Transfer system and transfer device

Abstract

The safety of a transfer system is improved, and the space of the transfer system is saved. A transfer system (1) is provided with: a conveyance unit (11) that conveys an article in the X direction; a transfer unit (12) that is provided on the tip side of the conveyance unit (11) and that holds and transfers the article (2); a camera unit (13) that is provided above the transfer unit (12) and that captures an image of the article (2); and two support sections (14, 14) for supporting the camera section (13), the two support sections (14, 14) being provided in each of the Y-direction and separating the transfer section (12) from the outside thereof in the Y-direction.

Description

Technical Field

[0001] The invention relates to an article transfer system and article transfer equipment in logistics. Background Art

[0002] In the past, in logistics warehouses, in order to efficiently sort a large number of items into shipping containers according to the shipping destination, a transfer system with a picking device (transfer device) such as a robot arm was used. Regarding this transfer system, Patent Document 1 discloses a technology that can perform automatic transfer of items by the picking device and manual transfer of items by an operator.

[0003] [Prior art literature]

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-070143 Summary of the invention

[0005] (Problems to be solved by the invention)

[0006] From the perspective of safety, it is preferable to provide a protective cover around the pick-up device that performs the automatic transfer operation to prevent people from coming into contact with the pick-up device. However, in this case, the space required for the transfer system will increase. As a result, the number of transfer systems that can be installed in a specified area in a logistics center or the like may decrease.

[0007] An object of one aspect of the present invention is to improve the safety of a transfer system and to achieve space saving of the transfer system.

[0008] (Technical means to solve the problem)

[0009] In order to solve the above-mentioned problems, a transfer system according to one aspect of the present invention comprises: a transporting part, which transports an article in a first direction; a transfer part, which is arranged at one end side of the transporting part and holds the article to transfer the article; a camera part, which is arranged above the transfer part and takes a picture of the article; and two supporting parts supporting the camera part, which, when viewed from above, are arranged facing the transfer part in a second direction orthogonal to the first direction and separate the transfer part from the outside of the transfer part in the second direction.

[0010] In addition, another aspect of the present invention is a transfer equipment having a plurality of transfer systems according to the above-mentioned scheme, wherein the transfer systems are arranged in a plurality along a second direction orthogonal to the first direction in a plan view in such a manner that the transport parts are substantially parallel to each other.

[0011] (Effects of the Invention)

[0012] According to one aspect of the present invention, the safety of the transfer system can be improved and the space saving of the transfer system can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic perspective view of a transfer system according to an embodiment of the present invention.

[0014] Figure 2 1 is a schematic top view of the transfer system.

[0015] Figure 3 It is a front view, two side views and a top view among the six schematic views of the protective cover possessed by the above-mentioned transfer system.

[0016] Figure 4 It is a front view, a side view and a top view among the six schematic views of a modified example of the camera part and the support part in the above-mentioned transfer system.

[0017] Figure 5 It is a schematic plan view of a transfer device according to another embodiment of the present invention. DETAILED DESCRIPTION

[0018] Hereinafter, the embodiments of the present invention will be described in detail. Here, for the convenience of description, the same reference numerals are attached to the components having the same functions as the components described in each embodiment, and the description thereof will be appropriately omitted.

[0019] [Implementation method 1]

[0020] Combination Figure 1 to Figure 3 An embodiment of the present invention will be described.

[0021] (Overview of the transfer system)

[0022] Figure 1 It is a schematic perspective view of the transfer system 1 according to the present embodiment. Figure 2 FIG. 1 is a schematic top view of a transfer system 1. The transfer system 1 is used to transfer articles 2 in a logistics warehouse or the like. Figure 1 and Figure 2 As shown, the transfer system 1 of the present embodiment includes a conveying unit 11 , a transfer unit 12 , a camera unit 13 , a support frame 14 , a control unit 15 , and a terminal unit 16 .

[0023] (Transportation Department)

[0024] The conveying unit 11 conveys the first container 17 and the second container 18 for storing the articles 2 in the Y direction (front-back direction, first direction). Specifically, the conveying unit 11 includes an inlet conveyor 11a and 11b provided at the lower side in the Z direction, and an outlet conveyor 11c and 11d provided at the upper side in the Z direction. The first container 17 and the second container 18 are respectively conveyed to the front side in the Y direction by the inlet conveyor 11a and 11b. In addition, the first container 17 and the second container 18 are respectively conveyed to the rear side in the Y direction by the outlet conveyor 11c and 11d.

[0025] The transport unit 11 further includes a moving mechanism 11e and a frame 11f. The moving mechanism 11e sequentially moves the first container 17 from the carrying-in conveyor 11a to the first transfer position P1, and sequentially moves the second container 18 from the carrying-in conveyor 11b to the second transfer position P2. In addition, the moving mechanism 11e sequentially moves the first container 17 arranged at the first transfer position P1 to the carrying-out conveyor 11c, and sequentially moves the second container 18 arranged at the second transfer position P2 to the carrying-out conveyor 11c. The frame 11f is used to accommodate the moving mechanism 11e.

[0026] (Transfer Department)

[0027] The transfer unit 12 is provided at the front end side (one end side) in the Y direction of the conveying unit 11, and holds the article 2 contained in the first container 17 located at the first transfer position P1 and transfers it to the second container 18 located at the second transfer position P2. The transfer unit 12 is provided on the upper side of the moving mechanism 11e and the frame 11f of the conveying unit 11 in the Z direction via a stand or the like (not shown).

[0028] The transfer unit 12 includes a pickup head 12a for holding the article 2, and a driving unit 12b for lifting and lowering the pickup head 12a in the Z direction and moving the pickup head 12a in two directions, the X direction and the Y direction in a top view. The pickup head 12a is composed of, for example, one or more suction plates for sucking the article 2. The pickup head 12a sucks the article 2 contained in the first container 17 from above and holds the article 2 in a suspended state.

[0029] The driving unit 12b includes a fixed rail 12c, a first movable rail 12d, a second movable rail 12e, and a support arm 12f. The fixed rail 12c is provided along the X direction. The first movable rail 12d is provided along the Z direction and can reciprocate along the fixed rail 12c in the X direction. The second movable rail 12e is provided along the Y direction and can reciprocate along the first movable rail 12d in the Z direction.

[0030] The support arm 12f is arranged along the Z direction and can be reciprocated along the second movable rail 12e in the Y direction. In addition, the support arm 12f is provided with a pickup head 12a at its lower side in the Z direction. Thus, the transfer unit 12 can reciprocate the pickup head 12a along the three directions of X, Y, and Z by controlling the action of the driving unit 12b.

[0031] Compared with a transfer unit such as a 6-axis robot, the transfer unit 12 has a simple structure and is easily adaptable to a multi-row conveyor layout. Therefore, by using the transfer unit 12, the degree of freedom in the layout design of the transfer system 1 can be increased.

[0032] (Camera Department)

[0033] The camera unit 13 is arranged above the transfer unit 12 to photograph the article 2. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a photographs the first container 17 arranged at the first transfer position P1 to photograph one or more articles 2 contained in the first container 17. The second camera 13b photographs the second container 18 arranged at the second transfer position P2 to photograph one or more articles 2 contained in the second container 18. Here, the camera unit 13 may also include lamps 13c and 13d and a reflector 13e.

[0034] (Support frame)

[0035] The support frame 14 is a frame for supporting the camera unit 13. The support frame 14 includes: support parts 14a·14a, which are arranged adjacent to the transfer unit 12 along the X direction (left-right direction, second direction) perpendicular to the Y direction in a plan view; and beam members 14b·14b, which are arranged between the support parts 14a·14a. The first camera 13a and the second camera 13b are arranged at appropriate positions of the beam member 14b on the front side in the Y direction. Here, the number of the beam member 14b may be one or more than three.

[0036] The supporting parts 14a and 14a each include two column members 14c and 14d, a purlin member 14e, and a reinforcing member 14f. The column members 14c and 14d are arranged in the Y direction and fixed to the installation location of the transfer system 1 by fixing members 14g and 14h. The purlin member 14e and the reinforcing member 14f are installed between the column members 14c and 14d.

[0037] Here, the beam members 14b·14b may be provided on either the purlin member 14e or the column members 14c·14d. In addition, the number of the reinforcing members 14f may be two or more, or they may be omitted. In addition, when the supporting parts 14a·14a are each vertically provided by four or more column members, the beam members 14b·14b may be omitted. In this case, the first camera 13a and the second camera 13b may be provided at appropriate positions of the supporting parts 14a·14a, respectively.

[0038] Figure 1 and Figure 2 In the example of FIG. 1 , a reflector 13e is provided on the beam member 14b on which the first camera 13a and the second camera 13b are provided so as to extend toward both sides in the Y direction. In addition, lamps 13c and 13d are provided at appropriate locations of the reinforcing members 14f and 14f of the supporting parts 14a and 14a, respectively. Thus, the reflector 13e can reflect the light from the lamps 13c and 13d, thereby illuminating the first container 17 and the second container 18.

[0039] (Control Department)

[0040] The control unit 15 is used to control each unit in the transfer system 1. The terminal unit 16 is used for an operator to operate the transfer system 1.

[0041] In the transfer system 1 of the above scheme, first, the control unit 15 instructs the carrying-in conveyor belts 11a and 11b of the transport unit 11 to carry in the first container 17 and the second container 18 from the rear in the Y direction to the front in the Y direction, and continues this action. In addition, the control unit 15 instructs the carrying-out conveyor belts 11c and 11d of the transport unit 11 to carry out the first container 17 and the second container 18 from the front end in the Y direction to the rear in the Y direction, and continues this action.

[0042] Next, the control unit 15 instructs the moving mechanism 11e of the conveying unit 11 to move the first container 17 and the second container 18 that have been carried in to the first transfer position P1 and the second transfer position P2, respectively. Next, based on the images of the first container 17 and the second container 18 captured by the camera unit 13, the control unit 15 instructs the transfer unit 12 to hold and transfer the article 2 contained in the first container 17 at the first transfer position P1 to the second container 18 at the second transfer position.

[0043] Next, the control unit 15 instructs the moving mechanism 11e of the transport unit 11 to move the first container 17 at the first transfer position P1 to the carry-out conveyor 11c, and also instructs the moving mechanism 11e to move the other first containers 17 carried in to the first transfer position P1 and instructs the transfer unit 12 to perform the above transfer operation, and repeats these operations. The first container 17 moved to the carry-out conveyor 11c is carried out to the rear in the Y direction.

[0044] Furthermore, when the desired article 2 is stored in the second container 18, the control unit 15 instructs the moving mechanism 11e of the transport unit 11 to move the first container 17 at the first transfer position P1 to the carry-out conveyor 11c, and to move the second container 18 at the second transfer position P2 to the carry-out conveyor 11d. The first container 17 moved to the carry-out conveyor 11c and the second container 18 moved to the carry-out conveyor 11d are carried out to the rear in the Y direction.

[0045] (Protective cover)

[0046] Figure 3 The six-sided diagram of the protective cover of the transfer system 1 of this embodiment is a front view, two side views and a top view. In this embodiment, the transfer unit 12 can perform automatic transfer of holding and transferring the article 2. Therefore, Figure 1 to Figure 3 As shown, from the viewpoint of safety, a protective cover is provided around the transfer unit 12 to prevent a person or a part of a human body from coming into contact with the transfer unit 12 .

[0047] (Horizontal protection part)

[0048] like Figure 1 to Figure 3 As shown, the support parts 14a and 14a each include a transverse protection part 21 that separates the transfer part 12 from the outside thereof in the X direction. The transverse protection part 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. Thus, it is possible to prevent a person or a part of a human body from intruding from the X direction and contacting the transfer part 12. As a result, the safety of the transfer system 1 can be improved.

[0049] Furthermore, since the support parts 14a and 14a each have the lateral guard part 21, it is not necessary to separately provide a guard part for separating the transfer part 12 from the outside in the X direction outside the support parts 14a and 14a. As a result, the transfer system 1 can save space.

[0050] Since the two support parts 14a·14a are arranged adjacent to the transfer part 12 in the X direction, they are also adjacent to the frame 11f of the conveying part 11 located on the lower side of the transfer part 12 in the Z direction. In response to this, in the present embodiment, the transverse guard part 21 is omitted in the lower area of ​​the support part 14a, that is, in the area of ​​the support part 14a opposite to the frame 11f. Thus, the area where the transverse guard part 21 is provided can be reduced. On the other hand, the situation in which a person or a part of a person's body intrudes from the lower part of the support part 14a and contacts the transfer part 12 can be prevented by the frame 11f. That is, in the lower area of ​​the support part 14a, the frame 11f serves as a partition between the transfer part 12 and its outside in the X direction.

[0051] (Front protection unit)

[0052] like Figure 1 to Figure 3 As shown, the transfer system 1 is provided with a front guard 24 (end side partition) which separates the outside of the transfer section 12 on the side opposite to the side where the conveying section 11 is located, that is, the outside of the front side of the transfer section 12 in the Y direction from the transfer section 12 in a plan view. The front guard 24 is connected to the two support sections 14a·14a.

[0053] like Figure 1 and Figure 2 As shown, the transfer system 1 of this embodiment can perform both automatic transfer in which the transfer unit 12 holds and transfers the article 2, and manual transfer in which the operator holds and transfers the article 2. Therefore, a work area 25 for performing the above-mentioned manual transfer operation is set between the transfer unit 12 and the front guard 24. That is, the front guard 24 is provided around the work area 25 and adjacent to the work area 25.

[0054] Specifically, the front guard 24 includes a movable guard 27 and a plurality of fixed guards 26 connected to each other. The fixed guard 26 includes a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The corner of the frame member 32 on the lower side in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 26a.

[0055] The movable guard 27 includes a fixed frame member 33 and a movable member 34 disposed in the frame of the fixed frame member 33. The corner portion of the fixed frame member 33 on the lower side in the Z direction is fixed to the installation location of the transfer system 1 by a fixed member 33a. The movable member 34 includes a transparent plate 35 and a frame member 36 that holds the transparent plate 35. In addition, the Y-direction rear side ends of the fixed guards 26·26 are respectively connected to the Y-direction front side ends of the support parts 14a·14a.

[0056] This can prevent people from accidentally entering the work area 25 and coming into contact with the transfer unit 12. As a result, the safety of the transfer system 1 can be improved. In addition, since the front guard 24 is provided adjacent to the work area 25, the increase in the installation space of the transfer system 1 due to the installation of the front guard 24 can be suppressed.

[0057] Here, when the transfer system 1 can only transfer automatically, the work area 25 can also be set as a monitoring area for a supervisor to monitor the transfer unit 12. Alternatively, the work area 25 can be omitted. In this case, the front protection part 24 can be provided adjacent to the transfer unit 12 on the front side of the transfer unit 12 in the Y direction.

[0058] (Rear protection)

[0059] like Figure 1 to Figure 3As shown, the transfer system 1 is provided with: a rear guard portion 41·41 (transport side partition portion) adjacent to the Y direction end of the transport portion 11 in the X direction, which separates the above-mentioned end from the outside thereof in the X direction. The rear guard portion 41 includes a transparent plate 42 and a frame member 43 for holding the transparent plate 42. The Y-direction front side ends of the rear guard portions 41·41 are respectively connected (connected) to the Y-direction rear side ends of the support portions 14a·14a. In addition, the corner portion of the frame member 43 on the lower side in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 43a. Furthermore, a reinforcing member 44·45 is provided between the rear guard portions 41·41.

[0060] This can prevent a person or a part of a person's body from entering from the conveying section 11 and contacting the transfer section 12. As a result, the safety of the transfer system 1 can be improved. In addition, since the rear guard 41 is provided adjacent to the conveying section 11, the increase in the installation space of the transfer system 1 due to the installation of the rear guard 41 can be suppressed.

[0061] In addition, by providing the transparent plate 22 of the lateral guard 21, the transparent plates 31 and 35 of the front guard 24, and the transparent plate 42 of the rear guard 41 as protective covers, a supervisor of the transfer system 1 can monitor the conveying unit 11 and the transfer unit 12 from the outside of the transfer system 1. In addition, a fence, a net, or a protective cover of other shapes may be used instead of the transparent plates 22, 31, 35, and 42.

[0062] (Variation Example)

[0063] Next, combine Figure 4 A modified example of the transfer system 1 will be described.

[0064] Figure 4 1 is a front view, a side view, and a top view of a schematic six-sided view of a modified example of the camera unit and the support unit in the transfer system 1. Figure 1 to Figure 3 Compared with the camera unit 13 and the support frame 14 shown, Figure 4 The differences between the camera unit 13 and the support frame 14 shown are that the lamps 13c and 13d are provided on the beam member 14b, the support member 14i is added to the upper end of the support frame 14, and the reflector 13e is provided on the support member 14i. The other parts are the same. In this way, the lamps 13c and 13d and the reflector 13e of the camera unit 13 can be arranged in various forms, and the support member 14i can be added to the support frame 14 according to the arrangement.

[0065] [Implementation method 2]

[0066] Combination Figure 5 Other embodiments of the present invention will be described.

[0067] Figure 5FIG. 1 is a schematic top view of the transfer device in this embodiment. Figure 5 As shown, the transfer device 3 has multiple Figure 1 to Figure 3 The transfer system 1 is shown.

[0068] As described above, if a protective cover is provided around the pick-up device that performs the automatic transfer operation, the installation space of the transfer system will increase. As a result, the interval between adjacent transfer systems needs to be increased.

[0069] In contrast, in the present embodiment, the plurality of transfer systems 1 are arranged in parallel in the X direction so that the respective conveying sections 11 are substantially parallel to each other. Thus, the transfer section 12 and its outer portion in the Y direction are separated by the lateral protection section 21 of the support section 14a·14a provided adjacent to the transfer section 12. Therefore, the increase in the interval between adjacent transfer systems 1 can be suppressed.

[0070] Here, in a building 51 such as a logistics warehouse, support members 52 are usually provided at predetermined intervals P to support the upper floors or ceilings. Therefore, from the perspective of efficient transfer of articles 2, the more transfer systems that can be installed within the predetermined intervals P, the better.

[0071] However, if a protective cover is provided around the pickup device, the installation space of the transfer system will increase, and as a result, the number of transfer systems that can be installed within the predetermined interval P may decrease.

[0072] In contrast, in the present embodiment, the plurality of transfer systems 1 are arranged in an array with the X direction being the arrangement direction of the adjacent support members 52·52. This can suppress the increase in the interval between the adjacent transfer systems 1 in the X direction, and thus suppress the decrease in the number of transfer systems 1 that can be installed within the above-mentioned predetermined interval P.

[0073] [Special Notes]

[0074] In the above embodiment, the first container 17 and the second container 18 for storing the articles 2 are transported by the transport unit 11, but the present invention is not limited thereto. For example, the first container 17 and the second container 18 may be omitted and the articles 2 themselves may be directly transported by the transport unit 11.

[0075] 〔Summarize〕

[0076] As described above, the transfer system of aspect 1 of the present invention comprises: a transporting portion that transports an article in a first direction; a transfer portion that is disposed on one end side of the transporting portion and holds the article to transfer the article; a camera portion that is disposed above the transfer portion and photographs the article; and two support portions that support the camera portion, wherein the two support portions are disposed facing the transfer portion in a second direction orthogonal to the first direction and separate the transfer portion from the outside thereof in the second direction when viewed from above.

[0077] According to the above scheme, it is possible to prevent a person or a part of a human body from intruding from the outside and contacting the transfer unit. As a result, the safety of the transfer system can be improved. In addition, there is no need to separately provide a partition to separate the transfer unit from the outside in the second direction. As a result, the space saving of the transfer system can be achieved.

[0078] In the transfer system of aspect 2 of the present invention based on aspect 1 above, it is also possible to further include: a terminal side partition portion connected to the two supporting portions, which separates the outside of the transfer portion on the side opposite to the side where the conveying portion is located in a plan view from the transfer portion. In this case, it is possible to prevent a person or a part of a human body from invading from the outside and contacting the transfer portion. As a result, the safety of the transfer system can be improved.

[0079] In the transfer system of aspect 3 of the present invention based on aspect 2 above, a work area for an operator to hold the article and transfer the article may be set between the transfer unit and the terminal side partition. In this case, it is possible to prevent a person from accidentally intruding into the work area and coming into contact with the transfer unit. As a result, the safety of the transfer system can be improved.

[0080] In the transfer system of aspect 4 of the present invention based on aspects 1 to 3 above, it is also possible to further include: two terminal side partitions connected to the two supporting parts, respectively, and when viewed from above, the two terminal side partitions are respectively provided adjacent to the one end in a second direction orthogonal to the first direction and separate the one end from its outside in the second direction. In this case, it is possible to prevent a person or a part of a human body from intruding from the conveying part and contacting the transfer part. As a result, the safety of the transfer system can be improved.

[0081] In the transfer system of aspect 5 of the present invention based on aspects 1 to 4 above, the transport unit may also include: a moving mechanism that sequentially moves a plurality of containers that contain the articles; and a frame that contains the moving mechanism and is adjacent to the two support units; and the partition between the transfer unit and the outside thereof in the second direction may be omitted in the region of the two support units that is opposite to the frame. In this case, the area where the partition is set can be reduced. Here, in the region where the partition is omitted, the frame serves as a partition between the transfer unit and the outside thereof in the second direction.

[0082] In the transfer system of aspect 6 of the present invention based on aspects 1 to 5 above, the transfer unit may also include: a picking head for holding the article; and a driving unit for raising and lowering the picking head and moving the picking head along the first direction and the second direction in a top view according to the captured image from the camera unit.

[0083] The transfer equipment of aspect 7 of the present invention is a transfer equipment having a plurality of transfer systems of aspects 1 to 6 above, wherein the transfer systems are arranged in a plurality along a second direction orthogonal to the first direction in a plan view in such a manner that the transport parts are substantially parallel to each other.

[0084] According to the above aspect, since the transfer section and the outside thereof in the second direction are partitioned by the support section, it is possible to suppress an increase in the interval between the transfer systems adjacent to each other.

[0085] In the transfer equipment of aspect 8 of the present invention based on aspect 7, a plurality of support members may be further provided at predetermined intervals, and when the arrangement direction of the support members adjacent to each other is set as the second direction, a plurality of the transfer systems may be arranged along the second direction. In this case, the increase in the interval between the transfer systems adjacent to each other in the second direction can be suppressed, and thus the decrease in the number of the transfer systems that can be installed within the predetermined interval can be suppressed.

[0086] The present invention is not limited to the above-mentioned embodiments, and various changes can be made within the scope of the technical concept shown in the specification. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0087] <Description of Reference Numerals>

[0088] 1Transfer system

[0089] 2 Items

[0090] 3Transfer equipment

[0091] 11 Transportation Department

[0092] 11a, 11b conveyor belt for loading

[0093] 11c, 11d conveyor belt for carrying out

[0094] 11e mobile mechanism

[0095] 11f frame

[0096] 12Transfer unit

[0097] 12a Pickup head

[0098] 12b drive unit

[0099] 12c fixed rail

[0100] 12d 1st movable rail

[0101] 12e 2nd movable rail

[0102] 12f support arm

[0103] 13 Camera Department

[0104] 13a Camera 1

[0105] 13b Second Camera

[0106] 13c·13d lamp

[0107] 13e reflector

[0108] 14 Support frame

[0109] 14a Supporting part

[0110] 14b Beam components

[0111] 14c, 14d column parts

[0112] 14e purlin components

[0113] 14f reinforcement parts

[0114] 14g, 14h, 26a, 33a, 43aFixing parts

[0115] 14i Support components

[0116] 15. Control Unit

[0117] 16 Terminal

[0118] 17 Container 1

[0119] 18 Container 2

[0120] 21 horizontal protection department

[0121] 22, 31, 35, 42 transparent plates

[0122] 23, 32, 36, 43 frame parts

[0123] 24Front guard (end side partition)

[0124] 25Working Area

[0125] 26 Fixed protection part

[0126] 27 Movable guard

[0127] 33Fixing frame member

[0128] 34 moving parts

[0129] 41 Rear protection part (transport side partition)

[0130] 44, 45 reinforcement parts

[0131] 51Buildings

[0132] 52 pillar parts

Claims

1. A transfer system, characterized in that: have: a transporting unit that transports the article in a first direction; A transfer unit, which is disposed at one end of the transport unit and holds the article to transfer the article; a camera unit, which is disposed above the transfer unit and takes a picture of the article; and The two support parts supporting the camera unit are provided facing the transfer unit in a second direction perpendicular to the first direction in a plan view and separate the transfer unit from the outside thereof in the second direction.

2. The transfer system according to claim 1, wherein: The transfer system also features: The terminal side partitioning portion connected to the two supporting portions partitions the transfer portion from the outside of the transfer portion on the side opposite to the side where the conveying portion is located in a plan view.

3. The transfer system according to claim 2, wherein: A work area for an operator to hold and transfer the article is set between the transfer section and the terminal side partition section.

4. The transfer system according to claim 1, further comprising: The two terminal side partitions connected to the two supporting parts are respectively provided adjacent to the one end in a second direction orthogonal to the first direction in a plan view and partition the one end from the outside thereof in the second direction.

5. The transfer system according to claim 1, wherein: The transport unit further comprises: a moving mechanism that sequentially moves a plurality of containers containing the articles; and a frame body, which accommodates the moving mechanism and is adjacent to the two supporting parts, In the regions of the two supporting parts facing the frame, a partition between the transfer part and the outside thereof in the second direction is omitted.

6. The transfer system according to any one of claims 1 to 5, wherein: The transfer unit comprises: a pick-up head for holding the article; A driving unit that raises and lowers the pickup head and moves the pickup head in the first direction and the second direction in a plan view according to the captured image from the camera unit.

7. A transfer device, characterized in that: A device comprising a plurality of transfer systems according to any one of claims 1 to 5, The transfer systems are provided in plurality in a row along a second direction orthogonal to the first direction in a plan view so that the transport portions are substantially parallel to each other.

8. The transfer device according to claim 7, wherein: The transfer equipment further comprises a plurality of support members protruding at predetermined intervals. When the arrangement direction of the mutually adjacent support members is assumed to be the second direction, a plurality of the transfer systems are arranged in line along the second direction.

Images