Transfer system, method for controlling transfer system, and control program

Abstract

When a first detection unit (201) detects that an article (2) has been lifted beyond a first height (H1), a transfer system (1) moves a pickup head (12a) toward a second transfer position (P2) and transports a first container (17) containing a new article (2) to a first transfer position (P1).

Description

Technical Field

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

[0002] Conventionally, in a logistics warehouse or the like, in order to efficiently sort a large variety of articles to a shipping container according to the shipping destination, a transfer system equipped with a picking device (transfer unit) such as a robotic arm is used. Regarding such a picking device, Patent Document 1 discloses a unloading device that uses a moving device (picking device) to unload goods loaded on a loading platform (first transfer position) to an unloading position (second transfer position).

[0003] (Prior Art Documents)

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-43772 Summary of the Invention

[0005] (Problems to be Solved by the Invention)

[0006] However, in the prior art as described above, when transferring goods from the loading platform to the unloading position, after the goods held by the moving device are transferred to the unloading position, the loading platform needs to be raised to a specified position by a loading platform elevator before it can be in a state where it can hold the next goods. Therefore, from the time when the goods are held by the moving device from the loading platform until it becomes possible to hold the next goods, it takes time and the transfer efficiency is reduced.

[0007] An object of one aspect of the present invention is to realize a transfer system with improved transfer efficiency.

[0008] (Technical Means for Solving the Problems)

[0009] To solve the above problems, a transfer system according to one aspect of the present invention includes: a first transfer unit that transfers an article to a first transfer position; a transfer unit that has a holding unit for holding the article and transfers the article transferred to the first transfer position to a second transfer position; a first detection unit that detects whether the article held by the holding unit is lifted above a first height from the first transfer position; and a control unit that, when the first detection unit detects that the article is lifted above the first height, drives and controls the holding unit to move it to the second transfer position, and controls the first transfer unit to transfer a new article to the first transfer position.

[0010] To solve the above problems, a control method for a transfer system according to one aspect of the present invention is a control method for a transfer system, wherein the transfer system includes: a transfer unit that transfers an article to a first transfer position; a transfer unit that has a holding unit for holding the article and transfers the article transferred to the first transfer position to a second transfer position. The control method for the transfer system includes: a detection step of detecting whether the article held by the holding unit is lifted above a first height from the first transfer position; a control step of, when it is detected in the detection step that the article is lifted above the first height, driving and controlling the holding unit to move it to the second transfer position, and controlling the transfer unit to transfer a new article to the first transfer position.

[0011] (Advantages of the Invention)

[0012] According to one aspect of the present invention, the time from holding an article at the first transfer position until it becomes a state where a new article can be transferred at the first transfer position can be shortened, so that the transfer efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0015] Figure 3 is Figure 1 a control block diagram of the transfer system shown.

[0016] Figure 4 is Figure 1 an explanatory diagram of an example operation of the transfer system shown.

[0017] Figure 5 is Figure 1 a structural example diagram of the transfer unit of the transfer system shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Hereinafter, an embodiment of the present invention will be described in detail. In the following description, the case where the transfer system transfers an article from a first container to a second container will be taken as an example for description. However, the following description is only an example of the transfer system of the present invention, and the technical scope of the present invention is not limited to the illustrated example.

[0019] (Overview of the Transfer System)

[0020] First, the overview of the transfer system 1 will be described with reference to Figure 1 and Figure 2 . Figure 1 is a schematic perspective view of the transfer system 1 of the present embodiment.Figure 2 is a schematic top view of the transfer system 1. The transfer system 1 is used to transfer the article 2 in a logistics warehouse or the like. As Figure 1 and Figure 2 shown, the transfer system 1 of the present embodiment includes a handling unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, and a terminal unit 16.

[0021] (Handling Unit)

[0022] The handling unit 11 transports the first container 17 and the second container 18 accommodating the article 2 in the Y direction (front - rear direction). Specifically, the handling unit 11 includes the loading conveyors 11a·11b provided on the lower side in the Z direction, and the unloading conveyors 11c·11d provided on the upper side in the Z direction. Through the loading conveyors 11a·11b, the first container 17 and the second container 18 are respectively transported to the front side in the Y direction. In addition, through the unloading conveyors 11c·11d, the first container 17 and the second container 18 are respectively transported to the rear side in the Y direction.

[0023] The handling unit 11 further includes a moving mechanism 11e and a frame 11f. The moving mechanism 11e sequentially moves the first container 17 from the loading conveyor 11a to the first transfer position P1, and sequentially moves the second container 18 from the loading 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 unloading conveyor 11c, and sequentially moves the second container 18 arranged at the second transfer position P2 to the unloading conveyor 11d. The frame 11f is used to house the moving mechanism 11e.

[0024] The loading conveyor 11a, the moving mechanism 11e, and the unloading conveyor 11c constitute the first handling unit 11A for loading and unloading the first container 17 at the first transfer position P1. In addition, the loading conveyor 11b, the moving mechanism 11e, and the unloading conveyor 11d constitute the second handling unit 11B for loading and unloading the second container 18 at the second transfer position P2.

[0025] (Transfer Unit)

[0026] The transfer unit 12 is provided on the front - end side (one - end side) in the Y direction of the handling unit 11, holds the article 2 accommodated 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 in the Z direction of the moving mechanism 11e and the frame 11f of the handling unit 11 through a stand or the like (not shown).

[0027] The transfer unit 12 includes: a pickup head (holding unit) 12a for holding the article 2; a drive unit 12b for lifting and lowering the pickup head 12a in the Z direction and moving the pickup head 12a in two directions, i.e., the X direction and the Y direction, in the plan view. The pickup head 12a is constituted by, for example, one or more suction pads for adsorbing the article 2. The pickup head 12a adsorbs the article 2 accommodated in the first container 17 from above and holds the article 2 in a suspended state.

[0028] The drive 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 arranged in the X direction. The first movable rail 12d is arranged in the Z direction and can reciprocate in the X direction along the fixed rail 12c. The second movable rail 12e is arranged in the Y direction and can reciprocate in the Z direction along the first movable rail 12d.

[0029] The support arm 12f is arranged in the Z direction and can reciprocate in the Y direction along the second movable rail 12e. In addition, the pickup head 12a is mounted on the lower side of the support arm 12f in the Z direction. Thus, the transfer unit 12 can move the pickup head 12a reciprocally in the three directions of X, Y, and Z by controlling the operation of the drive unit 12b.

[0030] Compared with a transfer unit such as a 6-axis robotic arm, the transfer unit 12 has a simple structure and is also easily adaptable to a multi-column 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.

[0031] (Camera unit)

[0032] The camera unit 13 is arranged above the transfer unit 12 and forms a photographed image by photographing the article 2. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a photographs one or more articles 2 accommodated in the first container 17 by photographing the first container 17 arranged at the first transfer position P1. The second camera 13b photographs one or more articles 2 accommodated in the second container 18 by photographing the second container 18 arranged at the second transfer position P2. Here, the camera unit 13 may also include a lighting lamp or the like, and the first camera 13a and the second camera 13b may each photograph the article 2 in a state where the lighting lamp or the like irradiates with a predetermined illuminance.

[0033] (Support frame)

[0034] The support frame 14 is a frame for supporting the camera unit 13. The support frame 14 includes support portions 14a·14a which, in a plan view, are provided adjacent to the transfer unit 12 along the X direction (left - right direction, second direction) orthogonal to the Y direction; and beam members 14b·14b which are spanned between the support portions 14a·14a. At appropriate positions of the beam member 14b located on the front side in the Y direction, a first camera 13a and a second camera 13b are provided. Here, the beam member 14b may be one or three or more.

[0035] Each of the support portions 14a·14a includes two column members 14c·14d, a purlin member 14e, and a reinforcement member 14f. The column members 14c·14d are arranged in the Y direction and are fixed to the installation site of the transfer system 1 by fixing members 14g·14h. The purlin member 14e and the reinforcement member 14f are spanned between the column members 14c·14d.

[0036] Here, the beam members 14b·14b may be provided on the purlin member 14e or on the column members 14c·14d. In addition, the number of reinforcement members 14f may be two or more or may be omitted. Further, when each of the support portions 14a·14a is erected by four or more column members, the beam members 14b·14b may also be omitted. In this case, the first camera 13a and the second camera 13b may be respectively provided at appropriate positions of the support portions 14a·14a.

[0037] (Control unit and terminal unit)

[0038] The control unit 15 controls each part in the transfer system 1 and is composed of, for example, a computer including a CPU (Central Processing Unit) and a memory. The actions of various structures are controlled by causing the computer to execute a control program. The details of the control unit 15 will be described later.

[0039] The terminal unit 16 is used for the operator S ( Figure 2 ) to operate the transfer system 1. The terminal unit 16 has an input unit 16a such as a keyboard, a touch screen, and a joystick, and a display unit 16b for displaying specified information. These control unit 15 and terminal unit 16 are an example of the control devices of the transfer system 1, and they are provided outside the aforementioned front protection portion 24, that is, on the side (front side in the Y direction) opposite to the installation side of the transfer unit 12 in the working area 25.

[0040] Specifically, the control unit 15 is connected to the transfer unit 11, the transfer unit 12, the camera unit 13, and the terminal unit 16 respectively via electrical wiring (not shown). The control unit 15 obtains specified information such as the operation status from the transfer unit 11 and the transfer unit 12 respectively, and outputs specified command signals such as instruction signals to the transfer unit 11 and the transfer unit 12 respectively. The control unit 15 outputs specified instruction signals such as on / off signals to the first camera 13a and the second camera 13b of the camera unit 13 respectively, and obtains photographic data from the first camera 13a and the second camera 13b respectively. The control unit 15 receives instruction signals etc. corresponding to the operations of the operator S from the terminal unit 16, and sends the information obtained from the transfer unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16.

[0041] (Protective cover)

[0042] In the transfer system 1 of the present embodiment, the transfer unit 12 performs an operation of reciprocating the pick-up head 12a in three directions of X, Y, and Z. Therefore, as Figure 1 and Figure 2 shown, from the viewpoint of safety, a protective cover is provided around the transfer unit 12 to greatly reduce the possibility of contact between the operator S etc. and the transfer unit 12. Specifically, in the present embodiment, a horizontal protection part 21, a front protection part 24, and a rear protection part 41 are provided in sequence as the protective cover from the control device side toward the rear in the Y direction.

[0043] (Horizontal protection part)

[0044] As Figure 1 and Figure 2 shown, the support parts 14a·14a each include a horizontal protection part 21 that separates the transfer unit 12 from the outside in the X direction. The horizontal protection part 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. Thereby, it is possible to prevent personnel such as the operator S from invading from the X direction and contacting the transfer unit 12, and as a result, the safety of the transfer system 1 can be improved.

[0045] Furthermore, since the support parts 14a·14a each have a horizontal protection part 21, there is no need to separately provide a protection part that separates the transfer unit 12 from the outside in the X direction outside the support parts 14a·14a in the X direction. As a result, space saving of the transfer system 1 can be achieved.

[0046] Here, since the two support portions 14a·14a are provided adjacent to the transfer portion 12 in the X direction, they are also adjacent to the frame 11f of the transfer portion 11 located on the lower side in the Z direction of the transfer portion 12. Therefore, in the present embodiment, in the lower region of the support portion 14a, that is, the region facing the frame 11f, the horizontal protection portion 21 is omitted. As a result, the installation area of the horizontal protection portion 21 can be reduced. On the other hand, the operator S can be prevented from intruding from the lower part of the support portion 14a and coming into contact with the transfer portion 12 by the frame 11f. That is, in the lower region of the support portion 14a, the frame 11f serves as a separator between the transfer portion 12 and the outside in its X direction.

[0047] (Front protection portion)

[0048] As Figure 1 and Figure 2 shown, in the transfer system 1, a front protection portion 24 is provided to separate the working area 25 from its outside. In a top view, the working area 25 is set on the side opposite to the side where the transfer portion 12 and the transfer portion 11 are located. The front protection portion 24 is connected to the two support portions 14a·14a.

[0049] The working area 25 is a space for the operator S to perform manual transfer of holding and transferring the article 2. That is, the transfer system 1 of the present embodiment can perform both: automatic transfer of holding and transferring the article 2 by the transfer portion 12, and manual transfer of holding and transferring the article 2 by the operator S entering the working area 25. In addition, the front protection portion 24 is provided adjacent to the working area 25 around the working area 25.

[0050] Specifically, the front protection portion 24 includes a plurality of fixed protection portions 26 and a movable protection portion 27, which are connected to each other. The fixed protection portion 26 includes a transparent plate 31 and a frame member 32 for holding the transparent plate 31. The corner portion on the lower side in the Z direction of the frame member 32 is fixed to the installation site of the transfer system 1 by a fixing member 26a. In addition, the fixed protection portions 26·26 located on the rear side in the Y direction are respectively connected to the front side portions in the Y direction of the support portions 14a·14a.

[0051] The movable protection portion 27 constitutes an access door for the operator S to enter and exit the working area 25, and includes a fixing frame member 33 and a movable member 34 provided in the fixing frame member 33. The corner portion on the lower side in the Z direction of the fixing frame member 33 is fixed to the installation site of the transfer system 1 by a fixing member 33a. The movable member 34 is provided so as to be rotatable relative to the fixing frame member 33 via a hinge member (not shown) or the like. The movable member 34 includes a transparent plate 35 and a frame member 36 for holding the transparent plate 35.

[0052] Accordingly, it is possible to prevent a person such as the operator S from inadvertently 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 protection unit 24 is provided adjacent to the work area 25, an increase in the installation space of the transfer system 1 caused by the installation of the front protection unit 24 can be suppressed.

[0053] Here, if the transfer system 1 can only perform automatic transfer, the work area 25 can also be set as a monitoring area for a monitor to monitor the transfer unit 12. Or the work area 25 can be omitted. In this case, the front protection unit 24 may be provided adjacent to the transfer unit 12 on the front side in the Y direction of the transfer unit 12.

[0054] (Rear protection unit)

[0055] As Figure 1 and Figure 2 shown, in the transfer system 1, there are rear protection units 41·41 that are adjacent to the front end in the Y direction of the transfer unit 11 in the X direction and separate the front end from the outside in the X direction of the front end. The rear protection unit 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front sides in the Y direction of the rear protection units 41·41 are respectively connected to the rear sides in the Y direction of the support portions 14a·14a. In addition, the corner portions on the lower side in the Z direction of the frame member 43 are fixed to the installation location of the transfer system 1 by fixing members 43a. Furthermore, reinforcing members 44·45 are provided between the rear protection units 41·41.

[0056] Accordingly, it is possible to prevent a person such as the operator S from entering from the transfer unit 11 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 rear protection unit 41 is provided adjacent to the transfer unit 11, an increase in the installation space of the transfer system 1 caused by the installation of the rear protection unit 41 can be suppressed.

[0057] In addition, in the front protection unit 24, the lateral protection unit 21, and the rear protection unit 41 of the present embodiment, the transparent plates 22·31·35·42 are provided as substantial protective covers. Thus, in the present embodiment, the operator S of the transfer system 1 can monitor the transfer unit 11 and the transfer unit 12 from the outside of the transfer system 1 as a monitor. Here, fences, nets, or other-shaped protective covers can also be used instead of the transparent plates 22·31·35·42.

[0058] (Control block of the transfer system 1)

[0059] Figure 3This is a schematic functional block diagram of the transfer system 1 of the present embodiment. As described above, the transfer system 1 includes a transfer unit 11 (the first transfer unit 11A and the second transfer unit 11B), a transfer unit 12, a control unit 15, and a terminal unit 16, and transfers the article 2 in the first container 17 to the second container 18 through the transfer unit 12. As Figure 3 shown, the transfer system 1 further includes: a first detection unit 201 provided for detecting an obstacle above the first container 17, and a second detection unit 202 provided for detecting an obstacle above the second container 18. The first detection unit 201 and the second detection unit 202 are detection devices constituted by, for example, a line sensor.

[0060] The first detection unit 201 detects whether the article 2 housed in the first container 17 is lifted by the pickup head 12a to exceed a specified height. In addition, the second detection unit 202 detects whether the pickup head 12a rises to exceed a specified height after placing the article 2 in the second container 18. The control unit 15 performs transfer control of the transfer unit 12 and transfer control of the transfer unit 11 based on the detection results of the first detection unit 201 and the second detection unit 202.

[0061] (Control performed by the transfer system 1)

[0062] (Area detection performed by the transfer system 1)

[0063] Figure 4 This is a flowchart for explaining the transfer operation of the article 2. First, according to Figure 4 the area detection performed by the transfer system 1 will be explained. As shown in sub - figure 1041 in Figure 4 , the first detection unit 201 is arranged to detect an area at a specified height from the top surface of the first container 17 arranged at the first transfer position P1. In the illustrated example, for the first transfer position P1, the first detection unit 201 detects an area at a first height H1 from the mounting table 113 ( Figure 5 ) for mounting the first container 17 of the first transfer unit 11A. In addition, the second detection unit 202 is arranged to detect an area at a specified height from the top surface of the second container 18 arranged at the second transfer position P2. In the illustrated example, for the second transfer position P2, the second detection unit 202 detects an area at a second height H2 from the mounting table 113 ( Figure 5 ) for mounting the second container 18 of the second transfer unit 11B. Here, in the present embodiment, the first height H1 and the second height H2 are set to the same height.

[0064] In addition, between the first transfer position P1 and the second transfer position P2, there is a wall portion 401 with a specified height. The wall portion 401 is set to be slightly higher than the first height H1 and the second height H2, thereby separating the first transfer position P1 and the second transfer position P2 in such a way that the area detection by the first detection unit 201 and the area detection by the second detection unit 202 do not interfere with each other.

[0065] Here, as shown in sub - figure 1041 of Figure 4 , the first height H1 for the first detection unit 201 to detect is set to be higher than the height H3 of the first container 17 when the first container 17 is arranged at the first transfer position P1 in the upper direction. In this way, by setting the first height H1 to be higher than the height H3 of the first container 17 in the upper direction, it is possible to avoid the article 2 from contacting the first container 17 when the pickup head 12a moves toward the second transfer position P2 side. Similarly, the second height H2 for the second detection unit 202 to detect is set to be higher than the height H4 of the second container 18 when the second container 18 is arranged at the second transfer position P2 in the upper direction. In this way, by setting the second height H2 to be higher than the height H4 of the second container 18 in the upper direction, it is possible to avoid the head end of the pickup head 12a from contacting the second container 18 when the pickup head 12a moves toward the first container 17 side.

[0066] (Operation of the transfer system 1)

[0067] Next, according to Figure 4 , the operation process of the transfer system 1 will be described. As shown in sub - figure 1041 of Figure 4 , when the control unit 15 executes the transfer operation, it controls the drive unit 12b to lift the article 2 accommodated in the first container 17 upward in the Z direction by the pickup head 12a.

[0068] Here, if it is necessary to replace the first container 17 during the transfer operation, the control unit 15 controls both the transfer unit 12 and the first transfer unit 11A according to the detection result of the first detection unit 201. Specifically, if the first detection unit 201 detects that the article 2 has been lifted by the pickup head 12a to exceed the first height H1 (detection step), the control unit 15 drives and controls the transfer unit 12 to move the pickup head 12a to the right side in the X direction, that is, the second transfer position P2 side, and also controls the first transfer unit 11A to transport the next first container 17 containing a new article 2 to the first transfer position P1 (control step).

[0069] Thus, when the article 2 is lifted by the pickup head 12a to a height exceeding the first height H1, the control unit 15 immediately starts controlling the movement of the pickup head 12a to the second transfer position P2 side and controlling the transfer of the next first container 17 to the first transfer position P1. Therefore, for example, compared to starting to control the transfer of the next first container 17 to the first transfer position P1 after the article 2 held by the pickup head 12a has been moved from the first transfer position P1 to the second transfer position P2, that is, after the article 2 has disappeared from above the first container 17, the waiting time for the next first container 17 to be transferred to the first transfer position P1 can be shortened.

[0070] Therefore, by triggering the start of the transfer control for replacing the first container 17 when the article 2 is lifted by the pickup head 12a to a height exceeding the first height H1, the transfer efficiency of the transfer system 1 can be improved.

[0071] Next, as Figure 4 shown in subfigure 1042, the control unit 15 controls the drive unit 12b to place the article 2 into the second container 18. Specifically, the drive unit 12b stops the pickup head 12a above the second transfer position P2, that is, above the second container 18, and then lowers the pickup head 12a. When the pickup head 12a reaches near the bottom surface of the second container 18, the drive unit 12b stops the lowering control and ends the adsorption of the article by the pickup head 12a. Thereby, the article 2 is released by the pickup head 12a and placed into the second container 18.

[0072] Next, as Figure 4 shown in subfigure 1043, the control unit 15 controls the drive unit 12b to move the pickup head 12a toward the first container 17 side. Specifically, the drive unit 12b raises the pickup head 12a to a height exceeding the second height H2 and then moves the pickup head 12a to the left in the X direction.

[0073] Here, if it is necessary to replace the second container 18 during the transfer operation, the control unit 15 controls both the transfer unit 12 and the second transfer unit 11B according to the detection result of the second detection unit 202. Specifically, if the second detection unit 202 detects that the tip of the pickup head 12a has risen to a height exceeding the second height H2, the control unit 15 drives and controls the transfer unit 12 to move the pickup head 12a to the left in the X direction, that is, toward the first transfer position P1 side. Furthermore, the control unit 15 also controls the second transfer unit 11B to transfer the next second container 18 to the second transfer position P2.

[0074] Thus, when the head end of the pickup head 12a rises above the second height H2, the control unit 15 immediately starts controlling the movement of the pickup head 12a to the first transfer position P1 side and controlling the transfer of the next second container 18 to the second transfer position P2. Therefore, for example, compared with starting to control the transfer of the next second container 18 to the second transfer position P2 after the pickup head 12a has moved from the second transfer position P2 to the first transfer position P1, that is, after the pickup head 12a has disappeared from above the second container 18, the waiting time for the next second container 18 to be transferred to the second transfer position P2 can be shortened.

[0075] Therefore, by triggering the start of the transfer control for replacing the second container 18 when the head end of the pickup head 12a rises above the second height H2, the transfer efficiency of the transfer system 1 can be improved.

[0076] (Detailed description of the first height H1 and the second height H2)

[0077] Next, based on Figure 5 The details of the first height H1 and the second height H2 will be described. Figure 5 It is a structural example diagram of the moving mechanism 11e of the first transfer unit 11A. Here, the structural solution of the moving mechanism 11e is commonly applicable to the first transfer unit 11A and the second transfer unit 11B. Therefore, the structural example of the moving mechanism 11e of the first transfer unit 11A will be described below, and the moving mechanism 11e of the second transfer unit 11B will not be described in detail.

[0078] As Figure 5 shown in sub-diagram 1051 in, the moving mechanism 11e for moving the first container 17 to the first transfer position P1 includes: a rotating shaft 111 extending in the Y direction; and a support member 112 connected to the rotating shaft 111 and extending in a star shape along three directions perpendicular to the Y direction. At the end 112a of the support member 112 on the side opposite to the side where the rotating shaft 111 is located, a mounting table 113 for mounting the first container 17 is rotatably provided. When the first container 17 is carried into the mounting table 113 by the loading conveyor 11a, the moving mechanism 11e rotates the support member 112 (counterclockwise in the figure), thereby transporting the first container 17 mounted on the mounting table 113 from the loading conveyor 11a to the first transfer position P1 and stopping. Then, if the replacement of the first container 17 is performed, the moving mechanism 11e further rotates the support member 112, thereby moving the first container 17 mounted on the mounting table 113 from the first transfer position P1 to the unloading conveyor 11c.

[0079] Here, the first transfer position P1 is set at a height (e.g., the middle height) between the loading conveyor 11a and the unloading conveyor 11c of the first transfer unit 11A. Therefore, when the first container 17 is transferred to the first transfer position P1, the first container 17 is lifted from the loading conveyor 11a to the first transfer position P1 by the transfer mechanism 11e. In addition, when the first container 17 is removed from the first transfer position P1, the first container 17 is further lifted from the first transfer position P1 by the transfer mechanism 11e and delivered to the unloading conveyor 11c. At this time, the movement trajectory of the first container 17 when moving from the first transfer position P1 to the unloading conveyor 11c is, for example, Figure 5 as shown in sub - figure 1052 of

[0080] and is an arc. Therefore, it is preferable to set the first height H1 for the first detection unit 201 to detect based on considering the movement trajectory of the first container 17 when moving from the first transfer position P1 to the unloading conveyor 11c. Specifically, as shown in sub - figure 1052 of Figure 5 it is preferable that the first height H1 is set higher than the highest position on the movement trajectory (arc) of the uppermost end of the first container 17 when the first container 17 arranged at the first transfer position P1 is removed from the first transfer position P1 by the first transfer unit 11A, with respect to the first transfer position P1.

[0081] In this way, by setting the first height H1 for the first detection unit 201 to detect higher than the highest position on the said trajectory, when the first transfer unit 11A replaces the first container 17, the article 2 lifted by the pickup head 12a to exceed the first height H1 can avoid contacting the first container 17 carried up from the first transfer position P1.

[0082] Similarly, it is preferable that the second height H2 is set higher than the highest position on the movement trajectory (arc) of the uppermost end of the second container 18 when the second container 18 arranged at the second transfer position P2 is removed from the second transfer position P2 by the second transfer unit 11B, with respect to the second transfer position P2. Thus, when the second transfer unit 11B replaces the second container 18, the tip of the pickup head 12a rising to exceed the second height H2 can avoid contacting the second container 18 carried up from the second transfer position P2.

[0083] Here, the first height H1 and the second height H2 can be appropriately changed. For example, they can be appropriately adjusted according to the height H3 of the first container 17 and the height H4 of the second container 18 used, the above - mentioned movement trajectories when the first container 17 and the second container 18 are removed, etc. In addition, the first height H1 and the second height H2 can be set individually, and they can be either the same height or different heights.

[0084] 〔Effect of Transfer System 1〕

[0085] As described above, the transfer system 1 of the present embodiment includes: a first transfer unit 11A that transfers the article 2 to the first transfer position P1; a transfer unit 12 that has a pickup head 12a for holding the article 2 and transfers the article 2 carried to the first transfer position P1 to the second transfer position P2; a first detection unit 201 that detects whether the article 2 held by the pickup head 12a is lifted beyond a first height H1 from the first transfer position P1; and a control unit 15 that, when the first detection unit 201 detects that the article 2 is lifted beyond the first height H1, drives and controls the pickup head 12a to move it toward the second transfer position P2 side, and also controls the first transfer unit 11A to transfer a new article 2 to the first transfer position P1.

[0086] In the transfer system 1, when the article 2 is lifted by the pickup head 12a beyond the first height H1, the control to transfer a new article 2 to the first transfer position P1 is started. Therefore, compared with starting the control to transfer a new article 2 to the first transfer position P1 after the article 2 held by the pickup head 12a is transferred to the second transfer position P2, the waiting time for transferring the new article 2 to the first transfer position P1 can be shortened, thereby improving the transfer efficiency.

[0087] 〔Software-based Implementation Example〕

[0088] The functions of the transfer system 1 (hereinafter referred to as “device”) can be implemented by a computer program that causes a computer to function as each control block of the device (especially each part included in the control unit 15).

[0089] In this case, the device includes a computer as the hardware for executing the program, and the computer has at least one controller (e.g., a processor) and at least one storage device (e.g., a memory). By executing the program by the control device and the storage device, the respective functions described in the foregoing embodiment can be implemented.

[0090] The program can also be stored in one or more non-transitory recording media readable by a computer. The recording medium may or may not be provided in the device. In the latter case, the program can also be provided to the device via any wired or wireless transmission medium.

[0091] In addition, a part or all of the functions of each control block can also be implemented by a logic circuit. For example, an integrated circuit forming a logic circuit for use as each control block is also included in the scope of the present invention. In addition, for example, the functions of each control block can also be implemented by a quantum computer.

[0092] In addition, each process described in the foregoing embodiments can also be executed by AI (Artificial Intelligence). In this case, the AI can be driven by the control device or by other devices (such as an edge computer or a cloud server, etc.).

[0093] 〔Summary〕

[0094] The transfer system according to aspect 1 of the present invention includes: a first transfer unit that transfers an article to a first transfer position; a transfer unit that has a holding unit for holding the article and transfers the article transferred to the first transfer position to a second transfer position; a first detection unit that detects whether the article held by the holding unit is lifted to exceed a first height from the first transfer position; and a control unit that, when the first detection unit detects that the article is lifted to exceed the first height, drives and controls the holding unit to move it to the second transfer position, and controls the first transfer unit to transfer a new article to the first transfer position.

[0095] Thus, when the article is lifted by the holding unit to exceed the first height, a new article starts to be transferred to the first transfer position. Therefore, compared with the case where a new article is transferred to the first transfer position after the article held by the holding unit is transferred to the second transfer position, the waiting time for transferring a new article to the first transfer position can be shortened.

[0096] In the transfer system according to aspect 2 of the present invention based on aspect 1, the article is transferred to the first transfer position by the first transfer unit in a state of being accommodated in a first container, and the first height is set to be higher than the height of the first container when the first container is disposed at the first transfer position in an upper position.

[0097] Thus, when the holding unit moves to the second transfer position, it is possible to prevent the article held by the holding unit from coming into contact with the first container. In addition, when the first container is transferred at the first transfer position, the holding unit does not interfere with the transfer of the second container.

[0098] In the transfer system according to aspect 3 of the present invention based on aspect 1 or 2, the article is transferred to the first transfer position by the first transfer unit in a state of being accommodated in a first container, and the first height is set to be higher than the highest position compared with the first transfer position on the movement trajectory of the uppermost end of the first container when the first container leaves the first transfer position after being disposed at the first transfer position by the first transfer unit.

[0099] Accordingly, the first height is set to be higher than the highest position relative to the first transfer position on the movement trajectory of the uppermost end of the first container when the first container moves away from the first transfer position after being arranged at the first transfer position by the first transfer unit. Therefore, an article lifted by the holding unit to exceed the first height will not obstruct the transfer of the first container by the first transfer unit. Accordingly, the waiting time for the first container containing a new article to be transferred to the first transfer position can be shortened.

[0100] The transfer system according to aspect 4 of the present invention based on any one of the above aspects 1 to 3 further includes: a second transfer unit that transfers an article arranged at the second transfer position; a second detection unit that detects whether the holding unit has exceeded a second height from the second transfer position. When the second detection unit detects that the holding unit has exceeded the second height, the control unit drives and controls the holding unit to move it to the first transfer position, and controls the second transfer unit to transfer the article arranged at the second transfer position to the next position.

[0101] Accordingly, when it is detected that the holding unit has exceeded the second height, the holding unit is controlled to move to the first transfer position, so that the movement of the holding unit of the transfer unit to the first transfer position side and the transfer of the article arranged at the second transfer position can be simultaneously performed triggered by the detection result of the second detection unit.

[0102] In the transfer system according to aspect 5 of the present invention based on aspect 4, the article is transferred by the second transfer unit in a state of being accommodated in a second container arranged at the second transfer position, and the second height is set to be higher than the height of the second container when the second container is arranged at the second transfer position.

[0103] Accordingly, when the holding unit moves to the first transfer position, contact between the holding unit and the second container can be avoided. In addition, when the second container is transferred at the second transfer position, the holding unit will not obstruct the transfer of the second container.

[0104] In the transfer system according to aspect 6 of the present invention based on aspect 4 or 5, the article is transferred by the second transfer unit in a state of being accommodated in a second container arranged at the second transfer position, and the second height is set to be higher than the highest position relative to the second transfer position on the movement trajectory of the uppermost end of the second container when the second container is transferred to the next position after being arranged at the second transfer position by the second transfer unit.

[0105] Accordingly, the second height is set higher than the highest position relative to the second transfer position on the movement trajectory of the uppermost end of the second container when the second container after being arranged at the second transfer position by the second transfer unit is transferred to the next position. Therefore, the holding unit that rises above the second height does not interfere with the transfer of the second container by the second transfer unit.

[0106] In the transfer system according to aspect 7 of the present invention based on any one of the above aspects 1 to 6, the transfer unit includes: a drive unit that raises and lowers the holding unit and moves the holding unit in two directions within a plan view.

[0107] The transfer system control method according to aspect 8 of the present invention is a control method for a transfer system, where the transfer system includes: a transfer unit that transfers an article to a first transfer position; a transfer unit that has a holding unit for holding the article and transfers the article transferred to the first transfer position to a second transfer position. The transfer system control method includes: a detection step of detecting whether the article held by the holding unit is lifted above a first height from the first transfer position; a control step of, when it is detected in the detection step that the article is lifted above the first height, driving and controlling the holding unit to move it to the second transfer position, and controlling the transfer unit to transfer a new article to the first transfer position. In this case, the same effect as that of the above aspect 1 is achieved.

[0108] The transfer system and its control method according to each aspect of the present invention can also be implemented by a computer. In this case, a transfer system control program that causes a computer to function as each part and each step (software elements) included in the transfer system and its control method, and a computer-readable recording medium on which the transfer system control program is recorded are also included in the scope of the present invention.

[0109] The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical concept disclosed 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.

[0110] <Explanation of Reference Numerals>

[0111] 1 Transfer system

[0112] 2 Article

[0113] 11 Transfer unit

[0114] 11A First transfer unit

[0115] 11B Second transfer unit

[0116] 11a Conveyor for loading (first transfer section)

[0117] 11b Conveyor for loading (second transfer section)

[0118] 11c Conveyor for unloading (first transfer section)

[0119] 11d Conveyor for unloading (second transfer section)

[0120] 11e Moving mechanism (first transfer section, second transfer section)

[0121] 12 Transfer section

[0122] 12a Pick-up head

[0123] 12b Driving section

[0124] 15 Control section

[0125] 17 First container

[0126] 18 Second container

[0127] 201 First detection section

[0128] 202 Second detection section

[0129] H1 First height

[0130] H2 Second height

[0131] H3 Height of the first container

[0132] H4 Height of the second container

[0133] P1 First transfer position

[0134] P2 Second transfer position

Claims

1. A transfer system, comprising: A first transfer unit that transfers an article to a first transfer position; A transfer unit that has a holding unit for holding the article and transfers the article carried to the first transfer position to a second transfer position; A first detection unit that detects whether the article held by the holding unit is lifted above a first height measured from the first transfer position; A control unit that, when the first detection unit detects that the article is lifted above the first height, drives and controls the holding unit to move to the second transfer position and controls the first transfer unit to transfer a new article to the first transfer position.

2. The transfer system according to claim 1, wherein the article is carried to the first transfer position by the first transfer unit in a state of being accommodated in a first container, the first height is set to be higher than the height of the first container when the first container is disposed at the first transfer position in an upper position.

3. The transfer system according to claim 1, wherein the article is carried to the first transfer position by the first transfer unit in a state of being accommodated in a first container, the first height is set to be higher than the highest position compared to the first transfer position on the movement trajectory of the uppermost end of the first container when the first container disposed at the first transfer position by the first transfer unit moves away from the first transfer position.

4. The transfer system according to claim 1, wherein the transfer system further includes: A second transfer unit that transfers an article disposed at the second transfer position; A second detection unit that detects whether the holding unit exceeds a second height measured from the second transfer position, when the second detection unit detects that the holding unit exceeds the second height, the control unit drives and controls the holding unit to move to the first transfer position and controls the second transfer unit to transfer the article disposed at the second transfer position to the next position.

5. The transfer system according to claim 4, wherein the article is carried by the second transfer unit in a state of being accommodated in a second container disposed at the second transfer position, the second height is set to be higher than the height of the second container when the second container is disposed at the second transfer position in an upper position.

6. The transfer system according to claim 4, wherein the article is carried by the second transfer unit in a state of being accommodated in a second container disposed at the second transfer position, the second height is set to be higher than the highest position compared to the second transfer position on the movement trajectory of the uppermost end of the second container when the second container disposed at the second transfer position by the second transfer unit is carried to the next position.

7. The transfer system according to claim 1, wherein the transfer unit includes: A drive unit that raises and lowers the holding unit and moves the holding unit in two directions in a top view plane.

8. A control method for a transfer system, wherein the transfer system includes: A transfer unit that transfers an article to a first transfer position; The transfer unit has a holding part for holding the article, and transfers the article carried to the first transfer position to the second transfer position. The control method of this transfer system includes: A detection step of detecting whether the article held by the holding part is lifted to exceed a first height from the first transfer position; A control step of, when it is detected in the detection step that the article is lifted to exceed the first height, driving and controlling the holding part to move to the second transfer position, and controlling the handling part to carry a new article to the first transfer position.

9. A control program which is used to cause a computer to execute the detection step and the control step in the control method of the transfer system according to claim 8.

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