 7 to be unloaded, and the elevating rods 23a to 26a provided therein. Is on standby at the ascending limit height of the elevating rail members 19a to 22a.

荷搬出対象のコンテナ受け入れ場7に搬入された荷搬出対象のコンテナCy内には、例えば図6Aに示すように、複数の小サイズ荷Bsが収納されているとし、荷搬入対象のコンテナ受け入れ場8に搬入された荷搬入対象のコンテナCxには、当該小サイズ荷Bsを4つ移載しなければならない場合、図6Aに示すように荷搬出対象のコンテナCyの四隅外側で且つ上昇限位置で待機している4つのピッキングヘッド23~26を、図6Bに示すように、可動レール部材17,18のY方向の移動と、各可動レール部材17,18上の可動体19,20及び21,22のX方向の移動を組み合わせて、搬出対象の4つの小サイズ荷Bsの真上位置に移動させ、続いて昇降用レール部材19a~22aに対して昇降支持台19b~22b(昇降ロッド23a~26a)を下降させて、4つのピッキングヘッド23~26を搬出対象の4つの小サイズ荷Bsの上面に当接吸着させる。勿論、ピッキングヘッド23~26が負圧吸着タイプか磁気吸着タイプのものを仮定してのことであるが、取り扱う荷の上部に被把持部が設けられ、ピッキングヘッド23~26がその被把持部を把持する把持具を備えた把持タイプのものであれば、各ピッキングヘッド23~26の把持具により搬出対象の4つの小サイズ荷Bsの上部の被把持部を把持させることになる。上記の動作は、荷搬出対象のコンテナ受け入れ場7の真上に位置する撮像装置28が取得した画像に基づいて自動的に行わせることが出来る。 As shown in FIG. 6A, for example, it is assumed that a plurality of small-sized load Bs are stored in the container Cy to be carried out to the container receiving place 7 to be carried out, and the container receiving place to be carried in. When four small-sized cargo Bs must be transferred to the container Cx to be loaded into the container Cx to be loaded into 8, as shown in FIG. 6A, the outside of the four corners of the container Cy to be loaded and the ascending limit position. As shown in FIG. 6B, the four picking heads 23 to 26 waiting at the above are moved in the Y direction of the movable rail members 17 and 18, and the movable bodies 19, 20 and 21 on the movable rail members 17 and 18 are moved. , 22 are combined to move in the X direction to move to a position directly above the four small-sized loads Bs to be carried out, and then the elevating support bases 19b to 22b (elevating rod 23a) are moved to the elevating rail members 19a to 22a. -26a) is lowered so that the four picking heads 23-26 are brought into contact with and attracted to the upper surfaces of the four small-sized loads Bs to be carried out. Of course, it is assumed that the picking heads 23 to 26 are of the negative pressure suction type or the magnetic suction type, but a gripped portion is provided on the upper part of the load to be handled, and the picking heads 23 to 26 are the gripped portions. If it is a gripping type equipped with a gripping tool for gripping, the gripping tools of the picking heads 23 to 26 will grip the gripped portion on the upper part of the four small-sized loads Bs to be carried out. The above operation can be automatically performed based on the image acquired by the image pickup apparatus 28 located directly above the container receiving place 7 to be unloaded.

各ピッキングヘッド23~26が荷搬出対象のコンテナCy内の所定位置にある搬出対象の4つの小サイズ荷Bsを吊り上げ可能な状態になれば、各ピッキングヘッド23~26を搬出対象の小サイズ荷Bsと共に上昇限高さまで吊り上げる。具体的には、昇降用レール部材19a~22aに対して昇降支持台19b~22b(昇降ロッド23a~26a)を上昇限高さまで上昇させる。この後、吊り上げた小サイズ荷Bsを荷搬入対象のコンテナ受け入れ場8に搬入されている荷搬入対象のコンテナCx内の所定位置(例えば図6Bに示す位置)に移載するのであるが、具体的には、図6Cに示すように、可動レール部材17,18のY方向の移動と、各可動レール部材17,18上での可動体19,20及び21,22のX方向の移動とを組み合わせて、吊り上げた小サイズ荷Bsを荷搬入対象のコンテナCx内の所定位置の真上迄移動させ、続いて各昇降用レール部材19a~22aに対し昇降ロッド23a~26aを下降させて、ピッキングヘッド23~26が吊上げていた各小サイズ荷Bsを荷搬入対象のコンテナCx内の所定位置に降ろすことが出来る(図6D参照)。荷搬入対象のコンテナCx内への小サイズ荷Bsの降ろし場所の選定や、降ろし終わったことの確認などは、荷搬入対象のコンテナ受け入れ場8の真上に位置する撮像装置29が取得した画像に基づいて自動的に行わせることが出来る。 When the picking heads 23 to 26 are in a state where the four small size loads Bs to be carried out at predetermined positions in the container Cy to be carried out can be lifted, the picking heads 23 to 26 can be lifted from the small size loads to be carried out. Lift up to the ascending limit height with Bs. Specifically, the elevating support bases 19b to 22b (elevating rods 23a to 26a) are raised to the ascending limit height with respect to the elevating rail members 19a to 22a. After that, the lifted small-sized cargo Bs is transferred to a predetermined position (for example, the position shown in FIG. 6B) in the container Cx to be loaded, which is being carried into the container receiving place 8 to be loaded. Specifically, as shown in FIG. 6C, the movement of the movable rail members 17 and 18 in the Y direction and the movement of the movable bodies 19, 20 and 21 and 22 on the movable rail members 17 and 18 in the X direction are performed. In combination, the lifted small-sized load Bs is moved to just above a predetermined position in the container Cx to be loaded, and then the lifting rods 23a to 26a are lowered with respect to the lifting rail members 19a to 22a for picking. Each small-sized load Bs lifted by the heads 23 to 26 can be unloaded at a predetermined position in the container Cx to be loaded (see FIG. 6D). The image acquired by the image pickup device 29 located directly above the container receiving place 8 to be loaded is to select the unloading place of the small-sized load Bs into the container Cx to be loaded and to confirm that the unloading is completed. It can be done automatically based on.

荷搬出対象のコンテナCy内から吊り上げられる小サイズ荷Bsの全体が当該荷搬出対象のコンテナCy内から上方に移動したならば、その時点で荷搬出対象のコンテナCyを荷搬出対象のコンテナ受け入れ場7から搬出させることが出来る。具体的には、荷搬出対象のコンテナCyを支持している昇降移載手段14Aのコンテナ支持搬送体14aを下降させて搬出用コンベヤユニット13に接続させた後、コンテナ支持搬送体14a上から搬出用コンベヤユニット13上へ荷搬出対象のコンテナCyを搬出させることになる。このことによって、荷搬入対象のコンテナCxへの小サイズ荷Bsの移載完了を待たないで、次の荷搬出対象のコンテナCyを荷搬出対象のコンテナ受け入れ場7に搬入する作業を直ちに開始出来る。 If the entire small-sized load Bs lifted from the container Cy to be unloaded moves upward from the container Cy to be unloaded, then the container Cy to be unloaded is moved to the container receiving area to be unloaded. It can be carried out from 7. Specifically, after lowering the container support transport body 14a of the elevating transfer means 14A supporting the container Cy to be unloaded and connecting it to the carry-out conveyor unit 13, it is carried out from the container support transport body 14a. The container Cy to be unloaded is to be carried out onto the conveyor unit 13. As a result, the work of carrying the next container Cy to be unloaded into the container receiving place 7 to be unloaded can be started immediately without waiting for the completion of the transfer of the small-sized cargo Bs to the container Cx to be carried in. ..

一方、上記のように荷搬入対象のコンテナCx内への小サイズ荷Bsの移載が完了すれば、全てのピッキングヘッド23~26を上昇限高さまで上昇させた後、図6Aに示す待機位置に復帰させる。この場合も、荷搬入対象のコンテナCx内から上昇する昇降ロッド23a~26a及びピッキングヘッド23~26が当該荷搬入対象のコンテナCx内から上方に移動したならば、その時点で荷搬入対象のコンテナCxを荷搬入対象のコンテナ受け入れ場8から搬出させることが出来る。具体的には、荷搬入対象のコンテナCxを支持している昇降移載手段14Bのコンテナ支持搬送体14bを下降させて搬出用コンベヤユニット13に接続させた後、コンテナ支持搬送体14b上から搬出用コンベヤユニット13上へ荷搬入対象のコンテナCxを搬出させることになる。このことによって、ピッキングヘッド23~26が図6Aに示す待機位置に復帰するのを待たないで、次の荷搬入対象のコンテナCxを荷搬入対象のコンテナ受け入れ場8に搬入する作業を直ちに開始出来る。 On the other hand, if the transfer of the small-sized load Bs into the container Cx to be loaded is completed as described above, all the picking heads 23 to 26 are raised to the ascending limit height, and then the standby position shown in FIG. 6A. Return to. In this case as well, if the elevating rods 23a to 26a and the picking heads 23 to 26 rising from the container Cx to be loaded move upward from the container Cx to be loaded, the container to be loaded at that time. Cx can be carried out from the container receiving place 8 to be carried in. Specifically, after lowering the container support transport body 14b of the elevating transfer means 14B supporting the container Cx to be loaded and connecting it to the carry-out conveyor unit 13, it is carried out from the container support transport body 14b. The container Cx to be loaded is to be carried out onto the conveyor unit 13. As a result, the work of loading the next container Cx to be loaded into the container receiving area 8 to be loaded can be started immediately without waiting for the picking heads 23 to 26 to return to the standby position shown in FIG. 6A. ..

上記の小サイズ荷Bsの移載作業に際して、全てのピッキングヘッド23~26で4つの小サイズ荷Bsを同時に移載するように説明したが、これは各ピッキングヘッド23~26の各々が小サイズ荷Bsの吊上げ降ろしが可能であり且つ同時に4つの小サイズ荷Bsの移載が行える状況にあるからであって、1回の移載作業に際して、小サイズ荷Bsは1つ~4つの範囲内で移載作業を行うことが出来る。移載作業対象の小サイズ荷Bsの個数が3つ以下であれば、ピッキングヘッド23~26の内、1つ~3つのピッキングヘッドを使用しないことになるが、可動体19~22の内、使用しないことになるピッキングヘッドを備えた可動体が他のピッキングヘッドのX-Y方向の移動に邪魔にならないように、例えば図6Aに示す待機位置がにあるピッキングヘッド23~26の内、荷搬入対象のコンテナ受け入れ場8にある荷搬入対象のコンテナCxに近い位置にあるピッキングヘッドから使用するように選定することが出来る。 In the above-mentioned transfer work of the small size load Bs, it was explained that all the picking heads 23 to 26 transfer the four small size load Bs at the same time, but this is because each of the picking heads 23 to 26 has a small size. This is because the load Bs can be lifted and unloaded and four small size load Bs can be transferred at the same time. Therefore, the small size load Bs can be transferred within the range of 1 to 4 in one transfer operation. You can do the transfer work at. If the number of small-sized load Bs to be transferred is three or less, one to three picking heads among the picking heads 23 to 26 will not be used, but among the movable bodies 19 to 22, To prevent a movable body equipped with a picking head that will not be used from interfering with the movement of other picking heads in the XY directions, for example, among the picking heads 23 to 26 having the standby position shown in FIG. 6A, the load is loaded. It can be selected to be used from the picking head located near the container Cx to be carried in at the container receiving place 8 to be carried in.

勿論、取り扱う荷のサイズが、ピッキングヘッド23~26の内、Y方向に隣り合うことが出来る2つのピッキングヘッド23,25/24,26によって吊上げることが出来るY方向に長い縦長中サイズ荷や、X方向に隣り合うことが出来る2つのピッキングヘッド23,24/25,26によって吊上げることが出来るX方向に長い横長中サイズ荷なども、2つのピッキングヘッドを使用して1つ又は2つを取り扱うことも出来る。更に、4つ全てのピッキングヘッド23~26で吊上げなければならない大サイズ荷の取り扱いも可能である。図7A~図7Dは、4つ全てのピッキングヘッド23~26で1つの大サイズ荷Bbを移載するときの状況を説明している。手順は図6に基づいて説明した小サイズ荷Bsの移載作業と基本的に同一であって、違いは常に4つ全てのピッキングヘッド23~26で1つの大サイズ荷Bbの吊り上げとX-Y方向の搬送、及び降ろしが行われる点である。この場合、4つのピッキングヘッド23~26は、1つの大サイズ荷Bbの上面の四隅近傍位置を吊り上げるように位置させるのが望ましい。 Of course, the size of the load to be handled is a vertically long medium size load that is long in the Y direction and can be lifted by two picking heads 23, 25/24, 26 that can be adjacent to each other in the Y direction among the picking heads 23 to 26. , Two picking heads 23, 24/25, 26 that can be adjacent in the X direction, one or two horizontally long medium-sized loads that can be lifted by the X direction, using two picking heads Can also be handled. Furthermore, it is possible to handle large-sized loads that must be lifted by all four picking heads 23 to 26. 7A to 7D describe the situation when one large size load Bb is transferred by all four picking heads 23 to 26. The procedure is basically the same as the transfer work of the small size load Bs described based on FIG. 6, and the difference is always the lifting of one large size load Bb and the X- with all four picking heads 23 to 26. This is the point where transportation and unloading in the Y direction are performed. In this case, it is desirable that the four picking heads 23 to 26 are positioned so as to lift the positions near the four corners of the upper surface of one large-sized load Bb.

以上のように荷搬出搬入ユニット1を作動させて、荷搬出対象のコンテナ受け入れ場7に搬入された荷搬出対象のコンテナCy内の各種サイズの荷を荷搬入対象のコンテナ受け入れ場8に搬入された荷搬入対象のコンテナCxへ移載させることが出来るものであるが、例えばピッキングヘッド23~26の故障や、何らかの理由によって手作業で上記の作業を行う必要が生じたときは、図1及び図3に示すように、Y方向2つの可動レール部材17,18を広幅待機エリアSa2内に移動させる。即ち、可動レール部材18は、Y方向後ろ側へ限界位置まで移動させて待機位置Sp3で停止させると共に、可動レール部材17は、Y方向後ろ側へ前記可動レール部材18に隣接する位置まで移動させて待機位置Sp2で停止させる。この広幅待機エリアSa2内で2つの可動レール部材17,18をY方向に隣接する状態で待機させることは、荷搬出搬入ユニット1を利用する一連の移載作業が終了した段階ごとに行わせても良い。 By operating the loading / unloading unit 1 as described above, loads of various sizes in the container Cy to be loaded / unloaded are carried into the container receiving area 8 to be loaded into the container receiving area 7 to be loaded / unloaded. It can be transferred to the container Cx to be loaded, but if, for example, the picking heads 23 to 26 fail or if for some reason it becomes necessary to manually perform the above work, FIG. 1 and FIG. As shown in FIG. 3, the two movable rail members 17 and 18 in the Y direction are moved into the wide standby area Sa2. That is, the movable rail member 18 is moved to the rear side in the Y direction to the limit position and stopped at the standby position Sp3, and the movable rail member 17 is moved to the rear side in the Y direction to the position adjacent to the movable rail member 18. And stop at the standby position Sp2. Standing the two movable rail members 17 and 18 in the wide standby area Sa2 in a state of being adjacent to each other in the Y direction is performed at each stage when a series of transfer work using the loading / unloading unit 1 is completed. Is also good.

上記の手作業のための準備が完了すると、荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8が並列する荷移載作業空間9のY方向前側が解放され、荷移載作業エリア27の床面上に作業者が立って、可動レール部材17,18やこれらに支持されている昇降用レール部材19a~22a、昇降ロッド23a~26a、及びピッキングヘッド23~26に邪魔されることなく、荷搬出対象のコンテナ受け入れ場7に搬入された荷搬出対象のコンテナCy内の各種サイズの荷を荷搬入対象のコンテナ受け入れ場8に搬入された荷搬入対象のコンテナCxへ手作業で移載させることが出来る。この手作業で荷移載作業を行う場合も、撮像装置28,29が取得した画像に基づいて作業内容を管理することが出来る。尚、荷移載作業空間9及び荷移載作業エリア27のX方向左右両側には、荷搬出搬入ユニット1の固定レール部材15,16を支持する架台2の側枠5a,5bが位置しているが、この側枠5a,5bの自立強度、換言すれば荷搬出搬入ユニット1の支持強度は、Y方向後ろ側の支柱3bの上端近傍どうしを連結しているX方向連結部材6によって十分に得られるが、若し必要ならば、Y方向前側の支柱3aどうしも、上記の手作業に邪魔にならない位置、例えば荷移載作業空間9に位置する荷搬出対象のコンテナCy及び荷搬入対象のコンテナCxの上端とほぼ同一高さで、X方向連結部材により互いに連結することが可能である。尚、前記X方向連結部材6は、荷搬出搬入ユニット1のX方向一対の固定レール部材15,16の後端部どうしを直接連結する位置に設けることも可能である。 When the preparation for the above manual work is completed, the front side in the Y direction of the load transfer work space 9 in which the container receiving area 7 to be loaded and the container receiving area 8 to be loaded are parallel is released, and the load transfer work is performed. An operator stands on the floor surface of the area 27 and is disturbed by the movable rail members 17 and 18, the elevating rail members 19a to 22a supported by these, the elevating rods 23a to 26a, and the picking heads 23 to 26. By hand, loads of various sizes in the container Cy to be carried out to the container receiving place 7 to be carried out are manually transferred to the container Cx to be carried in to the container receiving place 8 to be carried in. Can be reprinted. Even when the load transfer work is performed manually, the work content can be managed based on the images acquired by the image pickup devices 28 and 29. The side frames 5a and 5b of the gantry 2 that support the fixed rail members 15 and 16 of the loading / unloading unit 1 are located on the left and right sides of the loading / unloading work space 9 and the loading / unloading work area 27 in the X direction. However, the self-supporting strength of the side frames 5a and 5b, in other words, the support strength of the loading / unloading unit 1 is sufficiently increased by the X-direction connecting member 6 connecting the vicinity of the upper ends of the columns 3b on the rear side in the Y direction. However, if necessary, the columns 3a on the front side in the Y direction are located at positions that do not interfere with the above manual work, for example, the container Cy to be carried out and the container Cy to be carried in, which are located in the load transfer work space 9. It is possible to connect to each other by the X-direction connecting member at almost the same height as the upper end of the container Cx. The X-direction connecting member 6 can also be provided at a position where the rear ends of the pair of fixed rail members 15 and 16 in the X-direction of the loading / unloading unit 1 are directly connected to each other.

上記実施例では、搬入搬出用コンベヤ11の搬入用コンベヤユニット12と搬出用コンベヤユニット13との間で荷搬出対象のコンテナCy及び荷搬入対象のコンテナCxを、各コンテナ受け入れ場7,8を経由して昇降移載させるための昇降移載手段14A,14Bとして、垂直上下方向に平行昇降運動するコンテナ支持搬送体14a,14bを使用しているが、搬入用コンベヤユニット12の終端から搬出用コンベヤユニット13の始端へ各コンテナ受け入れ場7,8を経由してコンテナCy,Cxを移載させる手段は、如何なる構成のものであっても良い。 In the above embodiment, the container Cy to be carried out and the container Cx to be carried in are passed between the carry-in conveyor unit 12 and the carry-out conveyor unit 13 of the carry-in / carry-out conveyor 11 via the respective container receiving places 7 and 8. As the elevating and transferring means 14A and 14B for elevating and transferring, the container support conveyors 14a and 14b that move up and down in parallel in the vertical and vertical directions are used. The means for transferring the containers Cy and Cx to the starting end of the unit 13 via the container receiving areas 7 and 8 may have any configuration.

上記のように荷移載作業空間9に対するコンテナCy,Cxの搬入搬出行程が実行されるとき、コンテナ支持搬送体14a,14bによるコンテナ移載経路中に、人手による作業時の人手が入り込んでいると非常に危険であり、荷搬出搬入ユニット1による自動作業時といえども、前記コンテナ移載経路中にピッキングヘッド23~26を下端に備えた昇降ロッド23a~26aなどが入り込んでいると、機器の破損を伴う故障を誘発することになる。このような事態が生じないように安全対策を講じる必要があるが、この安全対策の実施例を以下に説明する。 When the loading / unloading process of the containers Cy and Cx for the loading / unloading work space 9 is executed as described above, the manual operation during the manual work is entered into the container transfer path by the container support transport bodies 14a and 14b. Even during automatic work by the loading / unloading unit 1, if the lifting rods 23a to 26a provided with the picking heads 23 to 26 at the lower ends are inserted in the container transfer path, the equipment Will induce a failure with damage. It is necessary to take safety measures to prevent such a situation from occurring, and an example of this safety measure will be described below.

図1及び図2に示すように、荷移載作業空間9における荷搬出対象のコンテナ受け入れ場7に搬入されている荷搬出対象のコンテナCyと、荷搬入対象のコンテナ受け入れ場8に搬入されている荷搬入対象のコンテナCxの上側を、荷移載作業空間9の一端外側から他端外側へX方向に横断する平面状の障害物検出用光線膜31aを発生させる障害物検出手段31を設けることが出来る。この障害物検出手段31は、荷移載作業空間9のY方向一端外側に配設した投光器32aと荷移載作業空間9のY方向他端外側に配設した受光器32bから成る光線透過型のものが利用出来るが、投光器32aを投受光器とし、受光器32bに代えて光線反射板を使用する反射型のもので良い。前記投光器(投受光器)32aと受光器32b(光線反射板)は、架台2を構成するX方向両側の側枠5a,5bに取り付けることが出来る。この障害物検出手段31は、昇降移載手段14A,14Bを稼働させる直前から一定時間だけ作動させれば良い。而して、障害物検出手段31が作動中に前記障害物検出用光線膜31aと交差する人手などが存在すると、当該障害物検出手段31より障害物検出信号が出力されるので、この障害物検出信号に基づいて昇降移載手段14A,14Bの動作を緊急停止させると共に緊急停止を報知する警報やランプを作動させることが出来る。 As shown in FIGS. 1 and 2, the container Cy to be unloaded and the container Cy to be unloaded into the container receiving area 7 to be unloaded in the loading work space 9 and the container receiving area 8 to be loaded are carried in. An obstacle detecting means 31 for generating a planar obstacle detecting light film 31a that crosses the upper side of the container Cx to be loaded in the X direction from the outside of one end to the outside of the other end of the loading work space 9 is provided. Can be done. The obstacle detecting means 31 is a light-transmitting type including a floodlight 32a arranged on the outside of one end in the Y direction of the load transfer work space 9 and a light receiver 32b arranged on the outside of the other end of the Y direction of the load transfer work space 9. However, a reflective type may be used, in which the projector 32a is used as a light emitting and receiving device and a light reflecting plate is used instead of the light receiving device 32b. The floodlight (projector / receiver) 32a and the receiver 32b (light reflector) can be attached to the side frames 5a and 5b on both sides in the X direction constituting the gantry 2. The obstacle detecting means 31 may be operated for a certain period of time immediately before the raising / lowering transfer means 14A and 14B are operated. Therefore, if there is a human hand or the like that intersects with the obstacle detecting light film 31a while the obstacle detecting means 31 is operating, the obstacle detecting means 31 outputs an obstacle detecting signal, so that the obstacle is detected. Based on the detection signal, the operation of the elevating transfer means 14A and 14B can be urgently stopped, and an alarm or a lamp for notifying the urgent stop can be activated.

又、図8に示すように、前記障害物検出用光線膜33aを、荷移載作業空間9における荷搬出対象のコンテナ受け入れ場7と荷搬入対象のコンテナ受け入れ場8とに搬入されているコンテナCy,Cxの上側を前後Y方向に横断する向きに形成させる障害物検出手段33を使用することも可能である。この場合の投光器(又は投受光器)34aと受光器(又は光線反射板)34bは、架台2を構成する側枠5a,5bのY方向前側のX方向一対の支柱3a間と後ろ側の支柱3b間とに架設されたX方向と平行な支持フレーム35a,35bに振り分けて取り付けることが出来る。図では、荷移載作業空間9のY方向前側に受光器(又は光線反射板)34bを配置したが、前後逆に配置しても良い。しかし、前側の支持フレーム35aとこれに取り付けられる障害物検出用機器(受光器(又は光線反射板)34bや投光器(又は投受光器)34a)は、作業者の手作業空間内に入り込まない高さに取り付けることが必要である。 Further, as shown in FIG. 8, the obstacle detection light film 33a is carried into the container receiving place 7 to be carried out and the container receiving place 8 to be carried in in the load transfer work space 9. It is also possible to use the obstacle detecting means 33 that forms the upper side of Cy and Cx in a direction crossing the front-back Y direction. In this case, the floodlight (or floodlight) 34a and the light receiver (or light reflector) 34b are between the pair of columns 3a in the X direction on the front side in the Y direction of the side frames 5a and 5b constituting the gantry 2 and the columns on the rear side. It can be distributed and attached to the support frames 35a and 35b installed between 3b and parallel to the X direction. In the figure, the light receiver (or light reflector) 34b is arranged on the front side in the Y direction of the load transfer work space 9, but it may be arranged upside down. However, the support frame 35a on the front side and the obstacle detection device (receiver (or light reflector) 34b or floodlight (or light emitter) 34a) attached to the support frame 35a do not enter the manual work space of the operator. It is necessary to attach it to the space.

上記の図8に示す障害物検出手段33を使用する場合は、図9に示すように、荷搬出対象のコンテナ受け入れ場7に搬入された荷搬出対象のコンテナCyの上側を監視する障害物検出手段33Aと、荷搬入対象のコンテナ受け入れ場8に搬入された荷搬入対象のコンテナCxの上側を監視する障害物検出手段33Bとに分けて設置することが出来る。この場合、昇降移載手段14A,14Bを含む搬入搬出用コンベヤ10と搬入搬出用コンベヤ11とを各別に作動させることが出来るように構成しておけば、搬入側の昇降移載手段14Aと搬出側の昇降移載手段14Bを任意のタイミングで各別に作動させながら、それぞれの作動時に障害物検出手段33Aと障害物検出手段33Bを働かせ、それぞれの障害物検出用光線膜33a,33bによって荷搬出対象のコンテナCy側の障害物と荷搬入対象のコンテナCx側の障害物とを各別に検出して、常に安全を図ることが出来る。 When the obstacle detection means 33 shown in FIG. 8 is used, as shown in FIG. 9, an obstacle detection that monitors the upper side of the container Cy to be carried out and carried into the container receiving place 7 to be carried out is observed. The means 33A and the obstacle detecting means 33B for monitoring the upper side of the container Cx to be carried in to the container receiving place 8 to be carried in can be separately installed. In this case, if the carry-in / carry-out conveyor 10 including the up-and-down transfer means 14A and 14B and the carry-in / carry-out conveyor 11 are configured to be operated separately, the carry-in side up / down transfer means 14A and carry-out are carried out. While operating the up-and-down transfer means 14B on the side separately at arbitrary timings, the obstacle detecting means 33A and the obstacle detecting means 33B are operated at the time of each operation, and the light films 33a and 33b for detecting obstacles carry out the cargo. Obstacles on the target container Cy side and obstacles on the target container Cx side can be detected separately to ensure safety at all times.

尚、図10に示すように、荷移載作業空間9のY方向前側に手作業時に使用出来るテーブル36が架設されているときは、荷移載作業空間9のY方向前側に配設される受光器(又は光線反射板)34b又は投光器(又は投受光器)34aをテーブル36の荷移載作業空間9側の端縁又はその下側に取り付けることが出来る。図では、投受光器34aに対する光線反射板34bがテーブル36の荷移載作業空間9側の端縁に取り付けられている。 As shown in FIG. 10, when a table 36 that can be used for manual work is erected on the front side of the load transfer work space 9 in the Y direction, it is arranged on the front side of the load transfer work space 9 in the Y direction. The light receiver (or light reflector) 34b or the floodlight (or light projector) 34a can be attached to the edge of the table 36 on the load transfer work space 9 side or the lower side thereof. In the figure, the light reflecting plate 34b for the light emitting / receiving device 34a is attached to the edge of the table 36 on the load transfer working space 9 side.

更に、図11に示すように、昇降移載手段14A,14Bが備える各コンテナ支持搬送体14a,14bのY方向の後ろ側に、内側をコンテナCy,CxがY方向に通過移動出来る門形支持フレーム37を付設し、この門形支持フレーム37の上端のX方向に沿った水平フレーム部37aに、図8に示した前側の支持フレーム35a(前記テーブル36であっても良い)に取り付けられた投受光器38aに対する光線反射板38bを取り付けて、障害物検出手段33A,33Bを構成することも出来る。この構成によれば、コンテナ支持搬送体14a,14bが荷移載作業空間9内の定位置から昇降を開始するときに前記投受光器38aをONに切り換えて障害物検出を行わせることが出来る。勿論この実施例においても、投光器と受光器との組み合わせから成る障害物検出手段を利用することも可能であるし、図11に示す投受光器38aと光線反射板38bとを互いに逆位置に配設することも可能であるが、図11に示す実施例によれば、運動体であるコンテナ支持搬送体14a,14bと固定位置との間に通電経路を設ける必要が無くなり、簡単容易に障害物検出手段を構成することが出来る。 Further, as shown in FIG. 11, a portal support that allows the containers Cy and Cx to pass and move in the Y direction behind the container support and transport bodies 14a and 14b provided in the elevating transfer means 14A and 14B in the Y direction. A frame 37 is attached, and is attached to the front support frame 35a (which may be the table 36) shown in FIG. 8 to the horizontal frame portion 37a along the X direction of the upper end of the portal support frame 37. Obstacle detecting means 33A and 33B can also be configured by attaching a light reflecting plate 38b to the light emitting / receiving device 38a. According to this configuration, when the container support transport bodies 14a and 14b start to move up and down from a fixed position in the load transfer work space 9, the light emitting / receiving device 38a can be switched to ON to detect obstacles. .. Of course, also in this embodiment, it is possible to use an obstacle detecting means composed of a combination of a floodlight and a light receiver, and the light projector 38a and the light reflector 38b shown in FIG. 11 are arranged at opposite positions with each other. Although it is possible to install it, according to the embodiment shown in FIG. 11, it is not necessary to provide an energization path between the container support and transport bodies 14a and 14b which are moving bodies and the fixed position, and an obstacle can be easily and easily installed. The detection means can be configured.

尚、障害物検出手段31,33,33A,33Bが投受光器間の障害物検出用光線膜31a,33a,33bを利用するものであるとき、その障害物検出用光線膜31a,33a,33bは、投光器のスリット状の開口から投射される平面状の光線膜の他、適当間隔おきに並列させた多数の投光器から個別に投射される多数の光線の集合体を意味するものである。勿論、障害物検出手段としては、投受光器間の障害物検出用光線膜を利用しない、例えば撮像装置(カメラ)を使用するタイプのものも利用出来る。 When the obstacle detecting means 31, 33, 33A, 33B uses the obstacle detecting light films 31a, 33a, 33b between the light emitting and receiving devices, the obstacle detecting light films 31a, 33a, 33b. Means a collection of a large number of light rays individually projected from a large number of floodlights arranged in parallel at appropriate intervals, in addition to a planar ray film projected from a slit-shaped opening of the floodlight. Of course, as the obstacle detecting means, a type that does not use the light film for detecting obstacles between the light emitting and receiving devices, for example, using an image pickup device (camera) can also be used.

本発明の移載装置は、荷搬出対象のコンテナ内の荷を荷搬入対象のコンテナ内に移す作業を、自動装置によって行う自動作業と作業者によって行う手作業とに必要に応じて切り換えて行える移載装置をして活用出来る。 The transfer device of the present invention can switch the work of transferring the load in the container to be carried out into the container to be carried in by switching between the automatic work performed by the automatic device and the manual work performed by the operator as necessary. It can be used as a transfer device.

1 荷搬出搬入ユニット
2 架台
5a,5b X方向(左右方向)一対の側枠
6 X方向連結部材
7 荷搬出対象のコンテナ受け入れ場
8 荷搬入対象のコンテナ受け入れ場
9 荷移載作業空間
10,11 搬入搬出用コンベヤ
12 搬入用コンベヤユニット
13 搬出用コンベヤユニット
14A,14B 昇降移載手段
14a,14b コンテナ支持搬送体
15,16 固定レール部材
15a~16b 可動支持台
17,18 Y方向(前後方向)一対の可動レール部材
19~22 可動体
19a~22a 昇降用レール部材
19b~22b 昇降支持台
23~26 ピッキングヘッド
23a~26a 昇降ロッド
27 荷移載作業エリア
28,29 撮像装置
31,33,33A,33B 障害物検出手段
31a,33a,33b 障害物検出用光線膜
32a,34a,38a 投光器又は投受光器
32b,34b,38b 受光器又は光線反射板
35a,35b 支持フレーム
36 テーブル
37 門形支持フレーム
Bs 小サイズ荷
Bb 大サイズ荷
Cy 荷搬出対象のコンテナ
Cx 荷搬入対象のコンテナ
Sp1~Sp3 待機位置
Sa1 狭幅待機エリア
Sa2 広幅待機エリア
Wx X方向移動範囲
Wy Y方向移動範囲
1 Loading / unloading unit 2 Stand 5a, 5b X-direction (left-right direction) pair of side frames 6 X-direction connecting member 7 Container receiving area for loading / unloading 8 Container receiving area for loading 9 Loading transfer work space 10, 11 Carry-in / carry-out conveyor 12 Carry-in / carry-out conveyor unit 13 Carry-out conveyor unit 14A, 14B Elevating transfer means 14a, 14b Container support carrier 15,16 Fixed rail member 15a to 16b Movable support base 17,18 Y direction (front-back direction) pair Movable rail member 19-22 Movable body 19a-22a Elevating rail member 19b-22b Elevating support stand 23-26 Picking head 23a-26a Elevating rod 27 Load transfer work area 28,29 Imaging device 31, 33, 33A, 33B Obstacle detection means 31a, 33a, 33b Obstacle detection light film 32a, 34a, 38a Floodlight or light emitter 32b, 34b, 38b Receiver or light reflector 35a, 35b Support frame 36 Table 37 Gate-shaped support frame Bs Small Size load Bb Large size load Cy Container to be loaded Cx Container to be loaded Sp1 to Sp3 Standby position Sa1 Narrow waiting area Sa2 Wide waiting area Wx X direction movement range Wy Y direction movement range

Claims (5)

互いに平行な2本の可動レール部材の両端部が、これら可動レール部材の長さ方向であるX方向に対して直交する2本のY方向の固定レール部材によって平行横動自在に支持され、前記2本の可動レール部材のそれぞれに、X方向に往復移動自在に可動体が支持され、各可動体に、荷を吊り上げることが出来るピッキングヘッドが昇降自在に設けられて成る荷搬出搬入ユニットを備えた移載装置において、
前記荷搬出搬入ユニットの下側で、平面視における前記ピッキングヘッドの移動可能領域内に、荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場がX方向に並列する荷移載作業空間が設けられ、2本の前記可動レール部材の待機エリアが、前記荷移載作業空間に対してY方向の両外側の上方に設定され、この待機エリアの内、一方の待機エリアは、この待機エリアに近い側の1本の可動レール部材のみが待機可能な狭幅待機エリアとし、他方の待機エリアは、2本の前記可動レール部材をY方向に隣接する状態で待機させることが出来る広幅待機エリアとし、前記荷移載作業空間に対して前記狭幅待機エリアのある側の床面上には、作業者の荷移載作業エリアが設定されている、移載装置。
Both ends of the two movable rail members parallel to each other are supported in parallel and laterally by two fixed rail members in the Y direction orthogonal to the X direction, which is the length direction of the movable rail members. Each of the two movable rail members is supported by a movable body that can be reciprocated in the X direction, and each movable body is equipped with a loading / unloading unit in which a picking head capable of lifting a load is provided so as to be able to move up and down. In the transfer device
Below the loading / unloading unit, in the movable area of the picking head in a plan view, there is a loading / unloading work space in which the container receiving area to be loaded and unloaded and the container receiving area to be loaded are arranged in parallel in the X direction. The waiting areas of the two movable rail members provided are set above both outer sides in the Y direction with respect to the load transfer work space, and one of the waiting areas is the waiting area. The narrow standby area where only one movable rail member on the side closer to the side can stand by, and the other standby area is a wide standby area where the two movable rail members can stand by in a state of being adjacent to each other in the Y direction. A transfer device in which a worker's load transfer work area is set on the floor surface on the side where the narrow standby area is located with respect to the load transfer work space.
前記ピッキングヘッドが昇降自在に設けられた前記可動体は、2本の可動レール部材のそれぞれに2つずつ設けられ、各可動レール部材に設けられた2つの前記可動体は、当該可動レール部材の両端何れ側でも互いに隣接する状態で位置し得るように、各可動レール部材の両端部間で往復移動自在に設けられている、請求項1に記載の移載装置。 The movable body provided with the picking head so as to be able to move up and down is provided with two each of the two movable rail members, and the two movable bodies provided with each movable rail member are the movable rail members. The transfer device according to claim 1, which is provided so as to be reciprocally movable between both ends of each movable rail member so that both ends can be positioned adjacent to each other. 前記荷搬出対象のコンテナ受け入れ場に搬入されたコンテナと荷搬入対象のコンテナ受け入れ場に搬入されたコンテナの上側に存在する障害物を検出する障害物検出手段が併設されている、請求項1又は2に記載の移載装置。 Claim 1 or claim 1 or claim 1, wherein an obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and the container carried into the container receiving place to be carried in is provided. 2. The transfer device according to 2. 前記荷搬出対象のコンテナ受け入れ場に対しコンテナの搬入搬出を行うコンベヤと、前記荷搬入対象のコンテナ受け入れ場に対しコンテナの搬入搬出を行うコンベヤとが設けられ、これら両コンベヤのそれぞれは、上下二層の搬入用コンベヤユニットと搬出用コンベヤユニット、及び昇降移載手段を備え、この昇降移載手段は、前記荷移載作業空間内を経由する前記両コンベヤユニット間の昇降径路を移動するコンテナ支持搬送体を備え、前記荷搬出対象のコンテナ受け入れ場と荷搬入対象のコンテナ受け入れ場とに搬入されたコンテナの上側に存在する障害物を検出する障害物検出手段が併設され、この障害物検出手段は、投受光器と光線反射板とから構成され、前記光線反射板は、昇降移載手段の前記コンテナ支持搬送体に取り付けられ、前記投受光器は、前記コンテナ支持搬送体が支持搬送するコンテナが前記荷移載作業空間内の各コンテナ受け入れ場に位置するときに、前記光線反射板に対応する固定位置に設けられている、請求項1に記載の移載装置。
A conveyor for loading and unloading containers to the container receiving area to be loaded and unloaded and a conveyor for loading and unloading containers to the container receiving area to be loaded and unloaded are provided. It is provided with a layer loading / unloading conveyor unit, a loading / unloading conveyor unit, and an elevating / moving transfer means, and the elevating / transferring means is a container support that moves an elevating path between the two conveyor units via the load transfer work space. An obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and the container receiving place to be carried in is provided with a carrier, and the obstacle detecting means is provided. Is composed of a light receiving receiver and a light reflecting plate, the light reflecting plate is attached to the container-supporting and transporting body of the elevating transfer means, and the light-receiving and receiving device is a container supported and transported by the container-supporting and transporting body. The transfer device according to claim 1 , wherein is provided at a fixed position corresponding to the light ray reflecting plate when is located at each container receiving place in the load transfer work space.
前記障害物検出手段は、前記荷搬出対象のコンテナ受け入れ場に搬入されたコンテナの上側に存在する障害物を検出する障害物検出手段と、荷搬入対象のコンテナ受け入れ場に搬入されたコンテナの上側に存在する障害物を検出する障害物検出手段の2つに分けられている、請求項3又は4に記載の移載装置。

The obstacle detecting means includes an obstacle detecting means for detecting an obstacle existing above the container carried into the container receiving place to be carried out and an upper side of the container carried into the container receiving place to be carried in. The transfer device according to claim 3 or 4, which is divided into two obstacle detecting means for detecting an obstacle existing in the above.

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