JP7095518B2 - Transfer device and control method of transfer device - Google Patents

Description

The present invention relates to a side arm type transfer device for transferring luggage and a control method for the transfer device.

When taking out the cargo stored in the rack by the side arm type transfer device provided in the stacker crane or the like, a pair of arms are advanced from the transfer device toward the rack on both sides of the cargo. If the arms and the luggage interfere with each other when the pair of arms are advanced, the luggage may be damaged or the luggage may be dropped from the rack.

For example, in the side arm type transfer device described in Patent Document 1, the luggage and the arm are detected in advance by using a rotatable laser sensor to detect whether the arm can advance without interfering with the luggage. It prevents interference with.

Japanese Unexamined Patent Publication No. 2016-11239

However, the rotatable laser sensor has a problem that the structure becomes complicated because a mechanism for rotating the sensor is provided. Further, even if the load is not detected by the laser sensor, the load may interfere with the inside of the arm when the arm is extended.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a transfer device capable of preventing interference between a load and an arm by a sensor provided on the outside of a pair of arms, and a method for controlling the transfer device. It is supposed to be.

In order to achieve the above object, the transfer device, which is one of the present inventions, has a first arm that advances and retreats in the front-rear direction of the luggage on one side of the luggage to be placed on the loading portion, and the luggage. A transfer device having a second arm that advances and retreats in the front-rear direction on the other side, the first arm, a pair of arms that are the second arms, and an advance / retreat means for advancing and retreating, and the first arm. On the other hand, an opening / closing means for moving the second arm in the width direction of the luggage, and detection for detecting the presence / absence of the luggage in the front-rear direction, which is attached to the opposite side of the first arm with respect to the second arm in the width direction. The second arm is positioned at a predetermined preparatory position before controlling the advancing / retreating means so that the pair of arms advance to the side of the vessel and the load placed on the above-mentioned storage portion. When the opening / closing means is controlled and undetected information indicating that the load is not detected is acquired from the detector, the second arm moves a predetermined first distance from the preparation position in a direction away from the first arm. Is provided with a controller for controlling the opening / closing means.

Further, in order to achieve the above object, the control method of the transfer device, which is one of the present inventions, is a first arm that moves forward and backward in the front-rear direction of the load on one side of the load to be mounted on the mounting section. A second arm that advances and retreats in the front-rear direction on the other side of the luggage, an advancing and retreating means for advancing and retreating the first arm and a pair of arms that are the second arms, and the second arm with respect to the first arm. It includes an opening / closing means for moving the arm in the width direction of the load, and a detector attached to the opposite side of the first arm to the second arm in the width direction and detecting the presence / absence of the load in the front-rear direction. A method for controlling a transfer device, wherein the second arm prepares a predetermined value before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion. When the opening / closing means is controlled so as to be located at a position and undetected information indicating that the load is not detected is acquired from the detector, the second arm is predetermined from the preparation position in a direction away from the first arm. The opening / closing means is controlled so as to move the first distance.

According to these, by arranging detectors on the outside of the pair of arms to avoid interference with luggage, detecting gaps, and devising the movement of the arms without providing an additional mechanism, the arm can be moved. It is possible to prevent interference between the inside and luggage.

Further, the controller is before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion, and the second arm moves the first distance. After controlling the opening / closing means, the advancing / retreating means may be controlled so that the pair of arms advance when undetected information is acquired from the detector.

This makes it possible to prevent interference between the load and the second arm both inside and outside the second arm using a single detector.

Further, the preparation position is determined in advance based on the width information of the cargo that the second arm interferes with the cargo when the pair of arms are advanced, but the detector does not detect the cargo. It may be in the same position.

According to this, by acquiring the width information of the cargo, the preparation position can be optimized according to the width of the cargo, and the gap of the cargo can be surely confirmed by the detector, and the subsequent movement amount of the second arm can be confirmed. Can be reduced. Therefore, it is possible to improve the transportation efficiency of the load.

Further, in the controller, the second arm is positioned at a predetermined preparatory position before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion. When the opening / closing means is controlled so as to obtain the detection information indicating that the load is detected from the detector, the second arm is separated from the first arm while the detection information is acquired from the detector. When the opening / closing means is controlled so as to move in a direction and undetected information is acquired from the detector, the opening / closing means is controlled so that the second arm moves the first distance in a direction away from the first arm. You may.

According to this, it becomes possible to flexibly respond to the state of the load deviation in which the load is detected at the preparation position and take the load to the transfer device.

Further, a moving means for moving the pair of arms in the width direction is provided, and the controller controls the opening / closing means so that the second arm is located at a predetermined preparation position, and the load is detected from the detector. When the detection information indicating that the information has been obtained is acquired, the moving means is controlled so that the pair of arms move a second distance in the direction from the first arm toward the second arm, and after the movement, the detector performs the control. , Detection information, or undetected information may be acquired.

According to this, when the transfer device is not properly arranged with respect to the loading portion of the luggage, or when the position of the luggage is significantly displaced from the loading portion with respect to the loading portion, the detector is used. It is possible to appropriately adjust the positional relationship between the luggage and the transfer device.

Each process included in the controller of the transfer device may be realized by a recording medium such as a system, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM, and the system, the method, the integrated circuit, and the computer may be realized. It may be realized by any combination of a program and a recording medium. Further, the recording medium may be a non-temporary recording medium.

According to the present invention, the state of the gap is detected in a relatively short time up to the back side of the luggage by using a detector arranged at a position that does not interfere with the luggage to be transferred, and the luggage can be transferred with high transfer efficiency. It can be picked up by the transfer device.

FIG. 1 is a perspective view showing an automated warehouse equipped with a transfer device. FIG. 2 is a perspective view showing a transfer device equipped with a transfer device. FIG. 3 is a perspective view showing the transfer device. FIG. 4 is a plan view showing the transfer device from above. FIG. 5 is a block diagram showing the functional part of the transfer device together with the mechanical part. FIG. 6 is a flowchart showing the flow of control by the controller. FIG. 7 is a first plan view showing the positional relationship between the load, the second arm, and the detector. FIG. 8 is a second plan view showing the positional relationship between the load, the second arm, and the detector. FIG. 9 is a third plan view showing the positional relationship between the luggage, the adjacent luggage, the second arm, and the detector. FIG. 10 is a flowchart showing a partial flow of control by the controller. FIG. 11 is a perspective view showing another example of the transfer device 100.

An embodiment of the transfer device and the control method of the transfer device according to the present invention will be described with reference to the drawings. It should be noted that all of the embodiments described below are comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the components in the following embodiments, the components not described in the independent claim indicating the highest level concept are described as arbitrary components.

Further, the drawings are schematic views in which emphasis, omission, and ratio adjustment are appropriately performed to show the present invention, and may differ from the actual shape, positional relationship, and ratio.

FIG. 1 is a perspective view showing an automated warehouse equipped with a transfer device. As shown in the figure, the automated warehouse 210 is a facility that can automatically store the luggage 200 carried in from the outside and automatically pull out and carry out the stored luggage 200, and is a storage shelf 202. And a transfer device 203 and a transfer device 100. In the case of this embodiment, the storage shelves 202 are arranged on both sides of the transport device 203, but the illustration on one side is omitted.

In addition, in this specification and claims, the direction corresponding to the width of the baggage 200 when the baggage 200 arranged on the storage shelf 202 is viewed from the transfer device 100 is described as the width direction. The width direction corresponds to the Y-axis direction in the figure. Further, the direction orthogonal to the width direction in the horizontal plane is described as the front-back direction. The front-back direction corresponds to the X-axis direction in the figure. Further, the direction orthogonal to the width direction and the front-back direction is described as the vertical direction. The vertical direction corresponds to the Z-axis direction in the figure.

The storage shelf 202 is a facility having mounting portions 201 for storing luggage 200 arranged in the vertical direction (Z-axis direction in the figure) and in the left-right direction (Y-axis direction in the figure). In the case of the present embodiment, the storage shelf 202 is provided with a plurality of rectangular plate-shaped shelf boards 221 extending in the horizontal direction in the horizontal direction side by side in the vertical direction, and the luggage 200 is placed at a predetermined position on the shelf board 221. It will be placed. The loading unit 201 for storing the luggage 200 is an abstract concept that changes depending on the width of the luggage 200 to be placed, not a portion of the storage shelf 202 having a fixed shape.

FIG. 2 is a perspective view showing a transfer device equipped with a transfer device. As shown in the figure, the transport device 203 is a device that transports the luggage 200 along the storage shelf 202 in the vertical direction (Z-axis direction in the figure) and the width direction (Y-axis direction in the figure). It is a so-called stacker crane. In the case of the present embodiment, the transport device 203 includes a mast 232, an elevating table 233, and a transfer device 100. The transfer device 100 includes a trolley 231 as a means of transportation, and the trolley 231 can also move the mast 232 and the elevating table 233 in the width direction.

The carriage 231 travels along a horizontal guide member 234 such as a rail provided on at least one of the floor and the ceiling, and is transferred via a mast 232 extending in the vertical direction (Z-axis direction in the figure). Is a means of transportation for moving the mast along the horizontal guide member 234. In the case of the present embodiment, the bogie 231 has two masts 232 attached to both ends of the drive source 230 and the width direction (Y-axis direction in the drawing). The drive source 230 provided in the bogie 231 also generates a driving force for raising and lowering the elevating table 233 that moves up and down along the mast 232.

The mast 232 is a long structural member for guiding the elevating table 233 that moves up and down in the vertical direction, and extends in the vertical direction along the storage shelf 202. Further, in the case of the present embodiment, the two masts 232 are attached to the bogie 231 in a parallel state, and the elevating table 233 is held between the two masts 232 so as to be slidable in the vertical direction in a bridged state. There is.

The shape of the mast 232 is not particularly limited, and may be a hollow member such as a square pipe. Further, the structure of the mast 232 is also arbitrary, and a part of the hanging member connected to the elevating table 233 and transmitting the driving force to move up and down is inserted into the hollow portion of the mast 232, and a pulley (not shown) for guiding the mast 232 is inserted. Or the like may be a structure attached to the end of the mast 232. Further, the mast 232 may be an aggregate of a plurality of structures to which an elevating rail or the like that engages with the elevating table 233 to guide the elevating of the elevating table 233 is attached.

The lift 233 is a structural member that is guided by the mast 232 and moves up and down in the vertical direction (Z-axis direction in the figure). The lift 233 is a member that holds the transfer device 100, and is attached to each of the masts 232 erected at both ends of the carriage 231 in the left-right direction (Y-axis direction in the figure) so as to be able to move up and down in a bridged state. The transfer device 100 can be moved up and down by moving up and down with respect to the mast 232.

FIG. 3 is a perspective view showing the transfer device. FIG. 4 is a plan view showing the transfer device from above. FIG. 5 is a block diagram showing the functional part of the transfer device together with the mechanical part. As shown in these figures, the transfer device 100 takes the luggage 200 mounted on the mounting portion 201 of the storage shelf 202 to the transfer device, and takes the luggage 200 mounted on the transfer device 100. It is a device that can be pushed out to a mounting portion, and includes a first arm 111, a second arm 112, an advancing / retreating means 120, an opening / closing means 130, a detector 140, and a controller 150.

The first arm 111, which is one of the pair of arms, expands and contracts itself in the front-rear direction (X-axis direction in the figure) on one side of the luggage 200 mounted on the mounting portion 201 of the storage shelf 202. It is a member that moves forward and backward. In the case of the present embodiment, the first arm 111 extends in the front-rear direction and is fixed to the base 160, and the first base arm 113 has a rail shape and slides in the front-rear direction with respect to the first base arm 113. It includes a first middle arm 115 and a first top arm 117 that slides in the front-rear direction with respect to the first middle arm 115. The first arm 111 is a load in which the end portion of the first top arm 117 is mounted on the mounting portion 201 by extending the first base arm 113, the first middle arm 115, and the first top arm 117 in a telescopic manner. It is possible to reach the back side of 200. Further, in the case of the present embodiment, since the storage shelves 202 are arranged on both sides of the transfer device 100 in the traveling direction, the first arm 111 can move forward and backward in any of the front-rear directions. ..

The second arm 112, which is the other one of the pair of arms, expands and contracts itself in the front-rear direction (X-axis direction in the figure), so that the other side of the luggage 200 mounted on the mounting portion 201 of the storage shelf 202. It is a member that moves forward and backward in the direction. In the case of the present embodiment, the second arm 112 extends in the front-rear direction and is fixed to the base 160 so as to be movable in the width direction with respect to the rail-shaped second base arm 114 and the second base arm 114. A second middle arm 116 that slides in the front-rear direction and a second top arm 118 that slides in the front-rear direction with respect to the second middle arm 116 are provided. The second arm 112 is a load in which the end portion of the second top arm 118 is mounted on the mounting portion 201 by extending the second base arm 114, the second middle arm 116, and the second top arm 118 in a telescopic manner. It is possible to reach the back side of 200. Further, in the case of the present embodiment, since the storage shelves 202 are arranged on both sides of the transfer device 100, the second arm 112 can move forward and backward in any of the front-rear directions.

When the luggage 200 is picked up from the mounting portion 201 to the transfer device 100, the engaging claw 119 abuts on the surface of the luggage 200 opposite to the transfer device 100 and transfers the luggage 200 by degeneracy of the pair of arms. It is a member to be moved to the mounting device 100 side. Further, when the engaging claw 119 pushes the luggage 200 from the transfer device 100 to the mounting portion 201, the engaging claw 119 comes into contact with the surface of the luggage 200 on the side opposite to the storage shelf 202, and the luggage 200 is extended by extending the pair of arms. It is a member to be moved to the storage shelf 202 side. The engaging claw 119 retracts to a position where it does not interfere with the luggage 200 when passing by the side of the luggage 200, and protrudes to a position where it abuts on any of the front and rear surfaces of the luggage 200 when moving the luggage 200. It is attached to the first top arm 117 and the second top arm 118 via a possible mechanism. In the case of the present embodiment, since the storage shelves 202 are arranged on both sides of the transfer device 100, the engaging claws 119 are attached to both ends of the first top arm 117 and the second top arm 118 in the front-rear direction. It has both a function of pushing out and a function of picking up the luggage 200.

The advancing / retreating means 120 is a device for advancing / retreating a pair of arms, which are the first arm 111 and the second arm 112. The advancing / retreating means 120 is not particularly limited, but the combination of mechanical elements such as belts and gears capable of expanding / contracting each of the first arm 111 and the second arm 112 and the pair of arms are integrally expanded / contracted. A device provided with one drive source can be exemplified.

The opening / closing means 130 is a device that opens / closes a pair of arms by moving the second arm 112 with respect to the first arm 111 in the width direction. The opening / closing means 130 is not particularly limited, but is a combination of mechanical elements such as belts and gears capable of translating the second base arm 114 of the second arm 112 with respect to the base 160, and the second arm. An example of a device provided with a drive source for moving the 112 can be exemplified.

The detector 140 is a device attached to the opposite side of the first arm 111 with respect to the second arm 112 in the width direction, that is, outside the pair of arms of the second arm 112, and detects the presence or absence of the luggage 200 in the front-rear direction. .. The reason why the detector 140 is provided on the outside of the pair of arms is that if the detector 140 is provided on the inside of the pair of arms, the luggage 200 and the detector 140 come into contact with each other when the luggage 200 is transferred. Further, when the detector 140 is to be arranged inside the pair of arms, for example, the detector 140 is displaced in the vertical direction and installed at a position where it does not interfere with the luggage 200, and the optical axis of the detector 140 is slanted in the vertical direction. However, in this case, since the optical axis is slanted, a portion that cannot be detected in the depth direction is generated, so that the detector 140 is arranged outside the pair of arms. The method for detecting the luggage 200 of the detector 140 is not particularly limited, but is opposite to the transfer device 100 of the luggage 200 mounted on the mounting portion 201 of the storage shelf 202 from the position of the transfer device 100. It is necessary to have the ability to detect whether or not the luggage 200 is present up to the surface. In the case of the present embodiment, the detector 140 emits laser light from the transfer device 100 toward the storage shelf 202 so that the optical axis is parallel to the front-rear direction (X-axis direction in the figure), and the light is reflected. Based on this, it is detected whether or not the luggage 200 is present. In the case of the present embodiment, since the storage shelves 202 are arranged on both sides of the transfer device 100, two detectors 140 are arranged side by side in the front-rear direction so as to emit laser light toward the respective storage shelves 202. Have been placed. Further, the detection width of the detector 140 is narrower than the width of the second arm 112.

The controller 150 is connected to the transfer device 100, controls the advancing / retreating means 120 and the opening / closing means 130 included in the transfer device 100, and also acquires information from the detector 140 to adjust the control timing and order. It includes an advance / retreat control unit 151, an open / close control unit 152, an information acquisition unit 153, and a determination unit 154. In the case of the present embodiment, the controller 150 also includes a movement control unit 155. The controller 150, for example, performs at least one of a device that executes each process and a hardware circuit that executes each process by operating the microprocessor according to an instruction contained in a computer program stored in the storage device. It is a equipped device. The controller 150 may control the operation of the transport device 203 other than the bogie 231, for example, the operation of the elevating table 233.

FIG. 6 is a flowchart showing the flow of control by the controller. As shown in the figure, the controller 150 controls the transfer device 203 by receiving an instruction to withdraw the luggage 200 from a host computer or the like, and arranges the transfer device 100 in front of the luggage 200 to be withdrawn (S101). ). At this stage, the pair of arms has not advanced.

Next, the opening / closing control unit 152 controls the opening / closing means 130 so that the second arm 112 is located at a predetermined preparation position (S102). The steps S101 and S102 may overlap with each other. Here, as shown in FIG. 7, as shown in FIG. 7, when the second arm 112 is virtually advanced toward the luggage 200, the tip of the second arm 112 to be advanced is normal. Although it virtually interferes with the luggage 200 when it is assumed to be placed in the position, it is preferable that the detector 140 is in a position where the luggage 200 is not detected. For example, the position where the second arm 112 is moved inward by the first distance from the position where the load placed in the normal position can be transferred may be set as the preparation position. As a result, it is possible to recognize the lateral extreme vicinity of the luggage 200 in the width direction, and then move the second arm 112 and then pass the second arm 112 in the extreme vicinity of the luggage 200. .. Therefore, even if the space between the luggage 200 and the luggage 200 arranged next to each other is narrowed, the second arm 112 can be inserted into the gap, so that the storage density of the luggage 200 in the storage shelf 202 can be improved. Further, the preparation position can be determined in advance based on the width information indicating the width (length in the X-axis direction in the figure) of the luggage 200 acquired by the controller 150. According to this, it is possible to flexibly cope with the case where the luggage 200 having different widths is stored in the storage shelf 202.

After arranging the second arm 112 at the preparation position, the presence / absence of the luggage 200 is detected by using the detector 140 that has moved in the width direction together with the second arm 112 (S103). When the information acquisition unit 153 acquires undetected information indicating that the luggage 200 is not detected from the detector 140 (S103: no), as shown in FIG. 8, the second arm 112 moves away from the first arm 111. The opening / closing control unit 152 controls the opening / closing means 130 so as to move by a predetermined first distance D1 from the preparation position (S104). The control up to this point is executed before the advancing / retreating control unit 151 controls the advancing / retreating means 120 so that the pair of arms advance to the side of the load 200 mounted on the loading unit 201. The undetected information includes not only the case where the undetected information is acquired but also the case where the detected information is not acquired.

Next, as shown in FIG. 9, the presence / absence of the luggage 200 is detected by using the detector 140 before the advance / retreat control unit 151 controls the advance / retreat means 120 so that the pair of arms advance (S105). When the information acquisition unit 153 acquires undetected information from the detector 140 (S105: No), the advance / retreat control unit 151 controls the advance / retreat means 120 so that the pair of arms advance (S106). As a result, if the baggage 200 placed next to the baggage 200 to be withdrawn is displaced to the side of the baggage 200 to be withdrawn, it is detected by the detector 140 (S105: Yes), so that the process is stopped to that effect. Can also be notified to a higher-level computer or the like.

Next, after advancing the pair of arms until the tip of the pair of arms on the luggage 200 side passes through the luggage 200, the engaging claw 119 is pulled out toward the luggage 200 to be pulled out, and the pair of arms is retracted. , The luggage 200 is picked up by the transfer device 100 (S107).

As described above, the luggage 200 can be picked up after confirming that the second arm 112 does not interfere with the luggage 200 over the entire front-rear direction of the luggage 200, and the luggage 200 is safely transferred from the storage shelf 202 to the transfer device 100. It becomes possible.

On the other hand, when the information acquisition unit 153 acquires the detection information indicating that the luggage 200 has been detected from the detector 140 at the stage where the second arm 112 is located at the preparation position (S103: Yes), the detector 140. The opening / closing control unit 152 controls the opening / closing means 130 (S108) so that the second arm 112 gradually moves away from the first arm 111 while detecting the presence / absence of the luggage 200 (S108), and the detection information is transmitted from the detector 140. During the acquisition (S109: Yes), the movement of the second arm 112 is continued. When the information acquisition unit 153 acquires the undetected information from the detector 140 (S109: No), the determination unit 154 acquires the position of the second arm 112 at the time when the undetected information is acquired from the open / close control unit 152, and the determination unit 154 acquires the undetected information from the open / close control unit 152. Update the information so that the position becomes a new preparation position.

As described above, by detecting the presence or absence of the luggage 200 while moving the detector 140 together with the second arm 112, the end portion of the luggage 200 in the width direction can be found, and the luggage 200 to be withdrawn is displaced. Even in such a case, it is possible to advance the pair of arms at an appropriate position and pull out the luggage 200.

Further, in the case of the present embodiment, since the carriage 231 is provided as a moving means capable of simultaneously moving the pair of arms in the width direction, the controller 150 has the second arm 112 in the prepared position as shown in FIG. When the information acquisition unit 153 acquires the detection information from the detector 140 (S103: Yes), in the direction from the first arm 111 to the second arm 112 (positive direction of the X axis in the figure). The movement control unit 155 (see FIG. 5) may control the carriage 231 as a means of transportation so that the pair of arms move a second distance, and may acquire detected information or undetected information from the detector 140. .. Specifically, the movement control unit 155 controls the carriage 231 so as to gradually move the pair of arms while causing the detector 140 to detect the presence or absence of the luggage 200 (S208), and acquires the detection information from the detector 140. During (S209: Yes), the movement of the pair of arms is continued. When the information acquisition unit 153 acquires the undetected information from the detector 140 (S209: No), the determination unit 154 acquires the position of the second arm 112 at the time when the undetected information is acquired from the movement control unit 155. Update the information so that the position becomes a new preparation position.

As described above, by detecting the presence or absence of the luggage 200 with the detector 140 while moving the first arm 111 and the second arm 112 together by the trolley 231 even if the luggage 200 to be withdrawn is greatly displaced. It is possible to advance the pair of arms at an appropriate position and pull out the luggage 200. Further, when the moving distance from the detected information to the undetected information is longer than expected, it is possible to determine that the baggage different from the baggage to be transferred is stored.

According to the transfer device 100 in the above embodiment, the detector 140 is arranged outside the pair of arms that does not interfere with the luggage 200 when the luggage 200 is transferred, and the luggage is straight in the advancing / retreating direction of the arms. Since the detector 140 that detects the presence or absence of the 200 is used, the gap of the luggage 200 can be confirmed up to the opposite side of the transfer device 100. Therefore, it is possible to prevent the second arm 112 and the luggage 200 from interfering with each other.

Further, since the detector 140 does not move in the front-rear direction and is fixed to the base 160, wiring can be easily routed, and the luggage 200 stored in the storage shelf 202 interferes with the detector 140. There is no such thing.

Further, after confirming the extreme vicinity of the side of the luggage 200 with the detector 140, the second arm 112 is moved by the first distance, and the second arm 112 passing this first distance to the side of the luggage 200. The distance considering the width of the detector 140 and the emission position of the laser beam of the detector 140, for example, in the width direction, the distance from the inner surface of the second arm 112 to the detection position of the detector 140 with a slight margin added. By setting, the moving distance of the second arm 112 can be kept to a minimum, and the second arm 112 can be passed in the very vicinity of the side of the luggage 200. Therefore, even if the width of the baggage 200 arranged next to the baggage 200 is narrow, the second arm 112 can be pierced through the gap of the baggage 200. Due to this feature, the luggage 200 can be stored in the storage shelf 202 with the gap of the luggage 200 narrowed, and the storage efficiency of the luggage 200 can be improved.

The invention of the present application is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be the embodiment of the present invention. Further, the present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Will be.

For example, in the above embodiment, the trolley 231 which is the means of transportation included in the transfer device 100 has been described as moving the mast 232 and the elevating table 233 of the transport device 203 in the width direction, but as shown in FIG. The transfer device 100 may be provided with a dedicated moving means 190 that can be moved in the width direction with respect to the elevating platform 233, for example. Further, a transport device having only a bogie without an elevating table 233 may be used.

Further, when the second arm is advanced to the preparation position, it does not interfere with the luggage 200 and may be a position that has not been detected.

Further, although it has been explained that the first arm 111 is fixed to the base 160 in the width direction, the first arm 111 may also be movable in the width direction.

Further, the first arm 111 may also be provided with a detector for detecting the presence or absence of the luggage 200 stored in the storage shelf 202.

Further, the case where the pair of arms is gradually moved while the detector 140 detects the presence or absence of the luggage 200 and the pair of arms is stopped by the undetected information has been described. However, when the object to be stopped is a heavy object, the case where the pair of arms is stopped is described. It's difficult to stop right away. However, if it is lightweight, such as when the dedicated transportation means 190 is provided, it can be stopped immediately on the spot. Further, the presence or absence of the luggage 200 may be detected by the detector 140 after the second distance is set to a constant distance and the second distance is moved.

INDUSTRIAL APPLICABILITY The present invention can be used for a transport vehicle such as a stacker crane used in an automated warehouse that automatically stores, manages, and carries in / out a large amount of cargo, and a station that receives cargo from the transport vehicle.

100 Transfer device 111 First arm 112 Second arm 113 First base arm 114 Second base arm 115 First middle arm 116 Second middle arm 117 First top arm 118 Second top arm 119 Engagement claw 120 Advancing / retreating means 130 Opening / Closing Means 140 Detector 150 Controller 151 Advance / Retreat Control Unit 152 Opening / Retreating Control Unit 153 Information Acquisition Unit 154 Judgment Unit 155 Movement Control Unit 160 Base 190 Transportation Means 200 Luggage 201 Loading Unit 202 Storage Shelf 203 Transport Device 210 Automated Warehouse 221 Shelf Board 230 Drive source 231 Cart 232 Mast 233 Elevating table 234 Horizontal guide member

Claims (6)

A transfer device having a first arm that advances and retreats in the front-rear direction of the luggage on one side of the luggage to be placed on the loading portion, and a second arm that advances and retreats in the front-rear direction on the other side of the luggage. There,
An advancing / retreating means for advancing / retreating the first arm and a pair of arms which are the second arms,
An opening / closing means for moving the second arm in the width direction of the luggage with respect to the first arm.
A detector attached to the opposite side of the first arm with respect to the second arm in the width direction and detecting the presence or absence of luggage in the front-rear direction.
Before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion, the opening / closing means is provided so that the second arm is positioned at a predetermined preparation position. When undetected information indicating that the load is not detected is acquired from the detector by controlling, the opening / closing is such that the second arm moves a predetermined first distance from the preparation position in a direction away from the first arm. A transfer device with a controller to control the means. The controller further
Before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion, the opening / closing means is moved so that the second arm moves by the first distance. The transfer device according to claim 1, wherein after control, the advancing / retreating means is controlled so that the pair of arms advance when undetected information is acquired from the detector. The preparation position is a position determined in advance based on the width information of the cargo that the second arm interferes with the cargo when the pair of arms are advanced, but the detector does not detect the cargo. Is,
The transfer device according to claim 1 or 2. The controller
Before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion, the opening / closing means is placed so that the second arm is positioned at a predetermined preparation position. When the detection information indicating that the load is detected is acquired from the detector by controlling, the second arm moves in a direction away from the first arm while the detection information is acquired from the detector. Claims 1 to 3 for controlling the opening / closing means so that when the opening / closing means is controlled and undetected information is acquired from the detector, the second arm moves the first distance in a direction away from the first arm. The transfer device according to any one of the above. A moving means for moving the pair of arms in the width direction is provided.
The controller
When the opening / closing means is controlled so that the second arm is located at a predetermined preparation position and the detection information indicating that the load is detected is acquired from the detector, the first arm is transferred to the second arm. The invention according to any one of claims 1 to 4, wherein the moving means is controlled so that the pair of arms move in a direction toward the second arm, and detection information or undetected information is acquired from the detector. Transfer device. A first arm that advances and retreats in the front-rear direction of the luggage on one side of the luggage placed on the loading portion, a second arm that advances and retreats in the front-rear direction on the other side of the luggage, and the first arm. And the advancing / retreating means for advancing / retreating the pair of arms which are the second arms, the opening / closing means for moving the second arm in the width direction of the luggage with respect to the first arm, and the second arm in the width direction. A method for controlling a transfer device, which is attached to the opposite side of the first arm and includes a detector for detecting the presence or absence of luggage in the front-rear direction.
Before controlling the advancing / retreating means so that the pair of arms advance to the side of the load placed on the above-mentioned storage portion, the opening / closing means is placed so that the second arm is positioned at a predetermined preparation position. When undetected information indicating that the load is not detected is acquired from the detector by controlling, the opening / closing is such that the second arm moves a predetermined first distance from the preparation position in a direction away from the first arm. A control method for a transfer device that controls means.

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