Transfer device and trolley

Abstract

A transfer device capable of correcting the posture of a transferred object is realized. The transfer device (3) is provided with: a placement plate (68) on which a transferred object is placed; a pair of conveyance mechanisms (7) of conveyance belts (74) for pinching a transferred object (200); a control section that controls the actions of the pair of conveyance belts (74) so that the pair of conveyance belts (74) pinches the transferred object (200) and transfers the transferred object (200) from a transfer start point to the placement plate (68); and a detection section that detects the posture of the transferred object when the control section performs control. In the case where the posture of the transferred object detected by the detection section is inclined with respect to a prescribed posture, the control section controls the pair of conveyance belts (74) so that the transfer actions of the pair of conveyance belts (74) with respect to the transferred object are different, thereby correcting the posture of the transferred object.

Description

Technical Field

[0001] This invention relates to a transfer device for transferring objects. Background Technology

[0002] Stacking robots, transport trolleys, and the like are equipped with transfer devices for taking items out of or into storage racks. For example, the transfer device disclosed in Patent Document 1 has a side-clamping conveyor that operates while clamping items from both sides, thereby moving the items.

[0003] (Existing technical literature)

[0004] Patent Document 1: Japanese Patent Application Publication No. 2002-114317 Summary of the Invention

[0005] (The problem the invention aims to solve)

[0006] When removing items from the shelf using the aforementioned transfer device, if the items are not positioned or in the correct orientation, even if a side-clamp conveyor is used to clamp the items from both sides, the conveyor cannot apply equal handling force to both sides of the items. Therefore, there is a problem where the items are tilted relative to the transfer direction, thus affecting the transfer process.

[0007] One aspect of the present invention is to realize a transfer device or the like that is capable of correcting the posture of the transferred object.

[0008] (Technical means used to solve the problem)

[0009] To address the aforementioned problem, one aspect of the present invention provides a transfer device comprising: a placement section for placing a transferable object; a pair of left and right retainers for clamping the transferable object; a control section for controlling the movement of each of the pair of retainers in such a way that the pair of retainers clamp the transferable object and transfer the transferable object from a transfer starting point to the placement section; and a detection section for detecting the posture of the transferable object when the control section performs the control, and if the posture detected by the detection section is tilted relative to a predetermined posture, the control section controls the pair of retainers in such a way that the transfer movements performed by the pair of retainers on the transferable object are different for each of them, thereby correcting the posture of the transferable object.

[0010] (Invention Effects)

[0011] According to one aspect of the present invention, a transfer device is available that can correct the posture of the transferred object. Attached Figure Description

[0012] Figure 1This is a structural plan of the storage warehouse commonly used in embodiments 1 to 4 of the present invention.

[0013] Figure 2 This is a structural plan of the transport vehicle that moves through the passageways in the aforementioned storage warehouse.

[0014] Figure 3 This is a front view of the aforementioned transport vehicle.

[0015] Figure 4 This is a block diagram of the control system of the transfer device in the aforementioned transport vehicle.

[0016] Figure 5 This is a schematic diagram of the transfer operation performed by the transfer device according to embodiments 1 to 3 of the present invention on the object to be transferred.

[0017] Figure 6 This is a schematic diagram of the transfer operation performed by the transfer device of Embodiment 4 of the present invention on the object to be transferred. Detailed Implementation

[0018] [Storage warehouse and moving vehicle]

[0019] Reference Figures 1-3 This describes the storage warehouse and transport vehicle commonly used in embodiments 1 to 3 of the present invention. Figure 1 This is the structural floor plan of storage warehouse 100. Figure 2 This is a structural plan of the transport vehicle 1 that moves in the passageway 102 of the storage warehouse 100. Figure 3 This is a front view of the transport vehicle 1.

[0020] like Figure 1 As shown, the storage warehouse 100 includes storage racks 101 and a passageway 102. The passageway 102 is formed in a straight line to allow the transport vehicle 1 to move back and forth. Storage racks 101 are arranged on both sides of the passageway 102. The storage racks 101 are divided into a plurality of storage sections 101a (transfer starting points) arranged continuously along the passageway 102. Figure 1 The storage rack 101 and passageway 102 shown are single-layer structures. The storage rack 101 is provided with multiple layers, such as... Figure 1 The storage rack 101 and passageway 102 are shown. In addition, the storage rack 101 is also equipped with a lifting device (not shown) for moving the transport cart 1 up and down between the passageways 102 on each floor.

[0021] The transport vehicle 1 includes a base 2 and a transfer device 3. The base 2 can reciprocate within the passage 102 along its length direction (X1 direction) and the opposite direction (X2 direction). Specifically, as follows... Figure 2 and Figure 3As shown, four wheels 21 are provided on the bottom surface of the base 2. In addition, the base 2 is formed into a rectangle, with its short side along the X1 and X2 directions, and its long side along a direction orthogonal to the X1 and X2 directions.

[0022] The transfer device 3 is mounted on the base 2 and has a clamping mechanism 5 for clamping the transferred object 200 (see reference). Figure 2 and Figure 3 The transfer device 3 causes the clamping mechanism 5 to move back and forth in the Y1 direction (transfer direction), which is orthogonal to the X1 and X2 directions, and in the Y2 direction (transfer direction), which is opposite to the Y1 direction. As a result, the transfer device 3 transfers the object 200 between the storage part 101a and the mounting plate 68 (mounting part) provided on the transfer device 3 (described later).

[0023] Next, the transfer device 3 will be described in detail.

[0024] like Figure 2 and Figure 3 As shown, the transfer device 3 has an advancing / retreating mechanism 4 and a clamping mechanism 5.

[0025] The forward / backward mechanism 4 is a mechanism provided to move the clamping mechanism 5 forward from the base 2 toward the storage section 101a (in the Y1 or Y2 direction) and to move the clamping mechanism 5 backward from the storage section 101a toward the base 2 (in the Y2 or Y1 direction). The forward / backward mechanism 4 includes a sliding plate 41, a guide mechanism 42, and a drive mechanism 43.

[0026] The sliding plate 41 is a plate component used to support the clamping mechanism 5 and is disposed on the base 2. The sliding plate 41 is formed into a rectangle, the long side of which is slightly shorter than the width (short side) of the base 2, the length of the short side is about 1 / 3 of the length (long side) of the base 2, and the direction of the long side is orthogonal to the Y1 and Y2 directions.

[0027] The guide mechanism 42 is used to guide the sliding plate 41 in the Y1 and Y2 directions. Figure 3 As shown, the guiding mechanism 42 has a pair of guide rails 421 and four rollers 422.

[0028] The guide rails 421 are formed in a straight line extending along the Y1 and Y2 directions, and are disposed near the two side edges of the upper surface of the base 2. Each of the two guide rails 421 has a recess, so that the recesses are opposite to each other on both sides.

[0029] Roller 422 is rotatably supported on the lower surface of sliding plate 41. Two rollers 422 are disposed in the recess of each guide rail 421, and the rollers 422 roll in the Y1 and Y2 directions on the bottom surface of the recess.

[0030] The drive mechanism 43 is used to drive the sliding plate 41 in the Y1 and Y2 directions on the base 2. The drive mechanism 43 is arranged in a straight line extending along the Y1 and Y2 directions, and is configured parallel to the guide rails 421 at the midpoint between the two guide rails 421. The drive mechanism 43 may be, for example, a synchronous belt and a pulley, rack and pinion mechanism, or other mechanism that converts rotary motion into linear motion.

[0031] The clamping mechanism 5 has an expansion mechanism 6 and a pair of conveying mechanisms 7.

[0032] The expansion and contraction mechanism 6 is a mechanism that moves a pair of conveying mechanisms 7 in the X1 and X2 directions in a direction that either reduces or increases the distance between the pair of conveying mechanisms 7. The expansion and contraction mechanism 6 has a pair of screw shafts 61, a pair of nuts 62, a common bearing 63, a pair of bearings 64, a sliding shaft 65, a pair of cages 66, a pair of support members 67, and a pair of mounting plates 68.

[0033] A screw shaft 61 is disposed on a sliding plate 41 and positioned near one long edge of the sliding plate 41. The screw shaft 61 is arranged along the X1 and X2 directions with its central axes aligned with each other. The end of the screw shaft 61 close to the short edge of the sliding plate 41 is rotatably supported on a bearing 64, and the other end is rotatably supported on a common bearing 63.

[0034] The nut 62 has a through hole into which the screw shaft 61 is inserted. The nut 62 contacts the screw shaft 61 in a manner that allows it to roll relative to the screw shaft 61 via steel balls (not shown). Thus, in response to the rotation of the screw shaft 61, the nut 62 moves along the screw shaft 61 in the X1 or X2 direction. In this way, the screw shaft 61 and the nut 62 constitute a ball screw.

[0035] A sliding shaft 65 is disposed on a sliding plate 41 and is arranged parallel to the screw shaft 61 near another long edge of the sliding plate 41. Both ends of the sliding shaft 65 are fixed and supported on the sliding plate 41 by support members 67.

[0036] The retainer 66 has a through hole into which a sliding shaft 65 is inserted. The retainer 66 is configured to allow the sliding shaft 65 to slide along the X1 and X2 directions.

[0037] The mounting plate 68 is disposed on nuts 62 and retainers 66 arranged along the Y1 and Y2 directions. Furthermore, the mounting plate 68 is fixed to these nuts 62 and retainers 66.

[0038] In the expansion mechanism 6 configured as described above, a pair of screw shafts 61 rotate in opposite directions, causing a pair of nuts 62 to move towards or away from the common bearing 63. Consequently, the mounting plate 68 fixed to the nuts 62 also moves along with the nuts 62. Furthermore, the retainer 66 fixed to the mounting plate 68 moves along the sliding shaft 65 due to the movement of the mounting plate 68. Thus, the pair of mounting plates 68 move in a direction where the distance between them narrows or widens.

[0039] like Figure 3 As shown, the conveying mechanism 7 moves the holding surface of the conveyor belt 74 (holding body) in the Y1 and Y2 directions, holding the transferred item 200 in a clamping state. The conveying mechanism 7 has a support body 71, a pair of support plates 72, a pair of drive rollers 73, and a conveyor belt 74. Here, the transferred item 200 is, for example, a tray 201 containing items 202 such as luggage. Since the tray 201 is rectangular, the shape of the transferred item 200 is also rectangular. However, the shape of the tray 201 is not limited to rectangle and can be other shapes.

[0040] The support body 71 is a component used to support the conveying mechanism 7 on the expansion mechanism 6. Specifically, the support body 71 is arranged in the same manner as the mounting plate 68, on nuts 62 and retainers 66 arranged along the Y1 and Y2 directions, and is fixed to these nuts 62 and retainers 66. Thus, the support body 71 moves together with the mounting plate 68.

[0041] A pair of support plates 72 are configured relative to the support body 71 with an upper and lower gap. The support plate 72 configured on the lower side is fixed to the support body 71. The support plate 72 configured on the upper side is configured on the lower support plate 72 by a spacer (not shown).

[0042] A drive roller 73 is disposed at each end of a pair of support plates 72. The drive shaft of the drive roller 73 is rotatably supported on the pair of support plates 72. The drive roller 73 rotates in the forward and reverse directions by the rotational driving force transmitted by the drive shaft.

[0043] The conveyor belt 74 has a certain width and is formed in a loop (endless). The conveyor belt 74 is formed of a material with a high coefficient of friction, such as rubber. The conveyor belt 74 holds the transported object 200 by the opposing sides of a pair of conveying mechanisms 7.

[0044] The clamping mechanism 5 configured as described above causes the pair of conveying mechanisms 7 to move in a direction where the distance between them narrows or widens. In addition, the pair of conveying mechanisms 7 causes the left and right pair of conveyor belts 74, which hold the object 200, to move in the Y1 or Y2 direction, thereby causing the object 200 to move in the Y1 or Y2 direction.

[0045] Furthermore, although the clamping mechanism 5 has a conveying mechanism 7, other mechanisms can be used instead of the conveying mechanism 7, as long as they have the same function. For example, such a mechanism could be a mechanism consisting of a pad for holding the transferred object 200 provided on a reciprocating moving mechanism that moves along the Y1 and Y2 directions, or it could be a rubber roller conveying mechanism, etc. The rubber roller conveying mechanism has multiple rubber rollers arranged in the Y1 and Y2 directions, and the transferred object 200 is moved by the rotationally driven rubber rollers.

[0046] Next, the control system of the transfer device 3 will be explained. Figure 4 This is a block diagram of the control system.

[0047] like Figure 4 As shown, the transfer device 3 includes a control unit 8. The control unit 8 controls the operation of the forward / backward mechanism 4, the expansion / contraction mechanism 6, and the conveying mechanism 7 in the transfer device 3. To achieve the control function, the control unit 8 includes a forward / backward control unit 81, a clamping control unit 82, and a transfer control unit 83. In addition, the transfer device 3 includes a transfer position sensor 11, a clamping position sensor 12, a forward / backward motor 44, an expansion / contraction motor 69, and a conveyor belt motor 75 as elements constituting the control system.

[0048] The transfer position sensor 11 detects the position of the sliding plate 41 in the Y1 and Y2 directions and is set at a predetermined position on the base 2. Specifically, the transfer position sensor 11 detects the backward position, forward position, and intermediate position of the sliding plate 41.

[0049] Sliding plate 41 is in Figure 2 When the sliding plate 41 is positioned at a predetermined location on the base 2, its position in this state is the retracted position. The predetermined position of the sliding plate 41 refers to its position when it is centered on the base 2 while the transport vehicle 1 is moving the object 200. When the sliding plate 41 moves forward to the side closest to the storage section 101a, its position in this state is the forward position. The semi-forward position, between the retracted and forward positions, is the intermediate position.

[0050] The clamping position sensor 12 detects the position of the conveying mechanism 7 and is positioned at a predetermined location on the base 2. Specifically, the clamping position sensor 12 detects the clamping position and the clamping release position. The position of the conveying mechanism 7 in the state where the clamping interval between the conveying mechanism 7 and the object 200 is the narrowest is the clamping position. The position of the conveying mechanism 7 in the state where the clamping interval is the widest is the clamping release position.

[0051] When the control unit 8 controls the operation of the transfer device 3 to transfer the object 200, the detection unit 13 can detect the posture of the object 200 during the control process. The specific posture detection method of the detection unit 13 will be described in Embodiments 1 to 4 below.

[0052] The conveyor motor 75 is a motor included in the conveying mechanism 7, and drives the drive roller 73 to rotate. The forward / backward motor 44 is a motor included in the forward / backward mechanism 4, and drives the driven part of the forward / backward mechanism 4. The expansion / contraction motor 69 is a motor included in the expansion / contraction mechanism 6, and drives the screw shaft 61 to rotate. The expansion / contraction motor 69 simultaneously drives a pair of screw shafts 61. Therefore, the expansion / contraction mechanism 6 has a drive force transmission mechanism (not shown) for transmitting the driving force of the expansion / contraction motor 69 to the pair of screw shafts 61.

[0053] When the transfer device 3 performs the pulling action of transferring the object 200 from the storage section 101a to the mounting plate 68, the forward / backward control unit 81 can control the rotation and rotation stop of the forward / backward motor 44 based on the position of the sliding plate 41 (forward / backward detection position) detected by the transfer position sensor 11. Specifically, the forward / backward control unit 81 reverses the rotation of the forward / backward motor 44 during forward movement and the rotation during backward movement. The forward movement period refers to the period during which the sliding plate 41 moves forward to the storage section 101a during the process of the forward / backward detection position changing from the backward position to the forward position. The backward movement period refers to the period during which the sliding plate 41 moves backward toward the base 2 during the process of the forward / backward detection position changing from the forward position to the backward position.

[0054] When the transfer device 3 performs a pulling action, the clamping control unit 82 controls the rotation and stopping of the expansion motor 69 based on the position of the conveying mechanism 7 (conveyor mechanism detection position) detected by the clamping position sensor 12 and the forward / backward detection position. Specifically, the clamping control unit 82 does not rotate the expansion motor 69 during the process of the forward / backward detection position changing from the backward position to the intermediate position. When the intermediate position is detected, the expansion motor 69 rotates in the direction that reduces the distance between the pair of conveying mechanisms 7. In addition, when the clamping position is detected, the clamping control unit 82 stops the rotation of the expansion motor 69. Furthermore, during the process of the forward / backward detection position changing from the forward position to the backward position, the clamping control unit 82 rotates the expansion motor 69. When the backward position is detected, the expansion motor 69 rotates in the direction that increases the distance between the pair of conveying mechanisms 7.

[0055] When the transfer device 3 performs a pulling action, the transfer control unit 83 can control the operation of the conveyor belt motors 75 in the pair of conveying mechanisms 7 based on the forward / backward detection position. Specifically, if the detected backward position is the backward position before the pulling action, the transfer control unit 83 does not rotate the conveyor belt motors 75. Furthermore, the transfer control unit 83 rotates the conveyor belt motors 75 when the forward / backward detection position changes from the backward position to the intermediate position, when the forward / backward detection position changes from the intermediate position to the forward position, and when the forward / backward detection position changes from the forward position to the intermediate position. Conversely, the transfer control unit 83 stops the rotation of the conveyor belt motors 75 when the forward / backward detection position changes from the intermediate position to the backward position.

[0056] The transfer control unit 83 controls the operation of the pair of conveyor mechanisms 7 based on the posture (detected posture) of the object to be transferred 200 detected by the detection unit 13. Specifically, when the detected posture is a predetermined posture, the transfer control unit 83 synchronously controls the two conveyor belt motors 75. In addition, when the detected posture is tilted relative to the predetermined posture, the transfer control unit 83 controls the two conveyor belt motors 75 separately in a way that makes the transfer action of each conveyor belt 74 of the pair of conveyor mechanisms 7 on the object to be transferred 200 different.

[0057] The prescribed posture refers to the posture of the object being transferred 200 when its centerline is aligned with the transfer direction (Y1 and Y2 directions). Additionally, the prescribed posture also includes the posture of the object being transferred 200 when the angle of inclination of its centerline relative to the transfer direction is within a specified small range.

[0058] In addition, although the transfer device 3 is mounted on the transport vehicle 1, it can also be used on devices such as stacking robotic arms.

[0059] [Implementation Method 1]

[0060] Below, according to Figure 5 Embodiment 1 of the present invention will be described. Figure 5 This is a schematic diagram illustrating the transfer operation performed by the transfer device 3 on the transferred object 200 according to embodiments 1 to 3 of the present invention. Furthermore, for ease of explanation, components having equivalent functions to the aforementioned components are labeled with the same reference numerals and their descriptions are omitted. This also applies to the embodiments described later.

[0061] In this embodiment, assuming the detection unit 13 detects that the object to be transferred 200 is in an inclined state, the pulling action of the transfer device 3 under this assumed condition will be explained. First, in Figure 5 In the top view, the conveying mechanism 7 located on the left side of the base 2 is called the conveying mechanism 7L, and the conveying mechanism 7 located on the right side of the base 2 is called the conveying mechanism 7R.

[0062] (1) Step 1

[0063] In the state before the pull action begins, such as Figure 5 As shown by the solid line, the conveying mechanisms 7L and 7R are in the clamped-out position. Furthermore, the object being transferred 200 is positioned slightly to the left of the center within the storage section 101a.

[0064] When the pulling action begins, the sliding plate 41 moves forward toward the storage section 101a. In this state, the conveying mechanisms 7L and 7R are not yet activated. When the sliding plate 41 reaches the intermediate position, as... Figure 5 As shown by the double-dotted line, the conveying mechanisms 7L and 7R move in the direction of decreasing spacing via the clamping mechanism 5, and their respective conveyor belts 74L and 74R move in the direction of the arrow at the same speed. Thus, by simultaneously performing the forward and clamping actions of the conveying mechanisms 7L and 7R, efficient transfer can be achieved.

[0065] (2) Step 2

[0066] As the conveying mechanisms 7L and 7R move further in the direction of decreasing spacing, the conveying mechanism 7L comes into contact with the left side of the object being transferred 200. In this state, the conveying mechanism 7R has not yet come into contact with the object being transferred 200.

[0067] (3) Step 3

[0068] In step 2, since the force of the conveying mechanism 7L acts only on the left side of the object being transferred 200, the object being transferred 200 will tilt. As a result, the conveying mechanism 7R comes into contact with the object being transferred 200. In this state, the transfer control unit 83 determines that the detected posture detected by the detection unit 13 is tilted relative to a predetermined posture. Then, the transfer control unit 83 reduces the rotational speed of the conveyor motor 75 driving the conveying mechanism 7L, or stops the rotation of the conveyor motor 75. On the other hand, the transfer control unit 83 increases the rotational speed of the conveyor motor 75 driving the conveying mechanism 7R. Therefore, the conveying speed (operating speed) of the conveying mechanism 7R is faster than the conveying speed of the conveying mechanism 7L.

[0069] (4) Step 4

[0070] Starting from the state in step 3, the transfer control unit 83 continues to control the conveying speeds of the conveyor mechanisms 7L and 7R. Therefore, when the posture of the transferred object 200 changes to a predetermined posture, the transfer control unit 83 determines that the detected posture by the detection unit 13 is the predetermined posture, thereby restoring the rotational speeds of the conveyor motors 75 used to drive the conveyor mechanisms 7L and 7R to the same speed. As a result, the conveying speeds of the conveyor belts 74L and 74R become equal.

[0071] When the clamping position is detected, the clamping control unit 82 stops the movement of the conveying mechanisms 7L and 7R in the direction of decreasing spacing. Then, in this state, the advance / retreat control unit 81 moves the sliding plate 41 (conveying mechanisms 7L and 7R) toward the base 2, and stops the movement of the sliding plate 41 when it reaches the retreat position.

[0072] Thus, according to this embodiment, by causing the conveyor belts 74L and 74R of the pair of conveying mechanisms 7L and 7R to operate differently, the difference in the moving distance of the portion of the transferred object 200 held by the pair of conveyor belts 74L and 74R can be reduced. Therefore, even if the transferred object 200 is tilted, its posture is corrected. Thus, the transfer of the transferred object 200 can be performed smoothly.

[0073] In addition, in this embodiment, such as Figure 5 As shown, it is envisioned that the conveyor belt 74L of one side comes into contact with the object being transferred 200, causing the object 200 to tilt, and the posture correction performed by the transfer device 3 under this envisioned situation is explained. However, this embodiment is not limited to this situation, and can also be applied to the case where the object being transferred 200 is initially arranged in the storage section 101a in a tilted state. Specifically, when the conveyor mechanisms 7L and 7R advance to the storage section 101a, if the posture is detected as tilted... Figure 5 If the vehicle is tilted as shown in step 3, the transfer control unit 83 performs the posture correction control as described in step 3. This is also true in the embodiments described later.

[0074] [Implementation Method 2]

[0075] Below, according to Figure 5 Embodiment 2 of the present invention will be described. In this embodiment, only actions that differ from those described in Embodiment 1 will be described.

[0076] In this embodiment, the detection unit 13 detects the posture of the transferred object 200 based on the difference in load on the pair of conveyor mechanisms 7L and 7R. Furthermore, for the respective conveyor belts 74L and 74R of the conveyor mechanisms 7L and 7R, the transfer control unit 83 controls the movement speed of the conveyor belt 7 with the lighter load to be faster than the conveyor belt with the heavier load. The load on the conveyor belts 74L and 74R is detected based on the measured current flow in each conveyor belt motor 75 that drives the conveyor belts 74L and 74R. This control will be described below.

[0077] In step 2, since the conveying mechanism 7L is in contact with the object being transferred 200, the conveyor belt 74L is subjected to a load. However, since the load is relatively light, the difference in load on the conveyor belts 74L and 74R is less than the specified value D1. Therefore, the detection unit 13 does not consider this state as an indication that the object being transferred 200 is tilted.

[0078] In step 3, if the object being transferred 200 is tilted, the conveyor belt 74R will come into contact with the object and thus be subjected to a load. In this state, since the conveying mechanism 7L attempts to move the tilted object 200 but cannot move it correctly in the transfer direction, the load on the conveyor belt 74L will increase. Therefore, the difference in load between the conveyor belts 74L and 74R will exceed a predetermined value D1. Consequently, the transfer control unit 83 sets the conveying speed of the lighter-loaded conveyor belt 74R to be faster than the conveying speed of the heavier-loaded conveyor belt 74L.

[0079] As a result, the portion of the transported object 200 held by the less loaded conveyor belt 74L, 74R moves more than the portion held by the other conveyor belt. Thus, the posture of the transported object 200 is corrected.

[0080] In addition, the transfer control unit 83 continues to perform the above control until the load difference between a pair of conveyor belts 74L and 74R is below the specified value D1.

[0081] In cases where the load difference can be reduced to a specified value D1 or less, the posture of the transferred object 200 can be corrected to a specified posture. By continuously controlling the transmission speed until the load difference is reduced to a specified value D1 or less, the posture of the transferred object 200 can be corrected more accurately.

[0082] [Implementation Method 3]

[0083] Below, according to Figure 5 Embodiment 3 of the present invention will be described. In this embodiment, only actions that differ from those described in Embodiments 1 and 2 will be described.

[0084] In this embodiment, the detection unit 13 detects the posture of the transferred object 200 based on an image of the transferred object 200 captured by a photographic device (not shown). The photographic device can be disposed in the transfer device 3 or in the storage warehouse 100. Furthermore, the transfer control unit 83 controls the conveyor belt 74R, one of the pair of conveyor belts 74L and 74R, to move at a slower speed than the other conveyor belt when the object 200 is tilted. If the detected posture is tilted as in step 3, the transfer control unit 83 controls the conveyor belt 74R to move at a faster speed than the conveyor belt 74L, as in step 3 of embodiment 1.

[0085] The portion of the transported object 200 held by one of the two conveyor belts 74L and 74R, which is subject to the tilt of the transported object 200, moves less than the portion held by the other conveyor belt. As a result, the posture of the transported object 200 is corrected.

[0086] Furthermore, the transfer control unit 83 continues the aforementioned control until the posture of the transferred object 200 detected by the detection unit 13 is a predetermined posture. Specifically, the transfer control unit 83 determines whether the posture of the transferred object 200 is a predetermined posture by comparing the captured image of the transferred object 200 with an image of the transferred object 200 in the predetermined posture. Thus, the posture of the transferred object 200 can be correctly corrected to the predetermined posture.

[0087] [Implementation Method 4]

[0088] Below, according to Figure 6 Embodiment 4 of the present invention will be described. Figure 6 This refers to the transfer operation of the transferred object 200 performed by the transfer device 3 in Embodiment 4 of the present invention. In this embodiment, only the operation that differs from the operation described in Embodiments 1 to 3 will be described.

[0089] In this embodiment, such as Figure 6 As shown, the detection unit 13 has two distance sensors 11L and 11R. As an example, the distance sensors 11L and 11R are arranged at two different measuring positions, located at the ends of the base 2 of the transfer device 3 furthest from the receiving section 101a, and spaced apart in the left-right direction. Alternatively, the distance sensors 11L and 11R can also be arranged at the end of the base 2 opposite to the illustrated position (upper side in the figure) to measure distances between the base 2 and the receiving section 101a. Figure 6The distance between the object 200 and the distance sensors 11L and 11R in another storage unit 101a (not shown) opposite to the storage unit 101a shown (lower side in the figure). The detection unit 13 detects the posture of the object 200 based on the difference between the straight-line distance relative to the object 200 in the transfer direction measured by the distance sensor 11L and the straight-line distance relative to the object 200 in the transfer direction measured by the distance sensor 11R.

[0090] The transfer control unit 83 controls the conveyor belt 74L, 74R to move faster than the other conveyor belt, which is closer to the measurement position where a relatively long straight-line distance has been measured. This control is described below.

[0091] (1) Steps 1 and 2

[0092] like Figure 6 As shown, when the object being transferred 200 is in a non-tilted state, the straight-line distance L1 between the distance sensor 11L and the object being transferred 200, and the straight-line distance L2 between the distance sensor 11R and the object being transferred 200 are equal.

[0093] (2) Step 3

[0094] When the object being transferred 200 is tilted, the straight-line distance L1 is shorter than the straight-line distance L2. Therefore, the transfer control unit 83 controls the transfer as in step 3 of Embodiment 1, so that the conveying speed of the conveyor belt 74R is faster than the conveying speed of the conveyor belt 74L.

[0095] (3) Step 4

[0096] When the orientation of the transferred object 200 is changed to the predetermined orientation, the straight-line distances L1 and L2 are equal. Therefore, the transfer control unit 83 performs control as in step 4 of Embodiment 1 to make the conveying speeds of the conveyor belts 74L and 74R equal.

[0097] Thus, according to this embodiment, the portion of the transported object 200 held by one of the pair of conveyor belts 74L and 74R that is near the measurement position (on the measurement position side) where a relatively long straight-line distance L1 or L2 has been measured moves more than the portion of the transported object 200 held by the other conveyor belt. As a result, the posture of the transported object 200 is corrected.

[0098] Furthermore, the transfer control unit 83 continues the aforementioned control until the difference between the linear distances L1 and L2 is below a predetermined value D2. When the fact that the difference between the linear distances L1 and L2 is below the predetermined value D2 is considered as the orientation of the transferred object 200 being corrected to a predetermined orientation, the transfer control unit 83 continues to control the conveying speed until the difference between the linear distances L1 and L2 is below the predetermined value D2. This allows for more accurate correction of the orientation of the transferred object 200.

[0099] [Software-based implementation example]

[0100] The function of the transfer device 3 (hereinafter referred to as the "device") can be implemented by a program that enables the computer to function as the device and to function as each control block of the device (in particular, each part included in the control unit 8).

[0101] In this case, the aforementioned device includes hardware, namely a computer, for executing the aforementioned program. The computer has at least one control device (e.g., a processor) and at least one storage device (e.g., memory). By executing the aforementioned program through the control device and the storage device, the functions described in the above embodiments are realized.

[0102] The program described above can be stored on one or more computer-readable non-temporary recording media. This recording medium may or may not be included in the aforementioned device. In the latter case, the program can be provided to the aforementioned device via any wired or wireless transmission method.

[0103] Furthermore, some or all of the functions of the aforementioned control blocks can also be implemented using logic circuits. For example, integrated circuits that form logic circuits and function as the aforementioned control blocks are also included within the scope of this invention. In addition, the functions of the aforementioned control blocks can be implemented, for example, using a quantum computer.

[0104] [Summarize]

[0105] One aspect of the present invention is a transfer device comprising: a placement section for placing a transferable object; a pair of left and right retainers for clamping the transferable object; a control section for controlling the movement of each of the pair of retainers in such a way that the pair of retainers clamp the transferable object and transfer the transferable object from a transfer starting point to the placement section; and a detection section for detecting the posture of the transferable object when the control section performs the control, and if the posture detected by the detection section is tilted relative to a predetermined posture, the control section controls the pair of retainers in such a way that the transfer movements of the pair of retainers on the transferable object are different for each of them, thereby correcting the posture of the transferable object.

[0106] According to the above scheme, by making the actions of the pair of retainers different, the difference in the movement distance of the parts of the transported object held by the pair of retainers can be reduced. Therefore, even if the transported object tilts, its posture is corrected. Thus, the transport of the transported object can be carried out smoothly.

[0107] In the transfer device, the detection unit detects the posture based on the difference in load on the pair of retainers, and the control unit controls the movement of the lighter-loaded retainer in the pair of retainers to be faster than the heavier-loaded retainer.

[0108] According to the above scheme, the portion of the object being transferred held by the lighter-loaded holder in a pair of holders moves faster than the portion held by the other holder. As a result, the posture of the object being transferred is corrected.

[0109] In the transfer device, the control unit continues to perform the control until the difference in load on the pair of holders is below a predetermined value.

[0110] According to the above scheme, when the load difference being below a specified value can be regarded as the posture of the transferred object being corrected to the specified posture, by continuously controlling the speed of the action until the load difference is below the specified value, the posture of the transferred object can be corrected more accurately.

[0111] In the transfer device, the detection unit detects the posture based on the difference in the straight-line distance between each measurement position and the object being transferred in the transfer direction, measured at two different measurement positions, wherein the two measurement positions are spaced apart in the left-right direction of the transfer device. The control unit controls the movement of one of the pair of holders, which is located near the measurement position where the relatively longer straight-line distance is measured, to move faster than the other holder.

[0112] According to the above scheme, the portion of the transported object held by one of the pair of holders, which is located near the measurement position where a relatively long straight-line distance has been measured, moves more than the portion of the transported object held by the other holder. As a result, the posture of the transported object is corrected.

[0113] In the transfer device, the control unit continuously performs the control until the difference in the straight distance is below a predetermined value.

[0114] According to the above scheme, when the difference in straight-line distance is reduced to a specified value or less, it is considered that the posture of the transferred object has been corrected to a specified posture. The speed of the movement is continuously controlled until the difference in straight-line distance is reduced to a specified value or less, so that the posture of the transferred object can be corrected more accurately.

[0115] In the transfer device, the detection unit detects the posture based on the captured image of the object to be transferred, and the control unit controls the movement of one of the pair of holders, which bears the tilt of the object to be transferred, at a slower speed than the other holder.

[0116] According to the above scheme, the portion of the transported object held by one of the pair of holders, which is subject to the tilt of the transported object, moves less than the portion held by the other holder. Thus, the posture of the transported object is corrected.

[0117] In the transfer device, the control unit continuously performs the control until the posture detected by the detection unit is the prescribed posture.

[0118] According to the above scheme, the posture of the transferred object can be correctly corrected to the prescribed posture.

[0119] In the transfer device, the pair of retainers are the conveyor belts of the conveying mechanism.

[0120] According to the above scheme, the contact area between the conveyor belt of the conveying mechanism and the object being transferred can be ensured more, thus making it suitable for transferring objects.

[0121] To address the aforementioned issues, one aspect of the present invention provides a transport vehicle that moves along a series of transfer starting points to transport the transferred object, comprising any of the aforementioned transfer devices, wherein the transfer device transfers the transferred object between the transfer starting point and the mounting portion.

[0122] According to the above scheme, similar to the above transfer device, the transfer of the object can be carried out smoothly.

[0123] [Additional Notes]

[0124] This invention is not limited to the above-described embodiments. Various modifications can be made within the scope shown in the specification. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the technical scope of this invention.

[0125] <Explanation of Figure Markers>

[0126] 1. Transport vehicle

[0127] 3 Transfer device

[0128] 8. Control Department

[0129] 13. Testing Department

[0130] 68. Mounting plate (mounting section)

[0131] 74, 74L, 74R conveyor belts (holding bodies)

[0132] 83 Transfer Control Unit

[0133] 101a Storage Section (Transfer Starting Point)

[0134] 200 items transferred

[0135] Straight-line distance between L1 and L2

Claims

1. A transfer device comprising: A loading section, which is used to load the object to be moved; A pair of left and right retainers are used to clamp the object being transferred; The control unit controls the movement of each of the pair of retainers in such a way that the pair of retainers clamp the object to be transferred and transfer the object from the transfer starting point to the placement unit; as well as The detection unit detects the posture of the transferred object when the control unit performs the control. When the posture detected by the detection unit is tilted relative to a predetermined posture, the control unit controls the pair of holders in a manner that makes each of the pair of holders perform a different transfer action on the object being transferred, thereby correcting the posture of the object being transferred. in, The detection unit detects the posture based on the difference in load experienced by the pair of retainers. The control unit controls the movement of the lighter-loaded retainer in the pair of retainers in a manner that makes the retainer move faster than the heavier-loaded retainer.

2. The transfer device according to claim 1, wherein, The control unit continues to perform the control until the difference in load on the pair of retainers is below a predetermined value.

3. The transfer device according to claim 1, wherein, The pair of retainers are the conveyor belts of the conveying mechanism.

4. A type of transport vehicle, It moves along a series of transfer points to transport the transferred items. It possesses the transfer device as described in any one of claims 1 to 3. The transfer device transfers the object to be transferred between the transfer starting point and the loading part.

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