Luggage transfer device

Abstract

To provide a luggage transfer device capable of suitably transferring luggage to be loaded onto a platform at a transfer destination in a manner that does not easily cause the luggage to collapse.SOLUTION: When the first movement control is executed in a state in which luggage N is arranged on a first pallet platform 27 in the first arrangement pattern, the luggage N is transported so that the luggage N is arranged on a second pallet platform 28 in the first arrangement pattern. When the second movement control is executed in a state in which the luggage N is arranged on the first pallet platform 27 in the first arrangement pattern, the luggage N is transported so that the luggage N is arranged on a luggage platform 46 in the first arrangement pattern. When the third movement control is executed in a state in which the luggage N is arranged on the luggage platform 46 in the first arrangement pattern, the luggage N is transported so that the luggage N is arranged on the second pallet platform 28 in the first arrangement pattern.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a cargo transfer device. [Background technology]

[0002] In facilities such as production factories and logistics warehouses, when cargo is transported out of the facility, the cargo is transferred from a storage platform to a transportation platform.In addition, in facilities such as logistics warehouses and retail stores, when cargo is brought into the facility, the cargo is transferred from a transportation platform to a storage platform.As a cargo transfer device used for such cargo transfer, a cargo transfer device that moves cargo stacked on a source platform to a destination platform one layer at a time is known (see, for example, Patent Document 1).

[0003] When cargo is transferred so that multiple layers of cargo are stacked on the platform at the transfer destination, the cargo is more likely to collapse during transportation or storage depending on how the cargo is loaded. For example, if cargo is stacked in a manner in which the upper and lower cargoes face the same direction (so-called "straight stacking"), the cargo is more likely to collapse. In contrast, if the cargo is stacked so that the orientation of the upper and lower cargoes changes, the cargo is less likely to collapse. In the above-mentioned cargo transfer device, if the number of layers of cargo on the platform is not changed at the transfer source and the transfer destination, the cargo will also be loaded in a manner that is less likely to collapse at the transfer destination, provided that the cargo is stacked in a manner that is less likely to collapse at the transfer source. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 1994-115704 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the number of tiers suitable for storing luggage in facilities such as factories and warehouses may differ from the number of tiers suitable for transporting luggage by truck or the like. In the luggage transfer device described above, if the number of tiers of luggage changes before and after transfer, even if the luggage is stacked on the source platform in a manner that is less likely to cause the luggage to collapse, there is a risk that the upper and lower luggage may be oriented in the same direction on the destination platform, i.e., a location where the luggage is more likely to collapse. Thus, there is still room for improvement in luggage transfer devices that transfer luggage from the source platform to the destination platform.

[0006] The present invention has been made in consideration of the circumstances exemplified above, and aims to provide a luggage transfer device that can efficiently move luggage in order to load it onto a transfer platform in a manner that is less likely to cause the luggage to collapse. [Means for solving the problem]

[0007] In order to solve the above problem, the invention described in claim 1 comprises a first loading platform from which luggage is moved; a second loading platform to which the luggage is transferred; a luggage transport means for transporting luggage; A predetermined control means; A luggage transfer device comprising: The luggage transfer device includes a third platform on which luggage can be placed, The predetermined control means a first transfer control means for executing a first transfer control to cause the luggage transfer means to transfer the luggage from the first platform to the second platform upon occurrence of a first trigger; a second transfer control means for executing a second transfer control to cause the luggage transfer means to transfer the luggage from the first platform to the third platform upon occurrence of a second trigger; a third transfer control means for executing a third transfer control to cause the luggage transfer means to transfer the luggage from the third platform to the second platform when a third trigger occurs; Equipped with When the first transport control is executed in a state in which the packages are arranged in a predetermined pattern on the first platform, the packages are transported from the first platform to the second platform so that the packages are arranged in the predetermined pattern on the second platform, When the second conveyance control is executed in a state in which the packages are arranged on the first platform in the predetermined pattern, the packages are conveyed from the first platform to the third platform so that the packages are arranged on the third platform in the predetermined pattern, When the third transport control is executed with luggage arranged in the predetermined pattern on the third platform, luggage is transported from the third platform to the second platform so that the luggage is arranged in the predetermined pattern on the second platform. [Effects of the Invention]

[0008] According to the present invention, it is possible to suitably move cargo in order to load it onto a transfer platform in a manner that is less likely to cause the cargo to collapse. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a plan view of a luggage transshipment system according to a first embodiment, as viewed from above. [Figure 2] (a) An oblique view of a first pallet supplied to the luggage transfer device and luggage loaded on the first pallet, (b) an oblique view of a second pallet removed from the luggage transfer device and luggage loaded on the second pallet, (c) an explanatory diagram for explaining a first luggage arrangement pattern, and (d) an explanatory diagram for explaining a second luggage arrangement pattern. [Figure 3] FIG. 2 is a front view of the luggage transfer device as seen from the discharge conveyor side. [Figure 4] FIG. [Figure 5] 10A and 10B are explanatory diagrams for explaining the suction position of the suction head relative to the luggage. [Figure 6]FIG. 2 is a block diagram showing the electrical configuration of the luggage transfer device. [Figure 7] (a) to (c) are explanatory diagrams for explaining the movement control performed based on the operation of the direct start button, and (d) to (f) are explanatory diagrams for explaining the movement control performed based on the operation of the carry-in start button. [Figure 8] (a) to (c) are explanatory diagrams for explaining the movement control performed based on the operation of the take-out start button, and (d) to (f) are explanatory diagrams for explaining the movement control performed based on the operation of the bring-in start button. [Figure 9] 10 is a flowchart showing a transshipment control process in a CPU. [Figure 10] 10 is a flowchart showing a first movement control process in the CPU. [Figure 11] 10 is a flowchart showing a second movement control process in the CPU. [Figure 12] 10 is a flowchart showing a third movement control process in the CPU. DETAILED DESCRIPTION OF THE INVENTION

[0010] First Embodiment A first embodiment of a cargo transfer device will be described in detail below with reference to the drawings. Fig. 1 is a plan view of a cargo transfer system 10 as seen from above. When cargo N stored in a facility such as a factory or warehouse is to be shipped, the cargo N is transferred from a first pallet 11 for storage (a platform from which the cargo is transferred) to a second pallet 12 for transportation (a platform to which the cargo is transferred). The cargo transfer system 10 is used to transfer the cargo N. The cargo N is a packaging container such as a cardboard box containing products such as food and medicine.

[0011] As shown in Figure 1, the cargo transfer system 10 includes a first input conveyor 13 for transporting a first pallet 11 loaded with cargo N to be shipped, a second input conveyor 14 for transporting an empty second pallet 12 that does not have cargo N loaded thereon, a cargo transfer device 15 that transfers the cargo N loaded on the first pallet 11 supplied from the first input conveyor 13 onto the empty second pallet 12 supplied from the second input conveyor 14, a first output conveyor 16 that transports the first pallet 11 that has been emptied after the cargo N has been transferred, and a second output conveyor 17 that transports the second pallet 12 that has been emptied after the cargo N has been transferred and now has cargo N loaded thereon.

[0012] The first carry-in conveyor 13 includes a pair of first carry-in conveyor frames 13a, 13b. The first carry-in conveyor frames 13a, 13b are supported at a distance above the floor of the facility by first carry-in legs 13c provided at multiple locations in the extension direction of the first carry-in conveyor frames 13a, 13b (left-right direction in FIG. 1). A plurality of first carry-in rollers 13d are rotatably fixed between the pair of first carry-in conveyor frames 13a, 13b. The first carry-in rollers 13d are arranged at predetermined intervals in the extension direction of the first carry-in conveyor frames 13a, 13b. The first carry-in conveyor 13 transports the first pallet 11 in the extension direction of the first carry-in conveyor frames 13a, 13b toward the baggage transfer device 15 (rightward in FIG. 1).

[0013] The second carry-in conveyor 14 is arranged parallel to the first carry-in conveyor 13. The second carry-in conveyor 14 is arranged on one side (upper side in FIG. 1) of the first carry-in conveyor 13, perpendicular to the extension direction of the first carry-in conveyor frames 13a, 13b. The second carry-in conveyor 14 comprises a pair of second carry-in conveyor frames 14a, 14b. The second carry-in conveyor frames 14a, 14b are supported at a distance above the floor of the facility by second carry-in legs 14c provided at multiple locations in the extension direction of the second carry-in conveyor frames 14a, 14b (left-right direction in FIG. 1). A plurality of second carry-in rollers 14d are rotatably fixed between the pair of second carry-in conveyor frames 14a, 14b. The second carry-in rollers 14d are arranged at a predetermined interval in the extension direction of the second carry-in conveyor frames 14a, 14b. The transport direction of the second pallet 12 on the second carry-in conveyor 14 is the direction toward the luggage transfer device 15 within the extension direction of the second carry-in conveyor frames 14a, 14b (to the right in FIG. 1).

[0014] The first discharge conveyor 16 is located on the opposite side of the baggage transfer device 15 from the first load conveyor 13, and the second discharge conveyor 17 is located on the opposite side of the baggage transfer device 15 from the second load conveyor 14. The first discharge conveyor 16 includes a pair of first discharge conveyor frames 16a, 16b. The first discharge conveyor frames 16a, 16b are supported above and spaced apart from the floor of the facility by first discharge legs 16c provided at multiple locations in the extension direction of the first discharge conveyor frames 16a, 16b (the left-right direction in FIG. 1). A plurality of first discharge rollers 16d are rotatably fixed between the pair of first discharge conveyor frames 16a, 16b. The first discharge rollers 16d are arranged at a predetermined interval in the extension direction of the first discharge conveyor frames 16a, 16b. The transport direction of the first pallet 11 on the first discharge conveyor 16 is the direction toward the opposite side to the baggage transfer device 15 in the extending direction of the first discharge conveyor frames 16a, 16b (to the right in FIG. 1).

[0015] The second output conveyor 17 is arranged parallel to the first output conveyor 16. The second output conveyor 17 is arranged on one side (upper side in FIG. 1) of the first output conveyor 16, perpendicular to the extension direction of the first output conveyor frames 16a, 16b. The second output conveyor 17 includes a pair of second output conveyor frames 17a, 17b. The second output conveyor frames 17a, 17b are supported at a distance above the floor of the facility by second output legs 17c provided at multiple locations in the extension direction of the second output conveyor frames 17a, 17b (left-right direction in FIG. 1). A plurality of second output rollers 17d are rotatably fixed between the pair of second output conveyor frames 17a, 17b. The second discharge rollers 17d are arranged at a predetermined interval in the extension direction of the second discharge conveyor frames 17a, 17b. The transport direction of the second pallet 12 on the second discharge conveyor 17 is the direction toward the opposite side of the luggage transfer device 15 within the extension direction of the second discharge conveyor frames 17a, 17b (to the right in FIG. 1).

[0016] The upper ends of first carry-in rollers 13d, second carry-in rollers 14d, first unloading rollers 16d, and second unloading rollers 17d are located at a height of 600 mm from the floor of the facility. On first carry-in conveyor 13 and first unloading conveyor 16, first pallet 11 moves in the aforementioned conveying direction (to the right in FIG. 1) when pushed by an operator. On second carry-in conveyor 14 and second unloading conveyor 17, second pallet 12 moves in the aforementioned conveying direction (to the right in FIG. 1) when pushed by an operator. Note that the carry-in conveyors 13, 14 and unloading conveyors 16, 17 may be configured as electric roller conveyors or belt conveyors.

[0017] FIG. 2(a) is a perspective view of a first pallet 11 supplied to the luggage transfer device 15 and luggage N loaded on the first pallet 11, and FIG. 2(b) is a perspective view of a second pallet 12 carried out from the luggage transfer device 15 and luggage N loaded on the second pallet 12. As shown in FIGS. 2(a) and 2(b), the first pallet 11 and the second pallet 12 have a rectangular parallelepiped shape. The pallets 11 and 12 are made of resin. The height of the pallets 11 and 12 is 150 mm. The upper surfaces 11a and 12a and the lower surfaces 11b and 12b of the pallets 11 and 12 are squares with sides of 1100 mm. The pallets 11 and 12 each have a pair of parallel first side surfaces 11c and 12c and a pair of parallel second side surfaces 11d and 12d, and a pair of parallel third side surfaces 11e and 12e and a pair of parallel fourth side surfaces 11f and 12f that are perpendicular to the first side surfaces 11c and 12c and the second side surfaces 11d and 12d. The distance between the first side surfaces 11c and 12c and the second side surfaces 11d and 12d, and the distance between the third side surfaces 11e and 12e and the fourth side surfaces 11f and 12f are 1100 mm. Hereinafter, in this embodiment, the distance between the first side surfaces 11c and 12c and the second side surfaces 11d and 12d, and the distance between the third side surfaces 11e and 12e and the fourth side surfaces 11f and 12f are also referred to as the "width dimension of the pallets 11 and 12."

[0018] As shown in FIG. 2(a), on the first pallet 11 supplied to the cargo transfer device 15, cargoes N of the same size and shape are stacked in five layers, starting with the first layer closest to the first pallet 11, followed by the first layer, second layer, third layer, fourth layer, and fifth layer. In factories that mass-produce the same products or factories where the sizes and shapes of packaging containers that house multiple types of products are standardized, a situation occurs in which a large number of cargoes N of the same size and shape are stored. The cargoes N are rectangular parallelepiped packaging containers. The height dimension of the cargoes N is 196 mm. Furthermore, the longitudinal dimension (vertical dimension) of the cargoes N is 540 mm, and the transverse dimension (horizontal dimension) of the cargoes N is 168 mm. There are 12 cargoes N on each of the first to fifth layers.

[0019] In this embodiment, there are a first arrangement pattern and a second arrangement pattern for the luggage N. FIG. 2(c) is an explanatory diagram for explaining the first arrangement pattern for the luggage N, and FIG. 2(d) is an explanatory diagram for explaining the second arrangement pattern for the luggage N. As shown in FIG. 2(c), in the first arrangement pattern, three horizontally oriented luggage N are arranged vertically (vertically in FIG. 2(c)) in the upper left and lower right of the layer, and three vertically oriented luggage N are arranged horizontally (horizontally in FIG. 2(c)) in the upper right and lower left of the layer. Also, as shown in FIG. 2(d), in the second arrangement pattern, three vertically oriented luggage N are arranged horizontally (horizontally in FIG. 2(d)) in the upper left and lower right of the layer, and three horizontally oriented luggage N are arranged vertically (vertically in FIG. 2(d)) in the upper right and lower left of the layer.

[0020] The relationship between the first arrangement pattern and the second arrangement pattern is such that when a layer of luggage N arranged in the second arrangement pattern is stacked on top of a layer of luggage N arranged in the first arrangement pattern, or when a layer of luggage N arranged in the first arrangement pattern is stacked on top of a layer of luggage N arranged in the second arrangement pattern, there is no location where luggage N is stacked in the same orientation above and below, i.e., no location where luggage is likely to collapse. The first arrangement pattern is an arrangement pattern in which the orientation of luggage N within a layer is two types (vertical and horizontal), while the second arrangement pattern is an arrangement pattern in which the orientation of luggage N within a layer is two types (vertical and horizontal). Furthermore, the first arrangement pattern is an arrangement pattern in which the orientation of luggage N differs between the upper left and the lower left or upper right within a layer, and also between the lower right and the upper right or lower left within a layer. In addition, the second arrangement pattern is an arrangement pattern in which the orientation of the luggage N is different between the upper left and the lower left or upper right within the layer, and also in which the orientation of the luggage N is different between the lower right and the upper right or lower left within the layer.

[0021] The first pallet 11 on which the luggage N is stacked in a first stacking pattern or a second stacking pattern is supplied to the luggage transfer device 15. The first stacking pattern is a stacking pattern in which the luggage N are arranged in the odd-numbered layers (the first, third, and fifth layers) in a first arrangement pattern, and in the even-numbered layers (the second and fourth layers) in a second arrangement pattern, as shown in FIG. 2(a). Although not shown, the second stacking pattern is a stacking pattern in which the luggage N are arranged in the odd-numbered layers in a second arrangement pattern, and in the even-numbered layers in a first arrangement pattern. In this way, both the first stacking pattern and the second stacking pattern are stacking patterns in which the first arrangement pattern and the second arrangement pattern are alternately repeated. Furthermore, the first stacking pattern and the second stacking pattern are stacking patterns that do not include areas where the luggage N on top and bottom are stacked in the same direction, i.e., areas where luggage collapse is likely to occur. By storing the cargo N before shipment in a facility such as a factory or warehouse in the first stacking pattern or the second stacking pattern, the occurrence of cargo collapse within the facility is prevented.

[0022] As shown in FIG. 2(b), seven layers of cargo N are stacked on the second pallet 12 transported from the cargo transfer device 15, starting with the first layer closest to the second pallet 12, followed by the first layer, the second layer, the third layer, the fourth layer, the fifth layer, the sixth layer, and the seventh layer. Each of the first to seventh layers contains 12 cargo N. Increasing the number of layers of cargo N on the first pallet 11 during storage could hinder the movement of the first pallet 11 within the facility and could cause deformation of the cargo N below due to the weight of the cargo N above. On the other hand, if the number of layers of cargo N on the second pallet 12 during transportation is small, the upper portion of the truck compartment is left largely empty, reducing transportation efficiency. Furthermore, if second pallets 12 loaded with cargo N are stacked one on top of the other in the truck compartment, there is a problem that the second pallets 12 leave marks on the top surfaces of the cargo N placed below the second pallets 12. In contrast, the luggage transfer device 15 transfers luggage N until luggage N is stacked in seven layers on the second pallet 12. In this way, by using the luggage transfer device 15 to enable a change from the number of layers of luggage N suitable for storage (five layers) to the number of layers of luggage N suitable for transportation (seven layers), it is possible to improve the transport efficiency of luggage N without causing problems with the storage of luggage N within the facility.

[0023] The empty first pallet 11 transported from the luggage transfer device 15 is collected downstream of the first output conveyor 16 and reused within the facility. The second pallet 12 transported from the luggage transfer device 15 with luggage N loaded thereon is transported by the second output conveyor 17, then loaded into the trunk of a truck and transported to its destination, such as a warehouse or a retail store. In this way, the existence of the second pallet 12 used for shipping, separate from the first pallet 11 used within a facility such as a factory or warehouse, prevents the first pallet 11 used within the facility from being used outside the facility and becoming soiled. In facilities requiring a certain level of cleanliness, such as food factories and pharmaceutical factories, preventing the first pallet 11 from becoming soiled prevents the need for processes to wash and dry the first pallet 11.

[0024] <Baggage transfer device> Next, the configuration of the luggage transfer device 15 will be described. Fig. 3 is a front view of the luggage transfer device 15 as seen from the side of the unloading conveyors 16 and 17, and Fig. 4 is a side view of the luggage transfer device 15. As shown in Fig. 1, the luggage transfer device 15 has a metal frame 21. The frame 21 has a pair of loading-side first support pillars 22a and loading-side second support pillars 22b, and a pair of unloading-side first support pillars 22c and unloading-side second support pillars 22d. These pillars 22a to 22d extend upward from the floor of the facility. The loading-side second support pillar 22b is disposed spaced apart from the loading-side first support pillar 22a on one side (the upper side in Fig. 1) perpendicular to the conveying direction of the loading conveyors 13 and 14. 1), the unloading-side first support column 22c is disposed at a predetermined distance from the loading-side first support column 22a in the conveying direction of the loading conveyors 13, 14 (to the right in FIG. 1), and the unloading-side second support column 22d is disposed at a predetermined distance from the loading-side second support column 22b in the conveying direction. 3 and 4, the framework 21 includes a loading-side lower frame 23a connecting the lower portions of the loading-side first support column 22a and the loading-side second support column 22b, a loading-side lower frame 23b connecting the lower portions of the unloading-side first support column 22c and the unloading-side second support column 22d, a first lower frame 23c connecting the lower portions of the loading-side first support column 22a and the unloading-side first support column 22c, and a second lower frame 23d connecting the lower portions of the loading-side second support column 22b and the unloading-side second support column 22d. Furthermore, the frame body 21 includes an import-side upper frame 24a connecting the upper portions of the import-side first support column 22a and the import-side second support column 22b, an export-side upper frame 24b connecting the upper portions of the export-side first support column 22c and the export-side second support column 22d, a first upper frame 24c connecting the upper portions of the import-side first support column 22a and the export-side first support column 22c, and a second upper frame 24d connecting the upper portions of the import-side second support column 22b and the export-side second support column 22d. In this manner, a rectangular parallelepiped-shaped space is defined by the support columns 22a to 22d, the lower frames 23a to 23d, and the upper frames 24a to 24d of the frame body 21.

[0025] The upper surfaces of the lower frames 23a to 23d are at the same height as the upper ends of the carry-in rollers 13d, 14d and the carry-out rollers 16d, 17d (FIG. 1). The carry-in side lower frame 23a supports the pallets 11, 12 as they are carried into the space defined by the frame body 21, and the carry-out side lower frame 23b supports the pallets 11, 12 as they are carried out of the space defined by the frame body 21. This reduces the workload of carrying in and carrying out the pallets 11, 12 compared to a configuration with a step.

[0026] As shown in FIG. 1, the ends of the first carry-in conveyor frames 13a, 13b and the second carry-in conveyor frames 14a, 14b on the conveying direction side (right side in FIG. 1) are fixed to the carry-in side lower frame 23a (FIG. 4) of the frame body 21 with screws. This prevents the first carry-in conveyor 13 and the second carry-in conveyor 14 from shifting position relative to the baggage transfer device 15. Furthermore, the ends of the first unloading conveyor frames 16a, 16b and the second unloading conveyor frames 17a, 17b on the opposite side to the conveying direction (left side in FIG. 1) are fixed to the unloading side lower frame 23b (FIG. 4) of the frame body 21 with screws. This prevents the first unloading conveyor 16 and the second unloading conveyor 17 from shifting position relative to the baggage transfer device 15. In addition, the first loading side support pillar 22a, the second loading side support pillar 22b, the first unloading side support pillar 22c, the second unloading side support pillar 22d, the first loading leg 13c, the second loading leg 14c, the first unloading leg 16c and the second unloading leg 17c may be fixed with screws to the floor of the facility, thereby preventing the loading conveyors 13, 14 and the unloading conveyors 16, 17 from shifting in position relative to the luggage transfer device 15.

[0027] 1, the distance between the first loading-side support column 22a and the first unloading-side support column 22c, and the distance between the second loading-side support column 22b and the second unloading-side support column 22d are greater than the width (1100 mm) of the pallets 11 and 12, but are smaller than twice the width (2200 mm) of the pallets 11 and 12. The distance between the first loading-side support column 22a and the second loading-side support column 22b, and the distance between the first unloading-side support column 22c and the second unloading-side support column 22d are greater than twice the width (2200 mm) of the pallets 11 and 12, but are smaller than three times the width (3300 mm) of the pallets 11 and 12.

[0028] As shown in FIG. 3, the cargo transfer device 15 includes a first lifter 25 and a second lifter 26 provided inside a space partitioned by the frame body 21. The first lifter 25 is a hydraulic table lifter that can raise and lower the first pallet 11, and the second lifter 26 is a hydraulic table lifter that can raise and lower the second pallet 12. The first lifter 25 and the second lifter 26 are arranged side by side. The second lifter 26 is disposed closer to the second lower frame 23d (to the right in FIG. 3) than the first lifter 25. As shown in FIG. 1, the first lifter 25 is located on the opposite side of the loading-side lower frame 23a from the first loading conveyor 13, and is located on the opposite side of the unloading-side lower frame 23b from the first unloading conveyor 16. The second lifter 26 is located on the opposite side of the second carry-in conveyor 14 across the carry-in side lower frame 23a, and is also located on the opposite side of the second carry-out conveyor 17 across the carry-out side lower frame 23b.

[0029] As shown in Fig. 3, the first lifter 25 is provided with a first pallet platform 27 on which the first pallet 11 supplied from the first carry-in conveyor 13 (Fig. 1) is set, and the second lifter 26 is provided with a second pallet platform 28 on which the second pallet 12 supplied from the second carry-in conveyor 14 (Fig. 1) is set. The pallet platforms 27, 28 are made of metal. However, the pallet platforms 27, 28 may also be made of resin.

[0030] The pallet mounting tables 27, 28 have a plate thickness of 90 mm. The first pallet mounting table 27 has a first pallet mounting surface 27a on which the first pallet 11 is placed, and a pair of first and second side guides 27b, 27c that protrude upward from the upper surface of the first pallet mounting table 27. The first side guide 27b is located closer to the second lifter 26 than the first pallet mounting surface 27a, and the second side guide 27c is located on the opposite side of the first pallet mounting surface 27a from the second lifter 26. The first pallet mounting surface 27a is the upper surface of the first pallet mounting table 27, and is defined by the first and second side guides 27b, 27c as a square that is slightly larger than the first pallet 11. The first pallet mounting surface 27a is an upward-facing horizontal surface that is parallel to the floor of the facility.

[0031] The first pallet 11 supplied from the first carry-in conveyor 13 (FIG. 1) is set on the first pallet placement surface 27a by a worker. The provision of the first side guide 27b and the second side guide 27c makes it easy to set the first pallet 11 in the center of the first pallet placement surface 27a. In addition, movement of the first pallet 11 set on the first pallet placement surface 27a towards the second lifter 26 and movement away from the second lifter 26 are restricted.

[0032] The second pallet loading platform 28 includes a second pallet loading surface 28a on which the second pallet 12 is placed, and a pair of third and fourth side guides 28b and 28c that protrude upward from the second pallet loading surface 28a. The third side guide 28b is located closer to the first lifter 25 than the second pallet loading surface 28a, and the fourth side guide 28c is located on the opposite side of the second pallet loading surface 28a from the first lifter 25. The second pallet loading surface 28a is the upper surface of the second pallet loading platform 28, and is defined by the third and fourth side guides 28b and 28c as a square that is slightly larger than the second pallet 12. The second pallet loading surface 28a is an upward-facing horizontal surface that is parallel to the floor of the facility.

[0033] The second pallet 12 supplied from the second carry-in conveyor 14 (FIG. 1) is set on the second pallet placement surface 28a by a worker. The provision of the third side guide 28b and the fourth side guide 28c makes it easy to set the second pallet 12 in the center of the second pallet placement surface 28a. In addition, movement of the second pallet 12 set on the second pallet placement surface 28a towards the first lifter 25 and movement away from the first lifter 25 are restricted.

[0034] The configuration for raising and lowering second pallet platform 28 in second lifter 26 is similar to the configuration for raising and lowering first pallet platform 27 in first lifter 25. Below, the configuration for raising and lowering first pallet platform 27 will be described using first lifter 25 as an example.

[0035] The first lifter 25 includes a base 31 fixed to the floor of the facility, and an arm unit 32 provided between the base 31 and the first pallet placement table 27. The arm unit 32 includes a pair of lower arm units 33 intersecting in an X-shape and a pair of upper arm units 34 intersecting in an X-shape. The lower arm units 33 and the upper arm units 34 are disposed one on the side of the loading conveyors 13, 14 and the other on the side of the unloading conveyors 16, 17, respectively. The lower arm unit 33 includes a lower outer arm 33b and a lower inner arm 33c rotatably connected by a lower center pin 33a, and the upper arm unit 34 includes an upper outer arm 34b and an upper inner arm 34c rotatably connected by an upper center pin 34a. The lower end of the lower outer arm 33b is rotatably connected to the base 31 via a fixing pin (not shown). The lower end of the lower inner arm 33c is rotatably and slidably connected to the base 31 via a sliding roller (not shown). The upper inner arm 34c is connected to the upper end of the lower outer arm 33b via a first pin 35, and the upper outer arm 34b is connected to the upper end of the lower inner arm 33c via a second pin 36. The upper end of the upper inner arm 34c is rotatably connected to the first pallet mount table 27 via a fixed pin (not shown), and the upper end of the upper outer arm 34b is rotatably and slidably connected to the first pallet mount table 27 via a sliding roller (not shown). A first hydraulic cylinder 37 is suspended between the lower inner arm 33c and the upper outer arm 34b. When the first hydraulic cylinder 37 is driven, the first pallet mount table 27 rises and falls while maintaining the first pallet mount surface 27a parallel to the floor of the facility.

[0036] In this way, the first pallet platform 27 is raised and lowered while maintaining the first pallet platform surface 27a as a horizontal plane parallel to the floor of the facility by driving the first hydraulic cylinder 37. Similarly to the first pallet platform 27, the second pallet platform 28 is raised and lowered while maintaining the second pallet platform surface 28a as a horizontal plane parallel to the floor of the facility by driving the second hydraulic cylinder 38 provided on the second lifter 26.

[0037] The first lifter 25 is a two-stage table lifter whose arm portion 32 has a lower arm portion 33 and an upper arm portion 34. This makes it possible to reduce the dimensions of the base 31 compared to a configuration in which the first lifter 25 is a single-stage table lifter. Similarly to the first lifter 25, the second lifter 26 is a two-stage table lifter. This makes it possible to reduce the dimensions of the base compared to a configuration in which the second lifter 26 is a single-stage table lifter. This makes it possible to reduce the dimensions of the frame 21 on which the first lifter 25 and the second lifter 26 are installed, and also makes it possible to reduce the dimensions of the baggage transfer device 15.

[0038] The luggage transfer device 15 includes a first hydraulic unit 41 (FIG. 4) connected to the first hydraulic cylinder 37 and a second hydraulic unit 42 (FIG. 4) connected to the second hydraulic cylinder 38. As shown in FIGS. 3 and 4, the first hydraulic unit 41 is installed on a lower installation platform 43 provided outside the frame body 21, and the second hydraulic unit 42 is installed on the first hydraulic unit 41. The lower installation platform 43 extends horizontally from the loading-side first support column 22a (FIG. 1) and the unloading-side first support column 22c on the opposite side to the loading-side second support column 22b (FIG. 1) and the unloading-side second support column 22d. The upper surface of the lower installation platform 43 is horizontal. The lower installation platform 43 is provided on the opposite side of the first lifter 25 from the second lifter 26. The lower installation platform 43 is also located outside the frame body 21. The ends of the lower installation table 43 on the side of the first carry-in support column 22a (FIG. 1) and the first carry-out support column 22c are fixed to the first carry-in support column 22a and the first carry-out support column 22c with screws, so that the lower installation table 43 is cantilevered by the first carry-in support column 22a and the first carry-out support column 22c.

[0039] The first hydraulic unit 41 extends the first hydraulic cylinder 37 to raise the first pallet platform 27, and retracts the first hydraulic cylinder 37 to lower the first pallet platform 27. The second hydraulic unit 42 extends the second hydraulic cylinder 38 to raise the second pallet platform 28, and retracts the second hydraulic cylinder 38 to lower the second pallet platform 28.

[0040] The first initial position, which is the initial position of the first pallet platform 27, is a height position where the first pallet platform surface 27a is at the same height as the upper ends of the first carry-in rollers 13d (FIG. 1), the upper surface of the carry-in-side lower frame 23a (FIG. 4), the upper surface of the carry-out-side lower frame 23b, and the upper ends of the first carry-out rollers 16d (FIG. 1). With the first pallet platform 27 in the first initial position, an operator can set the first pallet 11 loaded with the cargo N supplied from the first carry-in conveyor 13 on the first pallet platform 27. Furthermore, after the cargo N has been transferred, with the first pallet platform 27 in the first initial position, an operator can move the empty first pallet 11 to the first carry-out conveyor 16 and set the next first pallet 11 on the first pallet platform 27.

[0041] The second initial position, which is the initial position of the second pallet platform 28, is a height position where the second pallet platform surface 28a is at the same height as the upper ends of the second carry-in rollers 14d (FIG. 1), the upper surface of the carry-in-side lower frame 23a (FIG. 4), the upper surface of the carry-out-side lower frame 23b, and the upper ends of the second carry-out rollers 17d (FIG. 1). With the second pallet platform 28 in the second initial position, an operator can set an empty second pallet 12 supplied from the second carry-in conveyor 14 on the second pallet platform 28. Furthermore, after the transfer of the cargo N, with the second pallet platform 28 in the second initial position, an operator can move the second pallet 12 with the cargo N loaded onto the second carry-out conveyor 17 and set the next second pallet 12 on the second pallet platform 28.

[0042] When the first pallet platform 27 is in the first initial position, the distance from the first pallet platform 27 to the first carry-in rollers 13d (FIG. 1) and the distance from the first pallet platform 27 to the first carry-out rollers 16d (FIG. 1) are less than half the width (1100 mm) of the pallets 11 and 12. This reduces the workload of loading the first pallet 11 onto the first pallet platform 27 and unloading the first pallet 11 from the first pallet platform 27. Furthermore, when the second pallet platform 28 is in the second initial position, the distance from the second pallet platform 28 to the second carry-in rollers 14d (FIG. 1) and the distance from the second pallet platform 28 to the second carry-out rollers 17d (FIG. 1) are less than half the width (1100 mm) of the pallets 11 and 12. This reduces the workload of carrying the second pallet 12 onto the second pallet placement table 28 and carrying the second pallet 12 out of the second pallet placement table 28.

[0043] As shown in FIG. 3, the undersides of the pallet platforms 27, 28 are horizontal. A first distance measuring sensor 44 capable of measuring the distance from the facility floor to the first pallet platform 27 is provided on the underside of the first pallet platform 27 at a position facing the facility floor. The first distance measuring sensor 44 is an ultrasonic sensor that measures distance based on the time between the transmission and reception of ultrasonic waves. The first distance measuring sensor 44 measures the distance from the underside of the first pallet platform 27 to the facility floor. This makes it possible to determine the distance of the first pallet platform 27 from the floor. When the first pallet platform 27 is in the first initial position, the first pallet platform surface 27a is located at a height of 600 mm from the floor. As already explained, the thickness of the first pallet platform 27 is 90 mm. Therefore, when the first pallet platform 27 is in the first initial position, the distance from the floor surface of the first pallet platform 27 detected by the first distance measuring sensor 44 is 510 mm. When a lowering operation is being performed to return the first pallet platform 27 to the first initial position, it can be determined that the first pallet platform 27 has returned to the first initial position based on the fact that the distance from the floor surface of the first pallet platform 27 detected by the first distance measuring sensor 44 has become 510 mm or less.

[0044] A second distance measuring sensor 45 capable of measuring the distance from the facility floor to the second pallet platform 28 is provided on the underside of the second pallet platform 28 at a position facing the floor of the facility. The second distance measuring sensor 45 is an ultrasonic sensor, similar to the first distance measuring sensor 44 described above. The second distance measuring sensor 45 measures the distance from the underside of the second pallet platform 28 to the floor of the facility. This makes it possible to determine the distance of the second pallet platform 28 from the floor. When the second pallet platform 28 is in the second initial position, the second pallet platform surface 28a is located at a height of 600 mm from the floor. As already described, the thickness of the second pallet platform 28 is 90 mm. Therefore, when the second pallet platform 28 is in the second initial position, the distance of the second pallet platform 28 from the floor as determined by the second distance measuring sensor 45 is 510 mm. When a lowering operation is being performed to return the second pallet platform 28 to the second initial position, it can be determined that the second pallet platform 28 has returned to the second initial position based on the fact that the distance from the floor of the second pallet platform 28 detected by the second distance measuring sensor 45 is 510 mm or less.

[0045] As shown in FIG. 3, above the lower installation platform 43, a luggage platform 46 is provided, extending horizontally from the loading-side first support column 22a (FIG. 1) and the unloading-side first support column 22c on the opposite side from the loading-side second support column 22b (FIG. 1) and the unloading-side second support column 22d. The luggage platform 46 is located outside the frame 21. The luggage platform 46 is also located on the opposite side of the first pallet platform 27 from the second pallet platform 28. The ends of the luggage platform 46 on the loading-side first support column 22a (FIG. 1) and the unloading-side first support column 22c side are fixed to the loading-side first support column 22a and the unloading-side first support column 22c with screws. As a result, the luggage platform 46 is cantilevered by the loading-side first support column 22a and the unloading-side first support column 22c. The luggage platform 46 is made of metal. The luggage platform 46 may be made of resin.

[0046] As shown in FIG. 1, the luggage platform 46 extends from the end of the loading-side first support column 22a on the loading conveyors 13 and 14 side to the end of the unloading-side first support column 22c on the unloading conveyors 16 and 17 side. Therefore, the dimension of the luggage platform 46 from the end of the loading-side first support column 22a on the loading-side first support column 22c on the unloading-side first support column 22c (the width dimension in the left-right direction in FIG. 1) is larger than the width dimension (1100 mm) of the pallets 11 and 12. In addition, the projection dimension (the width dimension in the up-down direction in FIG. 1) of the luggage platform 46 from the loading-side first support column 22a and the unloading-side first support column 22c is set to be slightly larger than the width dimension (1100 mm) of the pallets 11 and 12. As a result, the luggage platform 46 can accommodate one layer of luggage N on the first pallet 11. Therefore, it is possible to temporarily place one layer of luggage N on the luggage platform 46 before moving the luggage N on the first pallet 11 onto the second pallet 12, and it is also possible to adjust the order in which the luggage N taken out from the first pallet 11 is stacked onto the second pallet 12. The upper surface of the luggage platform 46 is located at a height of 2004 mm above the floor of the facility.

[0047] As shown in FIGS. 3 and 4, the luggage platform 46 is provided with a temporarily placed luggage detection sensor 47 capable of detecting the presence of luggage N on the luggage platform 46. The temporarily placed luggage detection sensor 47 is a photoelectric sensor. The temporarily placed luggage detection sensor 47 includes a light projector 47a and a light receiver 47b spaced apart in the pallet conveyance direction (the left-right direction in FIG. 4). When luggage N is not present between the light projector 47a and the light receiver 47b, the light emitted from the light projector 47a is received by the light receiver 47b. On the other hand, when luggage N is present between the light projector 47a and the light receiver 47b, the light emitted from the light projector 47a is blocked by the luggage N and is not received by the light receiver 47b. By providing the temporarily placed luggage detection sensor 47 on the luggage platform 46, it is possible to detect luggage N placed on the luggage platform 46. In addition, it is possible to configure the system so that an operation for temporarily placing the luggage N on the luggage platform 46 is executed on the condition that the luggage N is not present on the luggage platform 46.

[0048] As shown in Fig. 1, second pallet platform 28, first pallet platform 27, and luggage platform 46 are arranged in a straight line. The arrangement direction of second pallet platform 28, first pallet platform 27, and luggage platform 46 is a direction (vertical direction in Fig. 1) perpendicular to the conveying direction of carry-in conveyors 13, 14 and carry-out conveyors 16, 17, and is a direction from carry-in side second support column 22b and carry-out side second support column 22d toward carry-in side first support column 22a and carry-out side first support column 22c.

[0049] The luggage transfer device 15 includes a transfer device 51 that moves luggage N from the first pallet platform 27 to the second pallet platform 28, moves luggage N from the first pallet platform 27 to the luggage platform 46, and moves luggage N from the luggage platform 46 to the second pallet platform 28. The transfer device 51 is installed above the frame 21. As shown in FIG. 4, the transfer device 51 includes a suction-holding mechanism 52 that suction-holds the luggage N, a lifting mechanism 53 that can raise and lower the suction-holding mechanism 52, a support 54 that supports the suction-holding mechanism 52 via the lifting mechanism 53, and a traveling mechanism 55 that moves the support 54 in the arrangement direction of the platforms 27, 28, and 46 (the left-right direction in FIG. 3). When the support 54 moves in the arrangement direction, the support 54, the lifting mechanism 53, and the suction-holding mechanism 52 also move in the arrangement direction.

[0050] First, the traveling mechanism 55 will be described. As shown in Fig. 4, the support body 54 has a rectangular parallelepiped shape and extends from the vicinity of the loading-side upper frame 24a to the vicinity of the unloading-side upper frame 24b. As shown in Fig. 1, the traveling mechanism 55 includes a pair of first and second driven wheels 56a and 56b, and a pair of third and fourth driven wheels 56c and 56d, which are rotatably mounted on the outside of the support body 54. The first and third driven wheels 56a and 56c are located closer to the loading conveyors 13 and 14 than the support body 54, and the second and fourth driven wheels 56b and 56d are located closer to the unloading conveyors 16 and 17 than the support body 54. Furthermore, of the upper frames 24a-24d of the framework 21, a carry-in side rail frame 57 is provided on the carry-in side upper frame 24a (FIG. 4), which extends in the arrangement direction of the loading platforms 27, 28, 46, and a carry-out side rail frame 58 is provided on the carry-out side upper frame 24b (FIG. 4). The first driven wheel 56a and the third driven wheel 56c rest on the carry-in side rail frame 57, and the second driven wheel 56b and the fourth driven wheel 56d rest on the carry-out side rail frame 58. The carry-in side rail frame 57 extends in a direction from the carry-in side second support column 22b toward the carry-in side first support column 22a, and extends beyond the carry-in side first support column 22a to the side of the luggage loading platform 46. The unloading-side rail frame 58 extends in a direction from the unloading-side second support column 22d toward the unloading-side first support column 22c, and extends beyond the unloading-side first support column 22c to the side of the luggage platform 46.

[0051] As shown in FIG. 1 , a carry-in-side restricting wall 57a is provided on the carry-in-side rail frame 57 closer to the carry-in conveyors 13, 14 than the first driven wheel 56a and the third driven wheel 56c, protruding from the top surface of the carry-in-side rail frame 57. This restricts the movement of the first driven wheel 56a and the third driven wheel 56c toward the carry-in conveyors 13, 14, and also restricts the movement of the support body 54 toward the carry-in conveyors 13, 14. Furthermore, a carry-out-side restricting wall 58a is provided on the carry-out-side rail frame 58 closer to the carry-out conveyors 16, 17 than the second driven wheel 56b and the fourth driven wheel 56d, protruding from the top surface of the carry-out-side rail frame 58. This restricts the movement of the second driven wheel 56b and the fourth driven wheel 56d toward the carry-out conveyors 16, 17, and also restricts the movement of the support body 54 toward the carry-in conveyors 13, 14. The loading side regulating wall 57a and the unloading side regulating wall 58a extend from the second upper frame 24d side (upper side in Figure 1) beyond the center of the second pallet loading platform 28 to the opposite side of the second upper frame 24d (lower side in Figure 1) beyond the center of the luggage loading platform 46.

[0052] The traveling mechanism 55 includes a drive motor 61 provided on the support body 54, and a pair of first and second pinions 63 and 64 that rotate by power transmitted from the drive motor 61 via a power transmission mechanism 62. The first pinion 63 is provided on the carry-in conveyors 13, 14 side of the support body 54, and the second pinion 64 is provided on the carry-out conveyors 16, 17 side of the support body 54. The baggage transfer device 15 also includes a pair of carry-in guide rails 67 and carry-out guide rails 68, on which racks 65, 66 (FIG. 1) that mesh with the teeth of the pinions 63, 64 are formed. The carry-in guide rail 67 is provided on the carry-in rail frame 57, and the carry-out guide rail 68 is provided on the carry-out rail frame 58. Furthermore, the carry-in guide rail 67 is provided closer to the carry-in conveyors 13, 14 than the carry-in restricting wall 57a, and the carry-out guide rail 68 is provided closer to the carry-out conveyors 16, 17 than the carry-out restricting wall 58a. The carry-in guide rail 67 and the carry-out guide rail 68 extend from the second upper frame 24d side (upper side in FIG. 1) of the center of the second pallet loading platform 28 to the opposite side from the second upper frame 24d of the center of the luggage loading platform 46 (lower side in FIG. 1).

[0053] When the drive motor 61 is in the first drive state and the pinions 63, 64 rotate forward, the support body 54, the lifting mechanism 53, and the suction hold mechanism 52 move in the direction from the luggage platform 46 toward the second pallet platform 28 (upward in FIG. 1). When the drive motor 61 is in the second drive state and the pinions 63, 64 rotate backward, the support body 54, the lifting mechanism 53, and the suction hold mechanism 52 move in the direction from the second pallet platform 28 toward the luggage platform 46 (downward in FIG. 1). The support body 54 has three stopping positions: a transfer source stopping position set above the first pallet platform 27, a transfer destination stopping position set above the second pallet platform 28, and a temporary placement stopping position set above the luggage platform 46. The distance from the source stop position to the destination stop position, and the distance from the source stop position to the temporary storage stop position, are greater than the width (1100 mm) of the pallets 11, 12, but are less than twice the width (2200 mm) of the pallets 11, 12. The support body 54 can travel back and forth between the temporary storage stop position and the destination stop position.

[0054] As described above, the first pallet platform 27, the second pallet platform 28, and the luggage platform 46 are arranged in a straight line. This allows the guide rails 67, 68 to be a linear path. Furthermore, by making the guide rails 67, 68 a linear path, it is possible to eliminate the need for control to decelerate the support 54 in order to change the direction of movement of the support 54, and it is possible to reduce the time required for movement of the support 54. Furthermore, by making the movement of the support 54 a linear movement, it is possible to simplify the configuration for moving the support 54.

[0055] As shown in Fig. 4, the unloading rail frame 58 has a U-shaped cross section, and the unloading rail frame 58 is open toward the loading rail frame 57. As shown in Fig. 3, the unloading rail frame 58 is provided with a source position detection sensor 71 capable of detecting the support 54 present at the source stopping position, a destination position detection sensor 72 capable of detecting the support 54 present at the destination stopping position, and a temporary storage position detection sensor 73 capable of detecting the support 54 present at the temporary storage stopping position. The position detection sensors 71 to 73 are reflective photoelectric sensors. Each of the position detection sensors 71 to 73 has a light-emitting unit (not shown) that emits light toward the loading rail frame 57, and a light-receiving unit (not shown) that receives the emitted light that is reflected back. As shown in FIG. 4, a detection protrusion 74 is formed at the center of the support 54 in the arrangement direction of the mounting tables 27, 28, and 46 (the left-right direction in FIG. 3), protruding downward from the support 54. A reflector 75 is fixed to the detection protrusion 74 on the side of the unloading rail frame 58. The light-receiving portion of the source position detection sensor 71 receives light reflected by the reflector 75 when the support 54 is located at the source stop position. The light-receiving portion of the destination position detection sensor 72 receives light reflected by the reflector 75 when the support 54 is located at the destination stop position, and the light-receiving portion of the temporary placement position detection sensor 73 receives light reflected by the reflector 75 when the support 54 is located at the temporary placement stop position. This makes it possible to determine whether the support 54 is located at the source stop position, the destination stop position, or the temporary placement stop position. It is also possible to execute control to stop the support 54, the lifting mechanism 53 and the suction holding mechanism 52 at the transfer source stopping position, the transfer destination stopping position or the temporary storage stopping position.

[0056] Next, the lifting mechanism 53 will be described. As shown in FIG. 4, the lifting mechanism 53 includes a first air cylinder 76 and a second air cylinder 77 arranged in series in the vertical direction. The first air cylinder 76 includes a hollow cylindrical first cylinder body 76a and a first rod 76b that is movable up and down. The first cylinder body 76a is fixed to the upper part of the support 54 and extends upward from the support 54. The upper end of the first rod 76b is housed within the first cylinder body 76a, and the lower end of the first rod 76b protrudes downward from the first cylinder body 76a. The second air cylinder 77 includes a hollow cylindrical second cylinder body 77a and a second rod 77b that is movable up and down. The second cylinder body 77a is fixed to the lower end of the first rod 76b and extends downward from the lower end of the first rod 76b. The first rod portion 76b is inserted into a vertical through-hole (not shown) provided in the support body 54, and the second cylinder body portion 77a extends below the support body 54 through the through-hole. The upper end of the second rod portion 77b is housed within the second cylinder body portion 77a, and the lower end of the second rod portion 77b protrudes downward from the second cylinder body portion 77a. The suction holding mechanism 52 is fixed to the lower end of the second rod portion 77b.

[0057] The first cylinder body 76a and the second cylinder body 77a are each connected to a lifting compressor 78 via an electromagnetic valve (not shown). The lifting compressor 78 generates compressed air to be supplied to the first air cylinder 76 and the second air cylinder 77. The lifting compressor 78 is installed on the lower installation platform 43, described above, closer to the loading conveyors 13 and 14 (FIG. 1) than the first hydraulic unit 41. When compressed air is not introduced into the first cylinder body 76a, the first air cylinder 76 is in a non-driven state in which the first rod portion 76b is raised. When compressed air is introduced into the first cylinder body 76a, the first air cylinder 76 is in a driven state in which the first rod portion 76b is lowered. By switching the first air cylinder 76 from a non-driven state to a driven state and lowering the first rod portion 76b, the second air cylinder 77 and the suction holding mechanism 52 can be lowered. Furthermore, by switching the first air cylinder 76 from a driven state to a non-driven state to raise the first rod portion 76b, the second air cylinder 77 and the suction holding mechanism 52 can be raised.

[0058] The second air cylinder 77 is in a non-driven state in which the second rod portion 77b is raised when compressed air is not introduced into the second cylinder body portion 77a, and is in a driven state in which the second rod portion 77b is lowered when compressed air is introduced into the second cylinder body portion 77a. By switching the second air cylinder 77 from a non-driven state to a driven state and lowering the second rod portion 77b, the suction hold mechanism 52 can be lowered. Furthermore, by switching the second air cylinder 77 from a driven state to a non-driven state and raising the second rod portion 77b, the suction hold mechanism 52 can be raised.

[0059] The lifting mechanism 53 raises and lowers the suction / detachment height position and a second transport height position higher than the suction / detachment height position. A first transport height position is set between the suction / detachment height position and the second transport height position. As will be described in detail later, the suction / detachment height position is a height position at which the suction / detachment height position starts suction and holding of the load N by the suction / detachment height position, and a height position at which the suction / detachment height position ends suction and holding of the load N by the suction / detachment height position and the load N is placed. The first transport height position is a height position at which the load N is moved from the first pallet 11 to the second pallet 12 and from the first pallet 11 to the load placement platform 46 while being suction-held. The second transport height position is a height position at which the load N is moved from the load placement platform 46 to the second pallet 12 while being suction-held. The suction / detachment ... The first transport height position is a height position where the lower end of the suction head 81 is located 2300 mm above the floor of the facility. The suction / detachment height position is 100 mm lower than the first transport height position, and the second transport height position is 150 mm higher than the first transport height position. By deactivating the first air cylinder 76 and the second air cylinder 77, the suction / holding mechanism 52 is located at the second transport height position. By deactivating the first air cylinder 76 and deactivating the second air cylinder 77, the suction / holding mechanism 52 is located at the first transport height position. By deactivating the first air cylinder 76 and deactivating the second air cylinder 77, the suction / holding mechanism 52 is located at the first transport height position. By deactivating the first air cylinder 76 and deactivating the second air cylinder 77, the suction / holding mechanism 52 is located at the suction / detachment height position.

[0060] The suction holding mechanism 52 includes a suction support 79 and 36 suction heads 81 described above. The 36 suction heads 81 are fixed to the suction support 79. The upper part of the suction support 79 is fixed to the lower end of the second rod portion 77b of the second air cylinder 77. This results in the suction holding mechanism 52 being fixed to the second rod portion 77b. The suction heads 81 extend downward from the lower surface of the suction support 79. The suction heads 81 adhere to the surface of the load N by being placed in a reduced pressure state. The lower installation base 43, which has already been described, is equipped with a suction compressor 82, an air tank 83, and an ejector 84, which are used to create a reduced pressure state for the suction heads 81. On the lower installation base 43, the suction compressor 82 is installed closer to the carry-in conveyors 13 and 14 (FIG. 1) than the lifting compressor 78 described above. In addition, on the lower installation table 43, the air tank 83 is installed on the lifting compressor 78, and the ejector 84 is installed on the adsorption compressor 82.

[0061] The adsorption compressor 82 compresses air taken in from the outside, increases the pressure, and discharges the compressed air from a first discharge port (not shown). An air tank 83 connected to the first discharge port has a second discharge port (not shown) that discharges air pushed out from the air tank 83, and the second discharge port is connected to an inlet (not shown) of an ejector 84. The ejector 84 has a diffuser (not shown) that accelerates and flows the compressed air supplied from the inlet (not shown), and a vacuum port (not shown) to which the adsorption head 81 is connected via a connecting pipe 85. When compressed air is supplied to the inlet of the ejector 84, a flow is generated in which the air in the vacuum port is sucked into the diffuser, and the vacuum port becomes depressurized.

[0062] In this way, when the suction head 81 is in contact with the upper surface of the load N, the suction compressor 82 starts discharging compressed air, thereby reducing the pressure in the vacuum port to below the reference suction pressure, and the suction head 81 can suction and hold the load N. Furthermore, when the load N is being suction-held by the suction head 81, the suction compressor 82 can stop discharging compressed air, causing the pressure in the vacuum port to exceed the reference suction pressure, thereby releasing the load N that was being suction-held. The air tank 83 provided between the suction compressor 82 and the ejector 84 makes it possible to stabilize the pressure of the compressed air supplied to the inlet of the ejector 84. This prevents a temporary decrease in the suction force of the suction head 81. This prevents the load N from failing to be lifted and preventing the load N from dropping.

[0063] 5(a) is an explanatory diagram illustrating the suction positions of the suction heads 81 for the luggage N arranged in the first arrangement pattern, and FIG. 5(b) is an explanatory diagram illustrating the suction positions of the suction heads 81 for the luggage N arranged in the second arrangement pattern. As shown in FIGS. 5(a) and 5(b), the suction heads 81 are arranged in six columns and six rows. The suction heads 81 are arranged so that three suction heads 81 can suction one luggage N regardless of whether the orientation of three luggage N located in the upper left, lower left, upper right, or lower right of the pallet 11, 12 is vertical (vertical in FIGS. 5(a) and 5(b)) or horizontal (horizontal in FIGS. 5(a) and 5(b)).

[0064] When 12 units of luggage N are arranged in a first arrangement pattern on the first pallet 11, the second pallet 12, or the luggage platform 46, three suction heads 81 pick up each unit of luggage N, as shown in FIG. 5(a). When 12 units of luggage N are arranged in a second arrangement pattern on the first pallet 11, the second pallet 12, or the luggage platform 46, three suction heads 81 pick up each unit of luggage N, as shown in FIG. 5(b). In this way, even if the arrangement pattern of the units of luggage N changes, multiple suction heads 81 pick up each unit of luggage N, thereby reducing the possibility that the suction force of the suction heads 81 will be insufficient for the weight of the units of luggage N. Furthermore, by arranging a total of 36 suction heads 81 in six columns and six rows, the possibility that the suction force of the suction heads 81 will be insufficient for the weight of the units of luggage N is reduced, even if the shape and number of units of luggage N stacked on the first pallet 11 change.

[0065] 3, when the support body 54 is present at the source stop position, the 36 suction heads 81 are present on any of the luggage N on the top level of the first pallet 11, and when the support body 54 is present at the destination stop position, the 36 suction heads 81 are present on any of the luggage N on the top level of the second pallet 12. When the support body 54 is present at the temporary placement stop position, the 36 suction heads 81 are present on any of the luggage N placed on the luggage platform 46. As a result, when the support body 54 is present at the source stop position, the destination stop position, or the temporary placement stop position, the suction holding mechanism 52 can be lowered to the suction / detachment height position to suction and hold one layer of luggage N present on the first pallet 11 or the luggage platform 46, and one layer of luggage N can be placed on the second pallet 12 or the luggage platform 46.

[0066] The 36 suction heads 81 approach the luggage N from above and suction-hold one layer's worth of luggage N, and while the suction-holding mechanism 52 is suction-holding the one layer's worth of luggage N, the support body 54 travels to transport one layer's worth of luggage N. This makes it possible to prevent changes in the orientation of the luggage N and the arrangement of the luggage N within the layer before and after the movement when the luggage N is moved from the first pallet 11 to the second pallet 12, from the first pallet 11 to the luggage placement table 46, and from the luggage placement table 46 to the second pallet 12. Furthermore, when the luggage N are arranged in a predetermined pattern (first arrangement pattern or second arrangement pattern) on the first pallet 11, the luggage N can be transferred to the destination platform (the second pallet 12 or the luggage placement table 46) so that the luggage N is arranged in the predetermined pattern on the destination platform. Furthermore, when the packages N are arranged in a predetermined pattern (first arrangement pattern or second arrangement pattern) on the package placement platform 46, the packages N can be moved onto the destination platform (second pallet 12) so that the packages N are arranged in the predetermined pattern on the destination platform. Therefore, in both cases where the packages N on the first pallet 11 are temporarily placed on the package placement platform 46 and the temporarily placed packages N are moved onto the second pallet, and where the packages N on the first pallet 11 are moved onto the second pallet 12 without going via the package placement platform 46, the arrangement pattern of the packages N on the first pallet 11 can be used to load the packages N onto the second pallet 12 in a manner that is less likely to cause the load to collapse.

[0067] If a single layer of luggage N is conveyed by clamping it from the side, and if the luggage N is arranged on the first pallet 11, the second pallet 12, or the luggage stand 46 in such a way that there are gaps between the luggage N, the orientation of the luggage N and the arrangement of the luggage N within the layer will change when the single layer of luggage N is clamped. In contrast, this is a configuration in which the single layer of luggage N is conveyed by suction and held from above. This makes it possible to prevent the orientation of the luggage N and the arrangement of the luggage N within the layer from changing before and after movement, even if the luggage N is arranged on the first pallet 11, the second pallet 12, or the luggage stand 46 in such a way that there are gaps between the luggage N.

[0068] As shown in FIG. 4, a suction-side distance measuring sensor 91 is provided below the suction support 79 of the suction holding mechanism 52, which can detect when the suction head 81 is at a height position where it contacts the upper surface of the luggage N. The suction-side distance measuring sensor 91 is an ultrasonic sensor that measures distance based on the time between transmission and reception of ultrasonic waves. The suction-side distance measuring sensor 91 is provided at a position facing the upper surface of the luggage N in both cases where the arrangement pattern of the luggage N is the first arrangement pattern and where the arrangement pattern of the luggage N is the second arrangement pattern. The suction-side distance measuring sensor 91 is provided at a height position where the distance to the upper surface of the luggage N detected by the suction-side distance measuring sensor 91 is 180 mm when the suction head 81 is in contact with the upper surface of the luggage N. This makes it possible to detect when the distance to the upper surface of the luggage N detected by the suction-side distance measuring sensor 91 is 180 mm or less, thereby detecting that the suction head 81 is in contact with the luggage N.

[0069] As shown in Figure 4, on the lower installation platform 43, on the opposite side of the hydraulic units 41, 42 from the lifting compressor 78, a transshipment control device 94 is installed which controls the transfer device 51, the first lifter 25, and the second lifter 26. As shown in Figure 3, on the front side of the transshipment control device 94, there are provided a first setting button 95 which is operated by an operator when the operator sets the first pallet 11 on the first pallet placement platform 27, and a second setting button 96 which is operated by the operator when the operator sets the second pallet 12 on the second pallet placement platform 28.

[0070] After the power supply to the transshipment control device 94 is turned on, the first pallet platform 27 of the first lifter 25 is located in the first initial position, and the second pallet platform 28 of the second lifter 26 is located in the second initial position. The support body 54, the lifting mechanism 53, and the suction and holding mechanism 52 are stopped at the transfer source stop position (above the first pallet platform 27), and the suction and holding mechanism 52 is located at the first conveyance height position. As already explained, the first pallet 11 loaded with the cargo N supplied from the first carry-in conveyor 13 is set on the first pallet platform 27 by the operator while the first pallet platform 27 is located in the first initial position. Thereafter, when the first setting button 95 is operated, the transshipment control device 94 controls the first lifter 25 to perform a first post-setting lifting operation to raise the first pallet platform 27 by 470 mm from the first initial position.

[0071] As a result of the first lifting operation after setting, the top surface of the uppermost (fifth) unit N on the first pallet 11 is positioned 100 mm lower than the suction head 81 of the suction holding mechanism 52, which is positioned at the first conveying height position. In this way, as a result of the first lifting operation after setting, the distance between the uppermost unit N on the first pallet 11 and the suction head 81 of the suction holding mechanism 52, which is positioned at the first conveying height position, becomes 100 mm, which is smaller than one unit (196 mm) of the unit N. Furthermore, as a result of the first lifting operation after setting, the top surface of the uppermost unit N on the first pallet 11 is positioned one unit (196 mm) higher than the top surface of the unit placement platform 46, and the top unit placement surface on the first pallet 11 (specifically, the top surface of the second unit N from the top on the first pallet 11) is positioned at the same height as the top surface of the unit placement platform 46. The "topmost cargo loading surface on the first pallet 11" refers to the top surface of the second-highest cargo N when there are two or more cargo N tiers on the first pallet 11, and also refers to the top surface of the first pallet 11 when there is one cargo N tier on the first pallet 11.

[0072] When one layer of luggage N is removed from the first pallet 11 and the suction holding mechanism 52 that suction-holds the one layer of luggage N moves to the transfer destination stop position or the temporary storage stop position, the transshipment control device 94 controls the first lifter 25 to perform a one-stage lifting operation that raises the first pallet platform 27 by one stage. This returns the top luggage loading surface on the first pallet 11 to a state where it is at the same height as the upper surface of the luggage platform 46.

[0073] As already explained, an empty second pallet 12 supplied from the second carry-in conveyor 14 is set on the second pallet platform 28 by an operator with the second pallet platform 28 in the second initial position. Thereafter, when the second setting button 96 is operated, the transshipment control device 94 controls the second lifter 26 to perform a second post-setting lifting operation to raise the second pallet platform 28 by 1,404 mm. By performing the second post-setting lifting operation, the upper surface of the second pallet 12 is at the same height as the upper surface of the luggage platform 46. Furthermore, when the first uppermost luggage placement surface on the first pallet 11 is at the same height as the upper surface of the luggage platform 46, the first uppermost luggage placement surface on the first pallet 11, the upper surface of the second pallet 12, and the upper surface of the luggage platform 46 are all at the same height.

[0074] After one layer of cargo N has been placed on the second pallet 12 by the suction holding mechanism 52, the transshipment control device 94 controls the second lifter 26 to perform a one-stage lowering operation to lower the second pallet platform 28 by one stage (specifically, 196 mm). As a result, the top surface of the uppermost cargo N on the second pallet 12 returns to a state where it is at the same height as the top surface of the cargo platform 46.

[0075] In this configuration, the luggage N is transferred with the upper surfaces of the loading tables 27, 28, 46 at a height position closer to the suction holding mechanism 52 than the upper ends of the carry-in rollers 13d, 14d. This reduces the lifting distance of the suction holding mechanism 52 and the time required to lift and lower the suction holding mechanism 52, compared to a configuration in which the luggage N is transferred with the upper surfaces of the loading tables 27, 28, 46 at the same height position as the upper ends of the carry-in rollers 13d, 14d (a height position 600 mm above the floor surface). Furthermore, the falling distance in the event that the luggage N falls from the suction holding mechanism 52 is shortened, reducing the possibility of an impact being applied to the luggage N that could damage its contents.

[0076] The movement of a cargo N from the source stop position (above the first pallet platform 27) to the destination stop position (above the second pallet platform 28) begins when the top surface of the uppermost cargo N on the first pallet 11 after one layer of cargo N has been removed or the top surface of the empty first pallet 11 and the top surface of the uppermost cargo N on the second pallet 12 or the top surface of the empty second pallet 12 are at the same height as the top surface of the cargo platform 46 (a height position 2004 mm above the floor).Furthermore, the movement of a cargo N from the source stop position to the temporary storage stop position (above the cargo platform 46) begins when the top surface of the uppermost cargo N on the first pallet 11 after one layer of cargo N has been removed or the top surface of the empty first pallet 11 and the top surface of the cargo platform 46 are at the same height. Furthermore, the movement of the luggage N from the temporary storage stop position to the transfer destination stop position begins when the upper surface of the luggage placement platform 46 and the upper surface of the luggage N on the top level of the second pallet 12 or the upper surface of the empty second pallet 12 are at the same height. Thus, the movement of the luggage N from the source platform to the destination platform begins when the upper surface of the luggage N on the top level of the source platform after the luggage N has been removed or the upper surface of the empty source platform and the upper surface of the luggage N on the destination platform or the upper surface of the empty destination platform are at a height of 2004 mm above the facility floor. This shortens the lifting distance of the suction hold mechanism 52, thereby reducing the time required for the lifting and lowering of the suction hold mechanism 52. Furthermore, the falling distance of the luggage N in the event that it falls from the suction hold mechanism 52 is shortened, thereby reducing the possibility of an impact being applied to the luggage N that could damage its contents.

[0077] In controlling the movement of the unit N from the first pallet 11 to the second pallet 12, the first lifter 25 and the second lifter 26 are controlled so that the height position of the suction hold mechanism 52 when it is sucking the unit N on the first pallet 11 is approximately the same height position (attachment / detachment height position) as the height position of the suction hold mechanism 52 when it releases the suction hold of the unit N and places the unit N on the empty second pallet 12 or on the unit N on the topmost level of the second pallet 12. This simplifies the configuration for adjusting the height position of the suction hold mechanism 52 compared to a configuration in which the height position of the suction hold mechanism 52 when it starts to suck and hold the unit N is different from the height position of the suction hold mechanism 52 when it releases the suction hold of the unit N. Furthermore, the processing configuration for adjusting the height position of the suction hold mechanism 52 is simplified. Furthermore, compared to a configuration lacking the first lifter 25 and the second lifter 26, it is possible to reduce the lifting distance of the suction holding mechanism 52 and also reduce the time required to lift and lower the suction holding mechanism 52.

[0078] As shown in Figure 3, the luggage transfer device 15 is equipped with a destination luggage detection sensor 92 that can detect luggage N placed on the top surface of an empty second pallet 12 or luggage N placed on top of the topmost luggage N on the second pallet 12. A support arm 93 that supports the destination luggage detection sensor 92 is screwed to the discharge-side second support column 22d of the frame body 21. The support arm 93 extends from the discharge-side second support column 22d toward the load-in side second support column 22b (Figure 1). The destination luggage detection sensor 92 is fixed to the end of the support arm 93 on the opposite side from the discharge-side second support column 22d. The destination luggage detection sensor 92 is an ultrasonic sensor that measures distance based on the time between transmission and reception of ultrasonic waves. In a situation where the luggage N suction-held by the suction-holding mechanism 52 descends and comes into contact with an empty second pallet 12 or the luggage N on the top level of the second pallet 12, the upper surface of the empty second pallet 12 or the upper surface of the luggage N on the top level of the second pallet 12 is at the same height as the upper surface of the luggage platform 46. The transfer destination luggage detection sensor 92 is installed at a position 5 mm higher than the height position of the upper surface of the luggage platform 46. When the distance from the bottom end of the luggage N suction-held by the suction-holding mechanism 52 to the upper surface of the empty second pallet 12 or the upper surface of the luggage N on the top level of the second pallet 12 becomes 5 mm or less, the luggage N suction-held by the suction-holding mechanism 52 is detected by the transfer destination luggage detection sensor 92. The transfer control device 94 can determine that it is time to release the suction-holding state of the luggage N based on the fact that the luggage N is detected by the transfer destination luggage detection sensor 92 when the luggage N being suction-held by the suction-holding mechanism 52 is descending toward an empty second pallet 12 or the topmost luggage N on the second pallet 12.

[0079] As already explained, the luggage platform 46 is provided with a temporary luggage detection sensor 47. When the luggage N sucked and held by the suction holding mechanism 52 is descending toward the upper surface of the luggage platform 46 and the distance from the lower end of the luggage N sucked and held by the suction holding mechanism 52 to the upper surface of the luggage platform 46 becomes 5 mm or less, the luggage N sucked and held by the suction holding mechanism 52 is detected by the temporary luggage detection sensor 47. When the luggage N sucked and held by the suction holding mechanism 52 is descending toward the upper surface of the luggage platform 46, the transshipment control device 94 can determine that it is time to release the suction-held state of the luggage N based on the fact that the luggage N is detected by the temporary luggage detection sensor 47.

[0080] When the first pallet 11 is empty, the transshipment control device 94 controls the first lifter 25 so that the first pallet platform 27 descends to the first initial position. As already explained, after the first pallet 11, with five layers of cargo N loaded, is set on the first pallet platform 27 while the first pallet platform 27 is in the first initial position, a first post-setting lifting operation is executed to lift the first pallet platform 27 by 470 mm. Also, as already explained, each time one layer of cargo N is removed from the first pallet 11, a one-stage lifting operation is executed to lift the first pallet platform 27 by one stage (196 mm). Therefore, after the one-stage lifting operation is executed based on the removal of the final layer of cargo N from the first pallet 11, the first pallet platform 27 is located at a height position 1,450 mm above the first initial position. Furthermore, as already explained, when the first pallet platform 27 is in the first initial position, the distance from the floor of the first pallet platform 27 detected by the first distance measurement sensor 44 is 510 mm. The transshipment control device 94 can determine that the first pallet 11 has become empty based on the fact that the height position from the floor of the first pallet platform 27 detected by the first distance measurement sensor 44 is 1960 mm or more.

[0081] When the number of layers of cargo N on the second pallet 12 reaches the upper limit (specifically, seven layers), the transshipment control device 94 controls the second lifter 26 to lower the second pallet platform 28 to the second initial position. As already explained, after an empty second pallet 12 is set on the second pallet platform 28 while the second pallet platform 28 is in the second initial position, a second post-setting lifting operation is executed to raise the second pallet platform 28 by 1,404 mm. Also, as already explained, each time one layer of cargo N is loaded onto the second pallet 12, a one-layer lowering operation is executed to lower the second pallet platform 28 by one layer (196 mm). Therefore, after the one-layer lowering operation is executed based on the loading of the seventh layer of cargo N on the second pallet 12, the second pallet platform 28 is in a state of being located at a height position 32 mm above the second initial position. Furthermore, as already explained, when the second pallet platform 28 is in the second initial position, the distance from the floor of the second pallet platform 28 detected by the second distance measurement sensor 45 is 510 mm. The transshipment control device 94 can determine that the second pallet 12 is loaded with the upper limit number of cargoes N based on the fact that the height position from the floor of the second pallet platform 28 detected by the second distance measurement sensor 45 is 542 mm or less.

[0082] As shown in FIG. 3 , the front of the transshipment control device 94 is provided with a speaker 101, a direct start button 102, a carry-in start button 103, a take-out start button 104, and a stop button 105. The speaker 101 outputs a suction abnormality alarm sound to alert the operator that a suction abnormality has occurred. The direct start button 102 is operated to start a first movement control to move one layer of luggage N from the first pallet 11 onto the second pallet 12. The carry-in start button 103 is operated to start the first movement control after executing a second movement control to move one layer of luggage N from the first pallet 11 onto the luggage platform 46. The take-out start button 104 is operated to start the first movement control after executing a third movement control to move one layer of luggage N from the luggage platform 46 onto the second pallet 12. The stop button 105 is operated to stop the operation of the transfer device 51.

[0083] 6 is a block diagram showing the electrical configuration of the luggage transfer device 15. The operating power of the transshipment control device 94, the operating power of the first lifter 25, the operating power of the second lifter 26, and the operating power of the transfer device 51 are supplied from a power supply unit (not shown) built into the transshipment control device 94. The transshipment control device 94 is equipped with a transshipment control board 111. The transshipment control board 111 is equipped with a CPU 112, a ROM 113 that stores various control programs and fixed value data executed by the CPU 112, and a RAM 114 that is a memory for temporarily storing various data and the like when the control programs stored in the ROM 113 are executed. It is not essential that the CPU 112, ROM 113, and RAM 114 are integrated into a single chip, and each may be integrated into a separate chip.

[0084] The transshipment control board 111 is provided with an input port and an output port (not shown). As shown in Fig. 6, the input side of the transshipment control device 94 is connected to the first distance measurement sensor 44, the second distance measurement sensor 45, the temporary storage baggage detection sensor 47, the source transshipment position detection sensor 71, the destination transshipment position detection sensor 72, the temporary storage position detection sensor 73, the suction side distance measurement sensor 91, the destination transshipment baggage detection sensor 92, the first setting button 95, the second setting button 96, the direct start button 102, the carry-in start button 103, the carry-out start button 104, and the stop button 105. The output side of the transshipment control device 94 is connected to the first hydraulic unit 41, the second hydraulic unit 42, the drive motor 61, the first air cylinder 76, the second air cylinder 77, the lifting compressor 78, the suction compressor 82, and the speaker 101. In addition, there is a remote control provided with a first setting button 95, a second setting button 96, a direct start button 102, a bring-in start button 103, a take-out start button 104, and a stop button 105, and the transshipment control device 94 may be configured to have a receiving unit that receives button operation information transmitted from the remote control.

[0085] Next, before describing the operation of the luggage transfer device 15 corresponding to the operation of the direct start button 102, the bring-in start button 103, the take-out start button 104, or the stop button 105, we will explain the movement control executed by the luggage transfer device 15. The movement controls executed by the luggage transfer device 15 include a first movement control executed to move the luggage N from the first pallet 11 to the second pallet 12, a second movement control executed to move the luggage N from the first pallet 11 to the luggage platform 46, and a third movement control executed to move the luggage N from the luggage platform 46 to the second pallet 12.

[0086] In the first movement control, an operation is performed to lower the suction holding mechanism 52 to a suction and detachment height position at the transfer source stop position (above the first pallet platform 27), and then an operation is performed to depressurize the suction head 81 so that the suction head 81 suctions the cargo N. Thereafter, an operation is performed to raise the suction holding mechanism 52 to a first conveyance height position while suctioning and holding the cargo N, and after the lifting, an operation is performed to make the support body 54 travel to the transfer destination stop position (above the second pallet platform 28). Thereafter, an operation is performed to lower the suction holding mechanism 52 to the suction and detachment height position at the transfer destination stop position, and then an operation is performed to release the suction and hold state so that the cargo N is placed on it. Thereafter, an operation is performed to lift the suction holding mechanism 52 to the first conveyance height position, and after the lifting, an operation is performed to make the support body 54 travel to the transfer source stop position.

[0087] In the second movement control, an operation is performed to lower the suction holding mechanism 52 to the suction and detachment height position at the transfer source stop position, and then an operation is performed to depressurize the suction head 81 so that the suction head 81 suctions the luggage N. Thereafter, an operation is performed to raise the suction holding mechanism 52 to the first conveyance height position while suction-holding the luggage N, and after the lifting, an operation is performed to make the support body 54 travel to the temporary placement stop position (above the luggage placing platform 46). Thereafter, an operation is performed to lower the suction holding mechanism 52 to the suction and detachment height position at the temporary placement stop position, and then an operation is performed to release the suction and hold state so that the luggage N is placed thereon. Thereafter, an operation is performed to lift the suction holding mechanism 52 to the first conveyance height position, and after the lifting, an operation is performed to make the support body 54 travel to the transfer source stop position.

[0088] In the third movement control, an operation is performed to cause the support 54 to travel to a temporary placement stop position. Then, an operation is performed to lower the suction and holding mechanism 52 to a suction and detachment height position at the temporary placement stop position, and then an operation is performed to depressurize the suction head 81 so that the suction head 81 suctions the luggage N. Then, an operation is performed to raise the suction and holding mechanism 52 to a second conveyance height position higher than the first conveyance height position while suctioning and holding the luggage N, and after the lifting, an operation is performed to cause the support 54 to travel to the transfer destination stop position. Then, an operation is performed to lower the suction and holding mechanism 52 to the suction and detachment height position at the transfer destination stop position, and then an operation is performed to release the suction and holding state so that the luggage N is placed thereon. Then, an operation is performed to lift the suction and holding mechanism 52 to the first conveyance height position, and after the lifting, an operation is performed to cause the support 54 to travel to the transfer source stop position. In this way, after the first movement control, the second movement control, or the third movement control is performed, the suction and holding mechanism 52 is at the first conveyance height, and the support 54 has returned to the transfer source stop position. This makes it possible to execute the next movement control.

[0089] The transfer of the luggage N from the luggage placement platform 46 to the second pallet 12 is performed at the second transfer height position. As already explained, the second transfer height position is 150 mm higher than the first transfer height position. This allows the luggage N adsorbed and held by the suction holding mechanism 52 to be transferred in such a manner that the lower end of the luggage N adsorbed and held by the suction holding mechanism 52 passes 54 mm above the upper end of the uppermost luggage N on the first pallet 11. It is considered that the frequency with which the first movement control is executed is higher than the frequency with which the third movement control is executed. Furthermore, the lower the height of the suction holding mechanism 52, the more effectively the impact on the luggage N when it falls from the suction holding mechanism 52 can be reduced. Furthermore, the shorter the lifting distance of the suction holding mechanism 52, the more effectively the time required for the suction holding mechanism 52 to lift and lower can be reduced. By setting the first conveying height position used in the first movement control to a position lower than the second conveying height position used in the third movement control, the possibility of damage to the luggage N if it falls is reduced, and the time required to transfer the luggage N is shortened.

[0090] In the third movement control, the transport of the luggage N from the luggage platform 46 to the second pallet 12 is performed in such a manner that the luggage N sucked and held by the suction holding mechanism 52 passes above the uppermost luggage N on the first pallet 11. This allows a configuration in which the first pallet platform 27 is present on the path from the luggage platform 46 to the second pallet platform 28. This prevents the transport path of the luggage N from becoming complicated.

[0091] 7(a) to 7(c) are explanatory diagrams for explaining movement control that is performed based on operation of the direct start button 102. First movement control is performed based on operation of the direct start button 102. As a result, as shown in FIG. 7(a), the topmost layer of luggage N on the first pallet 11 is moved onto an empty second pallet 12 or onto the topmost luggage N on the second pallet 12. As shown in FIGS. 7(b) and 7(c), the first movement control is repeated until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit number of layers (specifically, seven layers).

[0092] 7(d) to 7(f) are explanatory diagrams for explaining movement control that is performed based on operation of the bring-in start button 103. The bring-in start button 103 is operated for the purpose of preventing a location on the second pallet 12 where the upper and lower luggage N are stacked facing the same direction when the arrangement pattern of the uppermost luggage N on the first pallet 11 is the same as the arrangement pattern of the uppermost luggage N on the second pallet 12 and execution of the first movement control would result in such a location. The worker operates the bring-in start button 103 when the arrangement pattern of the uppermost luggage N on the first pallet 11 is the same as the arrangement pattern of the uppermost luggage N on the second pallet 12 and no luggage N is present on the luggage platform 46.

[0093] When the carry-in start button 103 is operated, the second movement control is first performed. As a result, as shown in FIG. 7(d), the top layer of luggage N on the first pallet 11 is moved onto the luggage placement platform 46. After the second control is performed, the first movement control is performed as shown in FIG. 7(e). The first movement control is repeated until there are no luggage N on the first pallet 11 or the number of luggage N layers on the second pallet 12 reaches the upper limit (specifically, seven layers), as shown in FIG. 7(f). If the arrangement pattern of the luggage N on the top layer on the first pallet 11 is the same as the arrangement pattern of the luggage N on the top layer on the second pallet 12, the worker can operate the carry-in start button 103, provided that there are no luggage N on the luggage placement platform 46, thereby preventing the same arrangement pattern from occurring repeatedly on the second pallet 12.

[0094] 8(a) to 8(c) are explanatory diagrams for explaining movement control that is performed based on operation of the take-out start button 104. The take-out start button 104 is operated when the arrangement pattern of the luggage N on the luggage platform 46 differs from the arrangement pattern of the luggage N on the top level of the first pallet 11 and the second pallet 12 is empty, or when the arrangement pattern of the luggage N on the luggage platform 46 differs from the arrangement pattern of the luggage N on the top levels of the first pallet 11 and the second pallet 12.

[0095] When the take-out start button 104 is operated, the third movement control is first executed. As a result, as shown in FIG. 8(a), one layer of luggage N on the luggage platform 46 is moved onto the empty second pallet 12 or onto the luggage N on the top layer of the second pallet 12. After the third movement control is executed, the first movement control is executed, as shown in FIG. 8(b). As shown in FIG. 8(c), the first movement control is repeated until there are no luggage N on the first pallet 11 or until the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers). When luggage N are present on the luggage platform 46, and the arrangement pattern of the luggage N on the luggage platform 46 is different from the arrangement pattern of the luggage N on the top layer of the first pallet 11 and the second pallet 12 is empty, the worker can operate the take-out start button 104 to empty the luggage platform 46 while avoiding the same arrangement pattern from occurring repeatedly on the second pallet 12. In addition, if there is luggage N on the luggage platform 46 and the arrangement pattern of the luggage N on the luggage platform 46 differs from the arrangement pattern of the luggage N on the top tier of the first pallet 11 and the arrangement pattern of the luggage N on the top tier of the second pallet 12, the worker can operate the take-out start button 104 to empty the luggage platform 46 while avoiding the same arrangement pattern from occurring repeatedly on the second pallet 12.

[0096] The second pallet 12 unloaded from the luggage transfer device 15 has the luggage N stacked on it in the first stacking pattern or the second stacking pattern described above. When the luggage N is stacked on the second pallet 12 in the first stacking pattern, as shown in FIG. 2(b), the luggage N is arranged in the odd-numbered layers (the first, third, fifth, and seventh layers) in a first arrangement pattern, and the luggage N is arranged in the even-numbered layers (the second, fourth, and sixth layers) in a second arrangement pattern. Although not shown, when the luggage N is stacked on the second pallet 12 in the second stacking pattern, the luggage N is arranged in the odd-numbered layers in a second arrangement pattern, and the luggage N is arranged in the even-numbered layers in the first arrangement pattern. In this way, by stacking the luggage N in such a way that the arrangement patterns of two consecutive layers are not the same, it is possible to prevent the luggage N from being stacked in the same direction on top of and bottom of the same layer, thereby preventing the luggage from collapsing.

[0097] If the stop button 105 is operated while the suction holding mechanism 52 is suction-holding the load N and the support 54 is moving, the movement of the support 54 is stopped. If the position of the load N on the second pallet 12 becomes misaligned due to contact or the like, the worker can operate the stop button 105 to stop the movement of the support 54 and correct the misalignment of the load N before another load N is piled on top of it and the load N becomes unstable. The state in which the movement of the support 54 has been stopped is released by operating the stop button 105 in this state.

[0098] When a first pallet 11 on which cargo N is loaded in a first stacking pattern and a first pallet 11 on which cargo N is loaded in a second stacking pattern are alternately supplied from the first carry-in conveyor 13 to the cargo transfer device 15, only the first movement control out of the first to third movement controls can be used to load the cargo N on the second pallet 12 in a manner that is less likely to cause cargo collapse. On the other hand, when first pallets 11 on which cargo N is loaded in the same stacking pattern are successively supplied from the first carry-in conveyor 13 to the cargo transfer device 15, it becomes necessary to use the second movement control and the third movement control in addition to the first movement control. The transfer of cargo N that is performed when first pallets 11 on which cargo N is loaded in the same stacking pattern are successively supplied to the cargo transfer device 15 will be described using as an example a case where first pallets 11 on which cargo N are loaded in the first stacking pattern are successively supplied.

[0099] First, when no luggage N is loaded on the second pallet 12 or luggage placement platform 46, the first first pallet 11 is supplied to the luggage transfer device 15. As shown in FIG. 7(a), the luggage N are arranged in a first arrangement pattern on the odd-numbered layers (the first, third, and fifth layers) of the first pallet 11, and the luggage N are arranged in a second arrangement pattern on the even-numbered layers (the second and fourth layers). When the direct start button 102 is operated, the first movement control is executed. As a result, as shown in FIG. 7(a), one layer's worth of luggage N loaded on the top layer (the fifth layer) of the first pallet 11 is moved onto the second pallet 12. Thereafter, the first movement control is repeated. Then, as shown in FIG. 7(c), when the first movement control is executed to move the last layer's worth of luggage N from the first pallet 11 onto the second pallet 12, the first pallet 11 becomes empty, and the repeated execution of the first movement control ends.

[0100] Next, a second first pallet 11 is supplied. As with the first first pallet 11, the odd-numbered layers of luggage N are arranged in a first arrangement pattern, and the even-numbered layers of luggage N are arranged in a second arrangement pattern. If the arrangement pattern of the top layer of the first pallet 11 is the same as the arrangement pattern of the top layer of the second pallet 12, the worker operates the bring-in start button 103. When the bring-in start button 103 is operated, as shown in FIG. 7(d), a second movement control is performed to move one layer of luggage N stacked on the top layer (fifth layer) of the first pallet 11 onto the luggage placement platform 46. Thereafter, as shown in FIG. 7(e), a first movement control is performed to move one layer of luggage N stacked on the top layer (fourth layer) of the first pallet 11 onto the second pallet 12. This allows the arrangement pattern of the sixth layer (second arrangement pattern) of the second pallet 12 to be a pattern different from the arrangement pattern of the fifth layer (first arrangement pattern).

[0101] Thereafter, as shown in Figure 7(f), when the first movement control is executed, the repeated execution state of the first movement control ends based on the fact that the number of layers on the second pallet 12 has reached the upper limit (seven layers). Seven layers of cargo N are stacked on the second pallet 12, with odd-numbered layers arranged in the first arrangement pattern and even-numbered layers arranged in the second arrangement pattern. In this way, by stacking the cargo N on the second pallet 12 in such a way that the same arrangement pattern is not consecutive, the possibility of cargo collapse can be reduced.

[0102] Thereafter, the second pallet 12, with the luggage N stacked up to the upper limit (seventh tier), is removed from the luggage transfer device 15, and the empty second pallet 12 is supplied to the luggage transfer device 15. When the arrangement pattern of the luggage N on the luggage platform 46 differs from the arrangement pattern of the luggage N on the top tier of the first pallet 11 and the second pallet 12 is empty, the worker operates the take-out start button 104. When the take-out start button 104 is operated, as shown in FIG. 8(a), a third movement control is performed to move one layer of luggage N placed on the luggage platform 46 onto the second pallet 12. This causes the luggage platform 46 to be in a state where no luggage N is present, i.e., a state where a new layer of luggage N can be temporarily placed on the luggage platform 46. Thereafter, as shown in FIG. 8(b), a first movement control is performed to move one layer of luggage N stacked on the top tier (second tier) of the first pallet 11 onto the second pallet 12. As a result, the arrangement pattern of the second layer (second arrangement pattern) on the second pallet 12 becomes a pattern different from the arrangement pattern of the first layer (first arrangement pattern). Thereafter, as shown in FIG. 8(c), a first movement control is performed to move the last layer of luggage N remaining on the first pallet 11 onto the second pallet 12. As a result, the first pallet 11 becomes empty, and the repeated execution state of the first movement control ends.

[0103] Next, the third first pallet 11 is supplied. As with the first first pallet 11 and the second second pallet 12, the odd-numbered units N are arranged in a first arrangement pattern, and the even-numbered units N are arranged in a second arrangement pattern. As described above, when there are no units N on the unit placement platform 46 and the arrangement pattern of the top unit on the first pallet 11 is the same as the arrangement pattern of the top unit on the second pallet 12, the worker operates the bring-in start button 103. Figures 8(d) to 8(f) are explanatory diagrams for explaining movement control that is performed based on the operation of the bring-in start button 103. When the bring-in start button 103 is operated, as shown in Figure 8(d), a second movement control is performed to move one layer of units N stacked on the top unit (fifth unit) on the first pallet 11 onto the unit placement platform 46. 8(e), a first movement control is performed to move one layer of cargo N stacked on the top layer (fourth layer) of the first pallet 11 onto the second pallet 12. This allows the arrangement pattern of the fourth layer (second arrangement pattern) on the second pallet 12 to be a pattern different from the arrangement pattern of the third layer (first arrangement pattern).

[0104] Thereafter, as the first movement control is repeatedly executed, as shown in FIG. 8(f), the first pallet 11 becomes empty and the number of layers of the second pallet 12 reaches the upper limit (seven layers), and the repeated execution state of the first movement control ends. Seven layers of cargo N are stacked on the second pallet 12, with the odd-numbered layers being arranged in the first arrangement pattern and the even-numbered layers being arranged in the second arrangement pattern. In this way, even if a first pallet 11 whose top layer (fifth layer) is arranged in the first arrangement pattern is supplied to the cargo transfer device 15 three times in succession, cargo N can be stacked on the second pallet 12 in a manner such that the same arrangement pattern is not repeated. Furthermore, although not shown, even if a first pallet 11 whose top layer (fifth layer) is arranged in the second arrangement pattern is supplied to the cargo transfer device 15 three times in succession, cargo N can be stacked on the second pallet 12 in a manner such that the same arrangement pattern is not repeated.

[0105] If the configuration does not allow the second movement control and the third movement control to be executed, when first pallets 11 loaded with cargo N in the same stacking pattern are continuously supplied to the cargo transfer device 15, in order to stack the cargo N on the second pallet 12 in a manner that does not result in a continuous arrangement of the same cargo, the top cargo N on the first pallet 11 must be manually removed, which increases the time required to transfer the cargo N. Furthermore, if the contents of the cargo N are heavy goods such as liquids, this places a heavy burden on the worker. In contrast, the configuration allows the second movement control and the third movement control to be executed in addition to the first movement control, and further, these movement controls are executed in a manner that does not change the arrangement pattern of the cargo N. As a result, even when first pallets 11 loaded with cargo N in the same stacking pattern are continuously supplied to the cargo transfer device 15, the second pallet 12 loaded with cargo N can be transported from the cargo transfer device 15 in a manner that is less likely to cause cargo collapse.

[0106] Next, prior to describing the transshipment control process (FIG. 9) executed by the CPU 112, the configuration of the RAM 114 used in the transshipment control process will be described. As shown in FIG. 6, the RAM 114 is provided with a movement control counter 114a, an operation stop flag 114b, a first preparation completion flag 114c, and a second preparation completion flag 114d. The movement control counter 114a is set to one of values ​​"0" to "3." A state in which the movement control counter 114a has a value of "0" corresponds to a state in which the first to third movement controls are not being executed. Furthermore, a state in which the movement control counter 114a has a value of "1" corresponds to a state in which the first movement control is being executed, a state in which the movement control counter 114a has a value of "2" corresponds to a state in which the second movement control is being executed, and a state in which the movement control counter 114a has a value of "3" corresponds to a state in which the third movement control is being executed. The operation stop flag 114b is a flag that enables the CPU 112 to grasp that the operation has stopped and the movement of the support 54 has been stopped based on the operation of the stop button 105.

[0107] As already explained, after the first pallet 11 is set on the first pallet mount table 27, the first post-setting lifting operation is performed in response to operation of the first setting button 95, which lifts the first pallet mount table 27 470 mm from the first initial position. The first preparation completion flag 114c is a flag that enables the CPU 112 to recognize that the first post-setting lifting operation has ended after the first pallet 11 carrying the cargo N is set on the first pallet mount table 27. Furthermore, as already explained, after the second pallet 12 is set on the second pallet mount table 28, the second post-setting lifting operation is performed in response to operation of the second setting button 96, which lifts the second pallet mount table 28 1404 mm. The second preparation completion flag 114d is a flag that enables the CPU 112 to recognize that the second post-setting lifting operation has ended after the empty second pallet 12 is set on the second pallet mount table 28.

[0108] Next, the transshipment control process executed by the CPU 112 will be described with reference to the flowchart of Fig. 9. The transshipment control process is executed periodically, for example, at a cycle of 4 milliseconds.

[0109] If the value of the movement control counter 114a is "0" (step S101: YES), it is determined whether the operation stop flag 114b is set to "1" (step S102). When the reloading control process (FIG. 9) is executed for the first time after the supply of operating power to the CPU 112 is started, the reloading control process (FIG. 9) is started with the values ​​of the movement control counter 114a and the operation stop flag 114b being "0". Furthermore, after the first to third movement controls are completed because the first pallet 11 is empty or the second pallet 12 is loaded with the upper limit number of layers (seven layers) of cargoes N, when the reloading control process (FIG. 9) is executed without operating the stop button 105, the reloading control process (FIG. 9) is started with the values ​​of the movement control counter 114a and the operation stop flag 114b being "0".

[0110] If the operation stop flag 114b is not set to "1," i.e., if the system is not in the operation stop state described above (step S102: NO), it is determined whether the first lifter 25 or the second lifter 26 is in a state of being lifted or lowered (step S103). If the lifters 25, 26 are not in a state of being lifted or lowered (step S103: NO), it is determined whether operation of the direct start button 102 has been detected (step S106) on the condition that the first preparation completion flag 114c and the second preparation completion flag 114d are set to "1" (steps S104 and S105: YES). If operation of the direct start button 102 has been detected (step S106: YES), the movement control counter 114a is set to "1" (step S107). This causes the system to be in a state of being executed for the first movement control process (step S115) described later, i.e., the first movement control is executed.

[0111] If a negative determination is made in step S106, it is determined whether or not operation of the carry-in start button 103 has been detected (step S108), and if operation of the carry-in start button 103 has been detected (step S108: YES), the movement control counter 114a is set to "2" (step S110) on the condition that the temporary baggage detection sensor 47 has not detected baggage N, i.e., baggage N is not present on the baggage platform 46 (step S109: YES). This causes a state in which a second movement control process (step S117) described later is executed, i.e., a state in which the second movement control is executed.

[0112] If a piece of luggage N is already present on the luggage platform 46 (step S109: NO), the process proceeds to step S114 without setting the movement control counter 114a to "2." This prevents the second movement control from being started when the carry-on start button 103 is operated while a piece of luggage N is placed on the luggage platform 46. If the second movement control were to be started based on the operation of the carry-on start button 103 while a piece of luggage N is already present on the luggage platform 46, the piece of luggage N being transported toward the luggage platform 46 while being sucked and held by the suction holding mechanism 52 could come into contact with the piece of luggage N already placed on the luggage platform 46, which could result in damage to the piece of luggage N and could cause the piece of luggage N to fall from the luggage platform 46. In contrast, by configuring the system so that the second movement control is not executed even if the bring-in start button 103 is operated when luggage N is present on the luggage loading platform 46, it is possible to prevent damage or falling of luggage N due to an operator accidentally operating the bring-in start button 103.

[0113] If a negative determination is made in step S108, it is determined whether or not operation of the take-out start button 104 has been detected (step S111), and if operation of the take-out start button 104 has been detected (step S111: YES), the movement control counter 114a is set to "3" (step S113) on the condition that the temporarily placed baggage detection sensor 47 has detected the baggage N, i.e., that the baggage N is present on the baggage platform 46 (step S112: YES). This brings the state into which a third movement control process (step S119) described later is executed, i.e., the third movement control is executed.

[0114] If no luggage N is present on the luggage platform 46 (step S112: NO), the movement control counter 114a is not set to "3" and the process proceeds to step S114. This prevents the third movement control from being executed in a situation where no luggage N is placed on the luggage platform 46. This reduces the possibility that luggage N will be stacked on the second pallet 12 in an order different from that intended by the worker.

[0115] If a negative determination is made in step S101, if the processing of step S107 is executed, if a negative determination is made in step S109, if the processing of step S110 is executed, if a negative determination is made in step S111, if a negative determination is made in step S112, or if the processing of step S113 is executed, a first movement control process is executed (step S115) on the condition that the value of the movement control counter 114a is "1" (step S114: YES). As will be described in detail later, the first movement control process executes processing to repeat the first movement control until a condition is met that the first pallet 11 is empty or that the number of layers of luggage N stacked on the second pallet 12 reaches the upper limit layer number.

[0116] If the value of the movement control counter 114a is "2" (step S114: NO, step S116: YES), a second movement control process is executed (step S117). As will be described in detail later, in the second movement control process, after executing a process to execute the second movement control, the movement control counter 114a is set to "1" so that the first movement control process (step S115) described above is executed.

[0117] If the value of the movement control counter 114a is "3" (step S116: NO, step S118: YES), a third movement control process is executed (step S119). As will be described in detail later, in the third movement control process, after executing a process to execute the third movement control, the movement control counter 114a is set to "1" so that the first movement control process (step S115) described above is executed.

[0118] If a positive determination is made in step S102, a positive determination is made in step S103, a negative determination is made in step S104, a negative determination is made in step S105, the processing of step S115 is performed, the processing of step S117 is performed, the processing of step S118 is performed, or the processing of step S119 is performed, the process proceeds to step S120. If the operation stop flag 114b is set to "1" (step S102: YES), that is, if the operation is stopped based on the operation of the stop button 105, the processing of steps S103 to S119 is not performed. This makes it possible to prevent the movement of the support 54 in the operation stopped state. Furthermore, if the lifters 25, 26 are performing their lifting and lowering operations (step S103: YES), the processing of steps S104 to S119 is not performed. This prevents the first movement control, the second movement control, or the third movement control from being started when the lifting and lowering operations of the lifters 25, 26 have not yet finished. Also, if the first preparation completion flag 114c is not set to "1" (step S104: NO), the processes of steps S105 to S119 are not executed. This prevents the first movement control, the second movement control, or the third movement control from being started when the first pallet platform 27 is located at the first initial position. Also, if the second preparation completion flag 114d is not set to "1" (step S105: NO), the processes of steps S106 to S119 are not executed. This prevents the first movement control, the second movement control, or the third movement control from being started when the second pallet platform 28 is located at the second initial position. Furthermore, if the value of the movement control counter 114a is "0" (step S118: NO), the third movement control process (step S119) is not executed, and the process proceeds to step S120. In this way, if the value of the movement control counter 114a is "0", the first movement control, the second movement control, and the third movement control are not executed.

[0119] In step S120, a first lifter control process is executed. In the first lifter control process, when the first pallet platform 27 is in the first initial position, on the condition that operation of the first setting button 95 is detected, a process is executed to start a first post-setting lifting operation to lift the first pallet platform 27 470 mm from the first initial position. As already explained, by performing the first post-setting lifting operation, the topmost luggage placement surface on the first pallet 11 (specifically, the top surface of the second-highest luggage N on the first pallet 11) is at the same height as the top surface of the luggage platform 46.

[0120] In the first lifter control process (step S120), when the first post-setting lifting operation is being performed, if the distance from the floor of the first pallet platform 27 determined based on information received from the first distance measuring sensor 44 is 980 mm or more, that is, the lifted distance from the first initial position is 470 mm or more, a process for terminating the first post-setting lifting operation is executed and the first preparation completion flag 114c is set to "1." This enables the CPU 112 to determine that the first post-setting lifting operation has ended.

[0121] In the first lifter control process (step S120), when a one-stage lifting operation is being performed to lift the first pallet platform 27 by one stage (196 mm), a process is executed to terminate the one-stage lifting operation on the condition that the lifting distance of the first pallet platform 27 has reached 196 mm. The one-stage lifting operation is initiated in step S210 of the first movement control process (FIG. 10) described below on the condition that after one layer of luggage N has been removed from the first pallet 11, the support body 54 has moved to the transfer destination stop position. In addition, the one-stage lifting operation is initiated in step S310 of the second movement control process (FIG. 11) described below on the condition that after one layer of luggage N has been removed from the first pallet 11, the support body 54 has moved to the temporary placement stop position. When starting the one-stage lifting operation in step S210 or step S310, the CPU 112 determines the distance from the floor surface of the first pallet platform 27 at the start of the one-stage lifting operation based on information received from the first distance measurement sensor 44. Then, the CPU 112 sets a distance that is longer than the determined distance by the height dimension (196 mm) of the package N as the end reference length information for this one-stage lifting operation in a first end reference length area 114e (FIG. 6) provided in the RAM 114. The first end reference length area 114e is an area where information for determining the end timing of the one-stage lifting operation being performed (the end reference length information set at the start of the one-stage lifting operation) is set. In the first lifter control process (step S120), the current distance from the floor surface of the first pallet loading platform 27 is determined based on information received from the first distance measurement sensor 44, and if the determined distance is greater than or equal to the end reference length information set in the first end reference length area 114e at the start of this one-stage lifting operation, the one-stage lifting operation is terminated and the first end reference length area 114e is cleared to "0".

[0122] In the first lifter control process (step S120), when a first return operation is being executed to return the first pallet platform 27 to the first initial position, a process is executed to terminate the first return operation on the condition that the distance from the floor surface of the first pallet platform 27, as determined based on information received from the first distance measurement sensor 44, is 510 mm or less, i.e., the first pallet platform 27 has descended to the first initial position. The first return operation is executed in step S222 of the first movement control process (FIG. 10) and step S322 of the second movement control process (FIG. 11), which will be described later, based on the fact that the first pallet 11 has become empty.

[0123] After executing the first lifter control process (step S120), the second lifter control process is executed (step S121). In the second lifter control process, if the second pallet platform 28 is in the second initial position, on the condition that operation of the second setting button 96 is detected, a process is executed to start a second post-setting lifting operation to lift the second pallet platform 28 by 1404 mm. As already explained, by performing the second post-setting lifting operation, the upper surface of the second pallet 12 is at the same height as the upper surface of the luggage platform 46.

[0124] In the second lifter control process (step S121), when the second post-setting lifting operation is being executed, if the distance from the floor surface of the second pallet platform 28 determined based on information received from the second distance measurement sensor 45 is 1914 mm or more, that is, the lifted distance from the second initial position is 1404 mm or more, the process for ending the second post-setting lifting operation is executed and the second preparation completion flag 114d is set to "1." This enables the CPU 112 to determine that the second post-setting lifting operation has ended.

[0125] In the second lifter control process (step S121), when a one-stage lowering operation is being performed to lower the second pallet platform 28 by one stage (196 mm), a process is executed to terminate the one-stage lowering operation on the condition that the lowering distance of the second pallet platform 28 has reached 196 mm. The one-stage lowering operation is started in step S215 of the first movement control process (FIG. 10) and step S418 of the third movement control process (FIG. 12), which will be described later, when one layer of luggage N has been brought onto the second pallet 12. When starting the one-stage lowering operation in step S215 or step S418, the CPU 112 determines the distance of the second pallet platform 28 from the floor surface at the start of the one-stage lowering operation based on information received from the second distance measurement sensor 45. Then, a distance shorter than the determined distance by the height dimension (196 mm) of the package N is set in a second end reference length area 114f (FIG. 6) provided in the RAM 114 as end reference length information for the current one-stage lowering operation. The second end reference length area 114f is an area in which information for determining the end timing of the currently being executed one-stage lowering operation (end reference length information set at the start of the current one-stage lowering operation) is set. In the second lifter control process (step S121), the current distance from the floor surface of the second pallet platform 28 is determined based on information received from the second distance measuring sensor 45, and if the determined distance is less than or equal to the end reference length information set in the second end reference length area 114f at the start of the current one-stage lowering operation, the one-stage lowering operation is terminated and the second end reference length area 114f is cleared to "0."

[0126] In the second lifter control process (step S121), when the second return operation is being executed to return the second pallet platform 28 to the second initial position, a process is executed to terminate the second return operation on the condition that the distance from the floor surface of the second pallet platform 28, as determined based on information received from the second distance measurement sensor 45, is 510 mm or less, i.e., the second pallet platform 28 has descended to the second initial position. The second return operation is executed in step S225 of the first movement control process (FIG. 10) and step S426 of the third movement control process (FIG. 12), which will be described later, based on the fact that the number of layers of cargo N loaded on the second pallet 12 has reached the upper limit (seven layers).

[0127] After executing the second lifter control process (step S121), the suction process is executed (step S122). In the suction process, if the pressure in the vacuum port of the ejector 84 to which the suction head 81 is connected exceeds the suction reference pressure while the luggage N is being suction-held, the suction abnormality notification process is executed. If an obstacle or the like comes into contact with the suction-held luggage N and creates a gap between the suction head 81 and the luggage N while compressed air is being discharged from the suction compressor 82 to make the pressure in the vacuum port equal to or less than the suction reference pressure, the pressure in the vacuum port may rise, causing the pressure in the vacuum port to exceed the suction reference pressure. By configuring the suction abnormality notification process to be executed when the pressure in the vacuum port exceeds the suction reference pressure while compressed air is being discharged from the suction compressor 82, the suction abnormality notification process can be executed when the suction-held luggage N is prone to fall or when the suction-held luggage N falls. In the suction abnormality notification process, an suction abnormality notification sound is output from the speaker 101. This makes it possible to notify the worker that the package N has become prone to falling during suction and transport, or that the package N has actually fallen. This reduces the possibility that the package N will be shipped without the worker noticing that damage to the package N has occurred.

[0128] Thereafter, a stop operation response process is executed (step S123). In the stop operation response process, if the value of the operation stop flag 114b is "0," the operation stop flag 114b is set to "1" on the condition that the stop button 105 has been operated, and the movement of the support 54 is stopped. This results in an operation stop state in which the movement of the support 54 is stopped. Therefore, if a deviation in the arrangement of the luggage N on the second pallet 12 occurs due to contact or the like, the deviation in the arrangement of the luggage N can be corrected before an unstable state occurs due to another luggage N being stacked on top of it. Furthermore, in the stop operation response process (step S123), if the operation stop flag 114b is set to "1," the operation stop flag 114b is cleared to "0" on the condition that the stop button 105 has been operated. This results in a negative determination being made in step S102, and the process of steps S103 to S122 is executed. In other words, the operation stop state is released.

[0129] Even if the process of setting the operation stop flag 114b to "1" is executed, the process of ending the suction and holding of the load N by the suction and holding mechanism 52 is not executed. Therefore, it is possible to prevent the load N from being dropped during transport due to the stop button 105 being operated while the suction and holding mechanism 52 is suction and holding the load N. The operator can operate the stop button 105 at the timing when it becomes necessary to stop the movement of the support body 54, whether the suction and holding mechanism 52 is suction and holding the load N or not.

[0130] Even if the operation stop flag 114b is set to "1," the first lifter control process (step S120) is executed. Therefore, if the process of setting the operation stop flag 114b to "1" is executed in a situation where the first lifter 25 is not performing the first set-up lifting operation, the one-stage lifting operation, or the return operation to the first initial position, the height position of the first pallet placement table 27 is maintained. Also, if the process of setting the operation stop flag 114b to "1" is executed in a situation where the first lifter 25 is performing the first set-up lifting operation, the one-stage lifting operation, or the return operation to the first initial position, the operation of the first lifter 25 continues until the first set-up lifting operation, the one-stage lifting operation, or the return operation to the first initial position is completed.

[0131] Even if the operation stop flag 114b is set to "1," the second lifter control process (step S121) is executed. Therefore, if the process of setting the operation stop flag 114b to "1" is executed in a situation where the second lifter 26 is not performing the second post-setting lifting operation, the one-stage lowering operation, or the return operation to the second initial position, the height position of the second pallet placement table 28 is maintained. Also, if the process of setting the operation stop flag 114b to "1" is executed in a situation where the second lifter 26 is performing the second post-setting lifting operation, the one-stage lowering operation, or the return operation to the second initial position, the operation of the second lifter 26 continues until the second post-setting lifting operation, the one-stage lowering operation, or the return operation to the second initial position is completed.

[0132] Next, prior to describing the first movement control process in step S115 (FIG. 10), the second movement control process in step S117 (FIG. 11), and the third movement control process in step S119 (FIG. 12), the configuration of the RAM 114 used in these processes will be described. As shown in FIG. 6, the RAM 114 is provided with an adsorption transport counter 114g. The adsorption transport counter 114g is referenced in the first movement control process (FIG. 10), the second movement control process (FIG. 11), and the third movement control process (FIG. 12).

[0133] When the first movement control process (FIG. 10) is being executed, the suction transport counter 114g is set to one of "0" to "4." When the first movement control is started, the value of the suction transport counter 114g is cleared to "0." When the first movement control is being executed, the state in which the value of the suction transport counter 114g is "1" corresponds to the stage in which an operation is being performed to suction-hold and lift up the cargo N on the first pallet 11 at the transfer source stop position (above the first pallet placement table 27). Furthermore, a state in which the value of the suction conveyance counter 114g is "2" corresponds to the stage in which the support body 54 moves from the transfer source stop position toward the transfer destination stop position (second pallet placement table 28), a state in which the value of the suction conveyance counter 114g is "3" corresponds to the stage in which the second loading operation is being performed in which the package N is placed on the second pallet 12 and the suction holding mechanism 52 is returned to the first conveyance height position, and a state in which the value of the suction conveyance counter 114g is "4" corresponds to the stage in which movement is being performed to return the support body 54 to the transfer source stop position. The value of the suction conveyance counter 114g in a situation in which the second movement control process (FIG. 11) or the third movement control process (FIG. 12) is being performed will be described later.

[0134] Next, the first movement control process executed in step S115 of the transshipment control process (FIG. 9) will be described with reference to the flowchart of FIG.

[0135] If the value of the suction transport counter 114g is "0" (step S201: YES), the suction transport counter 114g is set to "1" (step S202). If the value of the suction transport counter 114g is "1" or greater (step S201: NO), it is determined whether the value of the suction transport counter 114g is "1" (step S203). If the processing of step S202 has been performed or if a positive determination is made in step S203, a first transport preparation process is executed (step S204).

[0136] In the first transfer preparation process (step S204), when the unit N is not being sucked and held and the suction head 81 is not in contact with the unit N, an operation is performed to lower the suction holding mechanism 52 to the suction / detachment height position. The CPU 112 determines that the unit N is not being sucked and held based on the fact that the pressure in the vacuum port of the ejector 84 exceeds the suction reference pressure. The CPU 112 also determines that the suction head 81 is not in contact with the unit N based on the fact that the distance to the unit N determined based on information received from the suction-side distance measuring sensor 91 is longer than 180 mm. As already described, the suction holding mechanism 52 is lowered to the suction / detachment height position by driving the first air cylinder 76 and the second air cylinder 77. Furthermore, in the first conveyance preparation process (step S204), when the unit N is not being adsorbed and held and the distance to the unit N determined based on the information received from the suction-side distance measuring sensor 91 is 180 mm or less, i.e., when the suction head 81 is in contact with the unit N, the suction head 81 is depressurized and adsorption and holding of the unit N is initiated. Furthermore, in the first conveyance preparation process (step S204), when the unit N is being adsorbed and held, an operation is performed to raise the suction and holding mechanism 52 until the suction and holding mechanism 52 is located at the first conveyance height position. As already explained, by bringing the first air cylinder 76 into a non-driven state and the second air cylinder 77 into a driven state, the suction and holding mechanism 52 is located at the first conveyance height position.

[0137] After the first transfer preparation process (step S204) is executed, it is determined whether the first transfer can be started (step S205). In step S205, a positive determination is made if the suction-holding mechanism 52, which suction-holds the cargo N, is present at the first transfer height position. The CPU 112 determines that the suction-holding mechanism 52 is present at the first transfer height position if, after starting to raise the suction-holding mechanism 52, a time longer than the time required for the mechanism 52 to rise from the suction-and-detachment height position to the first transfer height position (specifically, two seconds) has elapsed. If the first transfer can be started (step S205: YES), the suction-and-transfer counter 114g is set to "2" (step S206), and the first movement control process (FIG. 10) is terminated. By setting the suction-and-transfer counter 114g to "2," the next first movement control process (FIG. 10) is executed, i.e., the support 54 starts moving to the transfer destination stop position.

[0138] If the value of the suction conveyance counter 114g is "2" (step S203: NO, step S207: YES), a first outward movement process is executed (step S208). In the first outward movement process, an operation is performed to move the support 54 toward the transfer destination stop position while the suction holding mechanism 52 is at the first conveyance height position. After the first outward movement process (step S208) is executed, if the support 54 has arrived at the transfer destination stop position (step S209: YES), a one-stage lifting operation start process is executed (step S210). The one-stage lifting operation start process is also executed in step S310 of the second movement control process (FIG. 11) described later. In the one-stage lifting operation start process, the first lifter 25 starts a one-stage lifting operation. As a result, in the first movement control, each time one layer of luggage N is removed from the first pallet 11, the first pallet platform 27 can be configured to rise one step (196 mm) when the support 54 arrives at the transfer destination stop position. If the one-step lifting operation were performed while the support 54 was moving toward the transfer destination stop position, there was a risk that the luggage N on the first pallet 11 would come into contact with the luggage N sucked and held by the suction holding mechanism 52. In response to this, the one-step lifting operation is configured to start when the support 54 reaches the transfer destination stop position. This prevents the luggage N on the first pallet 11 from coming into contact with the luggage N sucked and held by the suction holding mechanism 52. Furthermore, in the one-step lifting operation start process (step S210), the distance from the floor of the first pallet platform 27 at the start of the one-step lifting operation is determined based on information received from the first distance measuring sensor 44. Then, distance information that is longer than the determined distance by the height dimension (196 mm) of the package N is set in the first end reference length area 114e as end reference length information for the current one-stage lifting operation. This allows the CPU 112 to determine the end timing of the current one-stage lifting operation.

[0139] Thereafter, the suction transport counter 114g is set to "3" (step S211), and the first movement control process (FIG. 10) is terminated. By setting the suction transport counter 114g to "3", the state in which the process of step S213 is executed in the next first movement control process (FIG. 10) can be established, i.e., the state in which the second load-placing operation is started.

[0140] If the value of the suction transfer counter 114g is "3" (step S207: NO, step S212: YES), a second loading process is executed (step S213). In the second loading process, when the pressure in the vacuum port of the ejector 84 is equal to or lower than the suction reference pressure, i.e., when the unit N is being suction-held and is not detected by the destination unit detection sensor 92, the suction hold mechanism 52 is lowered to the suction / detachment height position. In addition, in the second loading process (step S213), when the unit N is being suction-held and is detected by the destination unit detection sensor 92, i.e., when the distance from the bottom end of the suction-held unit N to the top surface of the empty second pallet 12 or the top surface of the unit N on the top shelf of the second pallet 12 is 5 mm or less, the vacuum state of the suction head 81 is released, thereby terminating the suction / holding of the unit N. In addition, in the second loading process (step S213), if the luggage N is not being adsorbed and held, an operation is performed to raise the adsorbing and holding mechanism 52 until the adsorbing and holding mechanism 52 is at the first conveying height position.

[0141] After the second load-placing process (step S213) is executed, it is determined whether the second load-placing operation has ended (step S214). In step S214, if the load N is not being adsorbed and held, and if a time longer than the time required for the adsorption / holding mechanism 52 to rise from the adsorption / detachment height position to the first conveying height position (specifically, 2 seconds) has elapsed since the adsorption / holding mechanism 52 started to rise, a positive determination is made.

[0142] If the second load-placing operation has ended (step S214: YES), a one-stage lowering operation start process is executed (step S215). The one-stage lowering operation start process is also executed in step S418 of the third movement control process (FIG. 12), which will be described later. The one-stage lowering operation start process starts a one-stage lowering operation in which the second pallet platform 28 is lowered by one stage (196 mm). This allows the second pallet platform 28 to be lowered by one stage every time one layer of cargo N is loaded onto the second pallet 12 in the first movement control. Because the one-stage lowering operation is started without waiting for the support body 54 to move to the transfer source stop position after one layer of cargo N is loaded onto the second pallet 12, the end timing of the one-stage lowering operation is earlier than in a configuration in which the one-stage lowering operation is started based on the support body 54 moving to the transfer source stop position. Furthermore, in the one-stage lowering operation start process (step S215), the distance from the floor surface of the second pallet platform 28 at the start of the one-stage lowering operation is determined based on information received from the second distance measurement sensor 45. Then, distance information that is shorter than the determined distance by the height dimension (196 mm) of the package N is set in the second end reference length area 114f as end reference length information for the current one-stage lowering operation. This enables the CPU 112 to determine the end timing of the current one-stage lowering operation.

[0143] Thereafter, the suction transport counter 114g is set to "4" (step S216), and the first movement control process (FIG. 10) is terminated. By setting the suction transport counter 114g to "4", the state in which the process of step S217 is executed in the next first movement control process (FIG. 10) can be established, that is, the state in which the support body 54 starts moving to the transfer source stop position.

[0144] If the determination in step S212 is negative, i.e., if the value of the suction conveyance counter 114g is "4," a first return movement process is executed (step S217). In the first return movement process, the support 54 is moved toward the transfer source stop position while the suction holding mechanism 52 is at the first conveyance height position. After the first return movement process (step S217) is executed, if the support 54 has arrived at the transfer source stop position (step S218: YES), it is determined whether the first lifter 25 or the second lifter 26 is being raised or lowered (step S219). If the lifters 25, 26 are not being raised or lowered (step S219: NO), the value of the suction conveyance counter 114g is cleared to "0" (step S220).

[0145] Thereafter, it is determined whether the first pallet 11 is empty, i.e., no cargo N is present on it (step S221). As already explained, the CPU 112 determines that the first pallet 11 is empty based on the fact that the height position of the first pallet platform 27 from the floor surface, as detected by the first distance measurement sensor 44, is 1960 mm or more. If the first pallet 11 is empty (step S221: YES), a first return operation is initiated to return the first pallet platform 27 to the first initial position (step S222). Thereafter, the movement control counter 114a and the first preparation completion flag 114c are cleared to "0" (step S223). By clearing the value of the movement control counter 114a to "0", the first to third movement controls are no longer being executed. Furthermore, by clearing the first preparation completion flag 114c to "0", a negative judgment is made in step S104 of the already described reloading control process (FIG. 9), i.e., the first to third movement controls will not be started even if the start button is operated.

[0146] If a negative determination is made in step S221, or if the processing of step S223 is performed, it is determined whether the upper limit number (seven levels) of cargo N is stacked on the second pallet 12 (step S224). As already explained, the CPU 112 determines that the upper limit number of levels of cargo N is stacked on the second pallet 12 based on the fact that the height position of the second pallet loading platform 28 from the floor surface, as determined by the second distance measurement sensor 45, is 542 mm or less.

[0147] If the upper limit number of layers of cargo N is loaded on the second pallet 12 (step S224: YES), a second return operation is initiated to return the second pallet platform 28 to the second initial position (step S225). Thereafter, the movement control counter 114a and the second preparation completion flag 114d are cleared to "0" (step S226). When the value of the movement control counter 114a is cleared to "0", the first to third movement controls are not being executed. Furthermore, when the second preparation completion flag 114d is cleared to "0", a negative determination is made in step S105 of the transshipment control process (FIG. 9) already described, that is, the first to third movement controls are not started even if the start button is operated.

[0148] If a negative determination is made in step S221 and step S224, the first movement control process (FIG. 10) is terminated. As a result, if a unit N is present on the first pallet 11 after the first movement control is executed and the number of layers of the unit N stacked on the second pallet 12 has not reached the upper limit, the movement control counter 114a is set to "1" and the suction transport counter 114g is set to "0," i.e., the first movement control can be started again. In this way, when the first movement control is started, the first movement control is repeated until a unit N is not present on the first pallet 11 or the number of layers of the unit N on the second pallet 12 reaches the upper limit (specifically, seven layers). This reduces the workload on the operator compared to a configuration in which the operator must operate a button each time a first movement control is completed.

[0149] Next, prior to describing the second movement control process (FIG. 11) executed by the CPU 112, the value of the suction transfer counter 114g in the situation where the second movement control process is being executed will be described. In the situation where the second movement control process (FIG. 11) is being executed, the suction transfer counter 114g is set to any one of "0" to "4." In the situation where the second movement control is started, the value of the suction transfer counter 114g is cleared to "0." In the situation where the second movement control process is being executed, the state where the value of the suction transfer counter 114g is "1" corresponds to the stage where an operation is being performed to suction-hold and lift up the package N on the first pallet 11 at the transfer source stop position (above the first pallet platform 27). Furthermore, when the value of the suction transport counter 114g is "2", the support 54 moves from the transfer source stop position toward the temporary storage stop position (above the luggage platform 46), when the value of the suction transport counter 114g is "3", the support 54 moves to the temporary storage stop position (above the luggage platform 46) and the third luggage placement operation is being performed, in which luggage N is placed on the luggage platform 46 and the suction holding mechanism 52 is returned to the first transport height position. When the value of the suction transport counter 114g is "4", the support 54 moves to return to the transfer source stop position.

[0150] Next, the second movement control process executed in step S117 of the transshipment control process (FIG. 9) will be described with reference to the flowchart of FIG.

[0151] In steps S301 to S306, the same processes as steps S201 to S206 of the first movement control process (FIG. 10) are executed. Specifically, if the value of the suction transfer counter 114g is "0" (step S301: YES), the suction transfer counter 114g is set to "1" (step S302), and the process proceeds to step S304. On the other hand, if the value of the suction transfer counter 114g is "1" (step S301: NO, step S303: YES), the process proceeds to step S304. In step S304, the first transfer preparation process is executed. The contents of the first transfer preparation process are as already explained in step S204 of the second movement control process (FIG. 11). In the first transfer preparation process (step S304), a process is executed to set the suction hold mechanism 52, which is suction-holding the load N, to a first transfer start ready state in which the suction hold mechanism 52 is at the first transfer height position.

[0152] Thereafter, if the first transport can be started (step S305: YES), the suction transport counter 114g is set to "2" (step S306), and the second movement control process (FIG. 11) is terminated. By setting the suction transport counter 114g to "2", the process of step S308 can be executed in the next second movement control process (FIG. 11), that is, the support 54 can start moving to the temporary placement stop position.

[0153] If the value of the suction transport counter 114g is "2" (step S303: NO, step S307: YES), a second outward movement process is executed (step S308). In the second outward movement process, an operation is performed to move the support 54 toward the temporary placement stop position while the suction hold mechanism 52 is at the first transport height position. After the second outward movement process (step S308) is executed, if the support 54 has reached the temporary placement stop position (step S309: YES), a one-stage lift operation start process is executed (step S310), similar to step S210 of the first movement control process (FIG. 10) already described.

[0154] In the one-stage lifting operation start process (step S310), the first lifter 25 is caused to start a one-stage lifting operation. As a result, in the second movement control, each time one layer of luggage N is removed from the first pallet 11, the first pallet placement table 27 can be caused to rise one stage when the support 54 arrives at the temporary placement stop position. If the one-stage lifting operation were performed while the support 54 was moving toward the temporary placement stop position, there was a risk that the luggage N on the first pallet 11 would come into contact with the luggage N sucked and held by the suction holding mechanism 52. In response to this, the one-stage lifting operation is caused to start when the support 54 reaches the temporary placement stop position. This prevents the luggage N on the first pallet 11 from coming into contact with the luggage N sucked and held by the suction holding mechanism 52. Furthermore, in the one-stage lifting operation start process (step S310), end reference length information for this one-stage lifting operation is set in the first end reference length area 114e of the RAM 114. This allows the CPU 112 to grasp the end timing of the current one-stage lifting operation.

[0155] Thereafter, the suction transport counter 114g is set to "3" (step S311), and the second movement control process (FIG. 11) is terminated. By setting the suction transport counter 114g to "3", the process of step S313 can be executed in the next second movement control process (FIG. 11), i.e., the third load-placing operation can be started.

[0156] If the value of the suction transfer counter 114g is "3" (step S307: NO, step S312: YES), a third placement process is executed (step S313). In the third placement process, when the pressure in the vacuum port of the ejector 84 is equal to or lower than the suction reference pressure, i.e., when the luggage N is being suction-held and the luggage N is not detected by the temporary luggage detection sensor 47, the suction hold mechanism 52 is lowered to the suction / detachment height position. In addition, in the third placement process (step S313), when the luggage N is being suction-held and the luggage N is being detected by the temporary luggage detection sensor 47, i.e., when the distance from the lower end of the suction-held luggage N to the upper surface of the luggage platform 46 is 5 mm or less, the reduced pressure state of the suction head 81 is released, thereby terminating the suction / holding of the luggage N. In addition, in the third loading process (step S313), if the luggage N is not being adsorbed and held, an operation is performed to raise the adsorbing and holding mechanism 52 until the adsorbing and holding mechanism 52 returns to the first conveying height position.

[0157] After the third loading process (step S313) is executed, it is determined whether the third loading operation has ended (step S314). In step S314, a positive determination is made if the load N is not being adsorbed and held, and if a time longer than the time required for the adsorption / holding mechanism 52 to rise from the adsorption / detachment height position to the first transfer height position (specifically, 2 seconds) has elapsed since the lifting of the adsorption / holding mechanism 52 started. If the third loading operation has ended (step S314: YES), the adsorption / transfer counter 114g is set to "4" (step S315), and the second movement control process (FIG. 11) is terminated. By setting the adsorption / transfer counter 114g to "4," the process of step S316 can be executed in the next second movement control process (FIG. 11), i.e., the support body 54 starts moving to the transfer source stop position.

[0158] If the determination in step S312 is negative, i.e., if the value of the suction conveyance counter 114g is "4," a second return movement process is executed (step S316). In the second return movement process, the support 54 is moved toward the transfer source stop position while the suction holding mechanism 52 is at the first conveyance height position. After the second return movement process (step S316) is executed, if the support 54 has reached the transfer source stop position (step S317: YES), it is determined whether the first lifter 25 or the second lifter 26 is being raised or lowered (step S318). If the lifters 25, 26 are not being raised or lowered (step S318: NO), the value of the suction conveyance counter 114g is cleared to "0" (step S319).

[0159] Thereafter, similarly to step S221 of the first movement control process (FIG. 10) already described, it is determined whether the first pallet 11 is empty (step S320). If the height position of the first pallet placement table 27 from the floor surface as detected by the first distance measurement sensor 44 is less than 1960 mm, i.e., if a package N is present on the first pallet 11 (step S320: NO), the movement control counter 114a is set to "1" (step S321), and the second movement control process (FIG. 11) is terminated. By setting the movement control counter 114a to "1," a positive determination is made in step S114 of the transshipment control process (FIG. 9) already described, and the first movement control process (step S115) is executed. Therefore, after the second movement control is executed, the first movement control can be started without requiring any operation by the operator. Furthermore, as already explained, when the first movement control is started, the first movement control is repeated until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers). As a result, after the second movement control is executed once based on the operation of the carry-in start button 103, the first movement control can be repeated until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers). This reduces the workload on the worker.

[0160] If the height position of the first pallet platform 27 from the floor surface as detected by the first distance measurement sensor 44 is 1960 mm or more, i.e., if the first pallet 11 is empty and no cargo N is present (step S320: YES), a first return operation is initiated to return the first pallet platform 27 to the first initial position (step S322). The movement control counter 114a and the first preparation completion flag 114c are then cleared to "0" (step S323), and the second movement control process (FIG. 11) is terminated. Clearing the value of the movement control counter 114a to "0" results in a state in which the first to third movement controls are not being executed. Furthermore, clearing the first preparation completion flag 114c to "0" results in a negative determination being made in step S104 of the previously described transshipment control process (FIG. 9), i.e., a state in which the first to third movement controls are not started even if the start button is operated.

[0161] Next, prior to describing the third movement control process (FIG. 12) executed by the CPU 112, the value of the suction transfer counter 114g in the situation where the third movement control process is being executed will be described. In the situation where the third movement control process (FIG. 12) is being executed, the suction transfer counter 114g is set to any one of "0" to "5." In the situation where the third movement control is started, the value of the suction transfer counter 114g is cleared to "0." Furthermore, in the situation where the third movement control process is being executed, the state where the value of the suction transfer counter 114g is "1" corresponds to the stage where the support body 54 is moving from the transfer source stop position (above the first pallet platform 27) toward the temporary placement stop position (above the baggage platform 46). Furthermore, when the value of the suction transport counter 114g is "2", this corresponds to the stage where the operation of suction-holding and lifting the luggage N on the luggage loading platform 46 is being carried out, when the value of the suction transport counter 114g is "3", this corresponds to the stage where the support 54 is moving from the temporary storage stop position towards the transfer destination stop position (above the second pallet loading platform 28), when the value of the suction transport counter 114g is "4", this corresponds to the stage where the second loading operation is being carried out where luggage N is placed on the second pallet 12 and the suction-holding mechanism 52 is returned to the first transport height position, and when the value of the suction transport counter 114g is "5", this corresponds to the stage where the support 54 is being moved to return to the transfer source stop position.

[0162] Next, the third movement control process executed in step S119 of the transshipment control process (FIG. 9) will be described with reference to the flowchart of FIG.

[0163] If the value of the suction transport counter 114g is "0" (step S401: YES), the suction transport counter 114g is set to "1" (step S402), and the process proceeds to step S404. On the other hand, if the value of the suction transport counter 114g is "1" (step S401: NO, step S403: YES), the process proceeds to step S404. In step S404, a second outward movement process is executed. In the second outward movement process, with the suction holding mechanism 52 present at the first transport height position, an operation is performed to move the support 54 toward the temporary placement stop position.

[0164] After the second outward movement process (step S404) is executed, if the support 54 has reached the temporary placement stop position (step S405: YES), the suction transport counter 114g is set to "2" (step S406), and the third movement control process (FIG. 12) is terminated. By setting the suction transport counter 114g to "2", the process of step S408 can be executed in the next third movement control process (FIG. 12), that is, the operation to lift the luggage N on the luggage platform 46 can be started.

[0165] If the value of the suction transfer counter 114g is "2" (step S403: NO, step S407: YES), a second transfer preparation process is executed (step S408). In the second transfer preparation process, if the pressure in the vacuum port of the ejector 84 exceeds the suction reference pressure, i.e., if the unit N is not being suction-held and the distance to the upper surface of the unit N determined based on the information received from the suction-side distance-measuring sensor 91 is longer than 180 mm, the suction head 81 is depressurized and suction-holding of the unit N is started. Furthermore, in the second conveyance preparation process (step S408), when the cargo N is in a state of being sucked and held, an operation is performed to raise the sucking and holding mechanism 52 until the sucking and holding mechanism 52 is in a state of being located at the second conveyance height position. As already explained, the state in which the sucking and holding mechanism 52 is located at the second conveyance height position corresponds to the state in which the first air cylinder 76 and the second air cylinder 77 are in a non-driven state.

[0166] After the second transfer preparation process (step S408) is executed, it is determined whether the second transfer can be started (step S409). In step S409, a positive determination is made if the suction-holding mechanism 52, which suction-holds the cargo N, is present at the second transfer height position. The CPU 112 determines that the suction-holding mechanism 52 is present at the second transfer height position if, after starting to raise the suction-holding mechanism 52, a time longer than the time required for the mechanism 52 to rise from the suction-and-detachment height position to the second transfer height position (specifically, three seconds) has elapsed. If the second transfer can be started (step S409: YES), the suction-and-transfer counter 114g is set to "3" (step S410), and the third movement control process (FIG. 12) is terminated. By setting the suction-and-transfer counter 114g to "3," the process of step S412 is executed in the next processing iteration, i.e., the support 54 starts moving to the transfer destination stop position.

[0167] In this way, the movement of the luggage N from the temporary storage stopping position to the transfer destination stopping position is performed with the suction holding mechanism 52 at the second conveyance height position, which is higher than the first conveyance height position. This prevents the luggage N suction-held by the suction holding mechanism 52 from coming into contact with the uppermost luggage N on the first pallet 11. In addition, it is possible to place the first pallet placing platform 27 on the path from the luggage placing platform 46 to the second pallet placing platform 28.

[0168] If the value of the suction conveyance counter 114g is "3" (step S407: NO, step S411: YES), a third outward movement process is executed (step S412). In the third outward movement process, the support 54 is moved toward the transfer destination stop position while the suction holding mechanism 52 is at the second transfer height position. After the third outward movement process (step S412) is executed, if the support 54 has reached the transfer destination stop position (step S413: YES), the suction conveyance counter 114g is set to "4" (step S414), and the third movement control process (FIG. 12) is terminated. By setting the suction conveyance counter 114g to "4," the process of step S416 is executed in the next third movement control process (FIG. 12), i.e., the second loading operation is started.

[0169] If the value of the suction conveyance counter 114g is "4" (step S411: NO, step S415: YES), a second load-placing process is executed (step S416). The details of the second load-placing process have already been described in step S213 of the first movement control process (FIG. 10). Thereafter, if the suction and hold of the load N by the suction and hold mechanism 52 has been released and the suction and hold mechanism 52 has returned to the first conveyance height position, that is, if the second load-placing operation has ended (step S417: YES), a one-stage lowering operation start process is executed (step S418), similar to step S215 of the first movement control process (FIG. 10) already described. In the one-stage lowering operation start process, a one-stage lowering operation is started to lower the second pallet platform 28 by one stage (196 mm). This allows the second pallet platform 28 to be lowered by one level each time one layer of cargo N is loaded onto the second pallet 12 in the third movement control. Since this configuration starts the one-level lowering operation without waiting for the support 54 to move to the transfer source stop position after one layer of cargo N has been loaded onto the second pallet 12, the end timing of the one-level lowering operation is accelerated compared to a configuration in which the one-level lowering operation starts when the support 54 moves to the transfer source stop position. Furthermore, in the one-level lowering operation start process (step S418), end reference length information for the current one-level lowering operation is set in the second end reference length area 114f of the RAM 114. This allows the CPU 112 to determine the end timing of the current one-level lowering operation.

[0170] Thereafter, the suction transport counter 114g is set to "5" (step S419), and the third movement control process (FIG. 12) is terminated. By setting the suction transport counter 114g to "5", the process of step S420 is executed in the next third movement control process (FIG. 12), that is, the support body 54 is set to start moving to the transfer source stop position.

[0171] If a negative determination is made in step S415, i.e., if the value of the suction transfer counter 114g is "5," a first return movement process is executed (step S420) similar to step S217 of the first movement control process (FIG. 10) already described. In the first return movement process, the support 54 is moved toward the transfer source stop position while the suction holding mechanism 52 is at the first transfer height position. After the first return movement process (step S420) is executed, if the support 54 has reached the transfer source stop position (step S421: YES), it is determined whether the first lifter 25 or the second lifter 26 is being raised or lowered (step S422). If the lifters 25, 26 are not being raised or lowered (step S422: NO), the value of the suction transfer counter 114g is cleared to "0" (step S423).

[0172] Thereafter, similarly to step S224 of the first movement control process (FIG. 10) already described, it is determined whether the upper limit number (seven layers) of cargo N has been stacked on the second pallet 12 (step S424). If the distance from the floor of the second pallet placement platform 28 detected by the second distance measurement sensor 45 is longer than 542 mm, i.e., if the number of layers of cargo N stacked on the second pallet 12 has not reached the upper limit number (step S424: NO), the movement control counter 114a is set to “1” (step S425), and the third movement control process (FIG. 12) is terminated. By setting the movement control counter 114a to “1,” a positive determination is made in step S114 of the transshipment control process (FIG. 9) already described, and the first movement control process (step S115) is executed. Therefore, after the third movement control is executed, the first movement control can be started without requiring any operation by the operator. Furthermore, as already explained, when the first movement control is started, the first movement control is repeated until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers). As a result, after the third movement control is executed once based on the operation of the take-out start button 104, the first movement control can be repeated until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers). This reduces the workload on the worker.

[0173] If the distance from the floor of the second pallet platform 28 detected by the second distance measurement sensor 45 is 542 mm or less, i.e., if the upper limit number of layers of cargo N is loaded on the second pallet 12 (step S424: YES), a second return operation is initiated to return the second pallet platform 28 to the second initial position (step S426). Then, the movement control counter 114a and the second preparation completion flag 114d are cleared to "0" (step S427), and the third movement control process (FIG. 12) is terminated. Clearing the value of the movement control counter 114a to "0" results in a state in which the first to third movement controls are not being executed. Furthermore, clearing the second preparation completion flag 114d to "0" results in a negative determination being made in step S105 of the previously described reloading control process (FIG. 9), i.e., a state in which the first to third movement controls are not started even if the start button is operated.

[0174] According to the embodiment described above in detail, the following excellent effects are achieved.

[0175] The luggage transfer device 15 includes a first pallet platform 27 and a second pallet platform 28. The first pallet 11 set on the first pallet platform 27 is the platform from which the luggage N is moved. The second pallet 12 set on the second pallet platform 28 is the platform to which the luggage N is moved. The luggage transfer device 15 also includes a transfer device 51 that transports the luggage N, and a CPU 112. By configuring the luggage transfer device 15 to perform the task of transferring the luggage N from the first pallet 11 to the second pallet 12, the workload on the worker is reduced compared to when this task is performed by a worker. Furthermore, the time required to perform this task can be shortened.

[0176] The luggage transfer device 15 is equipped with a luggage platform 46 on which luggage N can be placed, in addition to the first pallet platform 27 and the second pallet platform 28. This allows luggage N on the first pallet 11 to be temporarily placed on the luggage platform 46 before being transferred onto the second pallet 12.

[0177] It is possible to execute a first movement control for moving a unit N from the first pallet 11 onto the second pallet 12, a second movement control for moving a unit N from the first pallet 11 onto the luggage platform 46, and a third movement control for moving a unit N from the luggage platform 46 onto the second pallet 12. This makes it possible to move a unit N loaded on the first pallet 11 onto the luggage platform 46, move another unit N to the second pallet 12, and then move the unit N on the luggage platform 46 to the second pallet 12. In this way, by making it possible to temporarily place the unit N on the first pallet 11 on the luggage platform 46 before transferring it to the second pallet 12, it is possible to adjust the order in which the units N are transferred to the second pallet 12.

[0178] When the first movement control is executed in a state where the packages N are arranged in a predetermined pattern (first arrangement pattern or second arrangement pattern) on the first pallet platform 27, the packages N are moved so that the packages N are arranged in the predetermined pattern on the second pallet platform 28. Furthermore, when the second movement control is executed in a state where the packages N are arranged in a predetermined pattern on the first pallet platform 27, the packages N are moved so that the packages N are arranged in the predetermined pattern on the package platform 46. Furthermore, when the third movement control is executed in a state where the packages N are arranged in a predetermined pattern on the package platform 46, the packages N are moved so that the packages N are arranged in the predetermined pattern on the second pallet platform 28. As a result, even when packages N that were arranged in a predetermined pattern on the first pallet 11 are moved to the package platform 46 and then the packages N are moved from the package platform 46 to the second pallet 12, the packages N can be arranged in the predetermined pattern on the second pallet 12. Therefore, in a configuration in which the order in which luggage N is transferred to the second pallet 12 can be adjusted using the luggage placing platform 46, even when the luggage placing platform 46 is used, it is possible to prevent the arrangement pattern of the luggage N from changing.

[0179] When the first movement control is executed while a package N is present on the second pallet platform 28, the package N transported from the first pallet platform 27 by the first movement control is stacked on top of the package N that was present on the second pallet platform 28. This allows the package N to be stacked on the second pallet 12 in the arrangement pattern (first arrangement pattern or second arrangement pattern) of the package N that was arranged on the first pallet 11. In addition, the first to third movement controls can be executed, and the order in which the package N is transported to the second pallet platform 28 can be adjusted by temporarily placing the package N on the package platform 46. In this configuration, by performing the first movement control to load the package N on the second pallet platform 28, it is possible to load the package N on the second pallet 12 while adjusting the order in which the package N is transported to the second pallet 12. This reduces the possibility of the package N loaded on the second pallet 12 having a location that is prone to collapse.

[0180] When the third movement control is executed while a package N is present on the second pallet platform 28, the package N transported from the package platform 46 by the third movement control is stacked on top of the package N that was present on the second pallet platform 28. This allows the package N to be stacked on the second pallet 12 in the arrangement pattern (first arrangement pattern or second arrangement pattern) of the package N that was arranged on the package platform 46. Furthermore, the first to third movement controls can be executed, and the order in which the package N is transported to the second pallet platform 28 can be adjusted by temporarily placing the package N on the package platform 46. In this configuration, by performing the third movement control to enable the package N to be loaded on the second pallet platform 28, it is possible to load the package N on the second pallet 12 while adjusting the order in which the package N is transported to the second pallet 12. This reduces the possibility of the package N loaded on the second pallet 12 having a location that is prone to collapse.

[0181] The number of tiers (7 tiers) of the luggage N loaded on the second pallet 12 is set to be different from the number of tiers (5 tiers) of the luggage N set on the first pallet 11. This allows the number of tiers of the luggage N to be changed before and after the luggage N is transferred from the first pallet 11 to the second pallet 12. Therefore, it is possible to change the number of tiers of the luggage N from one suitable for storage within a facility to one suitable for transportation by truck or the like. It is also possible to change the number of tiers of the luggage N from one suitable for transportation by truck or the like to one suitable for storage within a facility.

[0182] The movement of the cargo N from the first pallet 11 onto the second pallet 12, the movement of the cargo N from the first pallet 11 onto the cargo placement table 46, and the movement of the cargo N from the cargo placement table 46 onto the second pallet 12 are carried out in a manner that does not change the orientation of the cargo N or the arrangement of the cargo N within the layer. This makes it possible to load the cargo N onto the second pallet 12 in a manner that is less likely to cause the cargo to collapse, by utilizing the arrangement of the cargo N in the layer of cargo N set on the first pallet 11.

[0183] The transfer device 51 is equipped with a suction holding mechanism 52 that suctions and holds the luggage N on the first pallet 11 or the luggage platform 46 from above. This prevents the orientation or arrangement of the luggage N from changing before and after movement, even when the luggage N is arranged on the first pallet 11 or the luggage platform 46 with gaps between the luggage N. Furthermore, compared to a configuration in which the luggage N on the first pallet 11 or the luggage platform 46 is scooped up and held from below, this configuration reduces the possibility that the orientation of the luggage N and the arrangement of the luggage N in the layer will change before and after movement. Furthermore, compared to a configuration in which the luggage N on the first pallet 11 or the luggage platform 46 is held by suction from the side, this configuration reduces the possibility that the orientation of the luggage N and the arrangement of the luggage N in the layer will change before and after movement.

[0184] The transfer device 51 is equipped with an elevation mechanism 53 that can adjust the height position of the suction holding mechanism 52. The transfer device 51 can also move the support body 54 in a direction from the luggage platform 46 toward the second pallet platform 28. In the third movement control, the transport of the luggage N from the luggage platform 46 to the second pallet 12 is performed in a manner such that the luggage N sucked and held by the suction holding mechanism 52 passes above the uppermost luggage N on the first pallet 11. This makes it possible to prevent the luggage N being transported from the luggage platform 46 toward the second pallet 12 from coming into contact with the luggage N on the first pallet 11, even when the first pallet 11 is present on the path from the luggage platform 46 to the second pallet 12. Therefore, in a configuration in which the luggage platform 46 is present in addition to the first pallet platform 27 and the second pallet platform 28, and luggage N on the first pallet 11 can be temporarily placed on the luggage platform 46 before being transferred onto the second pallet 12, it is possible to prevent the transport path of the luggage N from becoming complicated, and it is possible to arrange the second pallet platform 28, the first pallet platform 27, and the luggage platform 46 in a straight line. It is also possible to prevent the processing configuration for transporting the luggage N from becoming complicated.

[0185] The transfer device 51 is equipped with an elevating mechanism 53 that can adjust the height position of the suction holding mechanism 52. The transfer device 51 can also move the support body 54 in a direction from the first pallet platform 27 toward the second pallet platform 28. The transfer device 51 can also move the support body 54 in a direction from the luggage platform 46 toward the second pallet platform 28. In the first movement control, the suction holding mechanism 52 that is present at the first transport height position while suction-holding the luggage N moves in a direction from the first pallet platform 27 toward the second pallet platform 28, and in the third movement control, the suction holding mechanism 52 that is present at a second transport height position higher than the first transport height position while suction-holding the luggage N moves in a direction from the luggage platform 46 toward the second pallet platform 28. As a result, the lifting distance of the suction hold mechanism 52 required in the first movement control can be made shorter than the lifting distance of the suction hold mechanism 52 required in the third movement control, and the time required to lift the suction hold mechanism 52 in the first movement control can be made shorter than the time required to lift the suction hold mechanism 52 in the third movement control. Therefore, when the first movement control is performed more frequently than the third movement control, the operating time of the luggage transfer device 15 can be shortened. Furthermore, compared to when the luggage N falls from the suction hold mechanism 52 during the first movement control, the impact applied to the luggage N can be reduced compared to when the luggage N falls from the suction hold mechanism 52 during the third movement control. As a result, when the first movement control is performed more frequently than the third movement control, the possibility of damage to the luggage N, such as breakage, caused by an impact applied to the luggage N when the luggage N falls from the suction hold mechanism 52 during transportation can be reduced.

[0186] The luggage transfer device 15 is equipped with a first lifter 25 that can adjust the height position of the first pallet platform 27, and a second lifter 26 that can adjust the height position of the second pallet platform 28. Furthermore, the transfer device 51 is equipped with a lifting mechanism 53 that can adjust the height position of the suction holding mechanism 52. Furthermore, in the first movement control, the CPU 112 controls the first lifter 25 and the second lifter 26 so that the height position of the suction holding mechanism 52 when the suction holding mechanism 52 is sucking up the luggage N on the first pallet platform 27 and the height position of the suction holding mechanism 52 when the suction holding mechanism 52 releases the suction and hold of the luggage N and places the luggage N on the second pallet 12 are approximately the same height position (suction and detachment height position). This simplifies the configuration for adjusting the height position of the suction hold mechanism 52, compared to a configuration in which the height position of the suction hold mechanism 52 when it is sucking up the load N on the first pallet mount 27 is different from the height position of the suction hold mechanism 52 when it releases the suction hold of the load N and places the load N on the second pallet 12. It also simplifies the processing configuration for adjusting the height position of the suction hold mechanism 52. Furthermore, it is possible to reduce the lifting distance of the suction hold mechanism 52 and the time required for lifting and lowering the suction hold mechanism 52, compared to a configuration in which the first lifter 25 and the second lifter 26 are not provided.

[0187] The transfer device 51 is equipped with an elevation mechanism 53 that can adjust the height position of the suction holding mechanism 52. The transfer device 51 can move the suction holding mechanism 52 in a direction from the first pallet mount 27 toward the second pallet mount 28, and can also move the suction holding mechanism 52 in a direction from the luggage mount 46 toward the second pallet mount 28. In the first movement control, the suction holding mechanism 52, which is located at the first transport height while suction-holding the luggage N, moves in a direction from the first pallet mount 27 toward the second pallet mount 28. In the third movement control, the suction holding mechanism 52, which is located at a second transport height higher than the first transport height while suction-holding the luggage N, moves in a direction from the luggage mount 46 toward the second pallet mount 28. This allows the lifting distance of the suction holding mechanism 52 required in the first movement control to be shorter than the lifting distance of the suction holding mechanism 52 required in the third movement control. Therefore, the time required to raise and lower the suction hold mechanism 52 in the first movement control can be made shorter than the time required to raise and lower the suction hold mechanism 52 in the third movement control. When the first movement control is performed more frequently than the third movement control, the operating time of the luggage transfer device 15 can be shortened. Furthermore, compared to when the luggage N falls from the suction hold mechanism 52 during the third movement control, the impact applied to the luggage N when the luggage N falls from the suction hold mechanism 52 during the first movement control can be reduced. As a result, when the first movement control is performed more frequently than the third movement control, the possibility of damage such as breakage of the luggage N caused by an impact applied to the luggage N when the luggage N falls from the suction hold mechanism 52 during transportation can be reduced.

[0188] The luggage transfer device 15 is equipped with a first lifter 25 that can adjust the height position of the first pallet placement table 27, and a second lifter 26 that can adjust the height position of the second pallet placement table 28. The transfer device 51 is also equipped with a lifting mechanism 53 that can adjust the height position of the suction holding mechanism 52. In the first movement control, the CPU 112 executes the processes of steps S120 and S121 so that the height position of the suction holding mechanism 52 when the suction holding mechanism 52 is adsorbing the luggage N on the first pallet 11 and the height position of the suction holding mechanism 52 when the suction holding mechanism 52 releases the suction and hold of the luggage N and places the luggage N on the second pallet 12 are approximately the same height position (suction and detachment height position). This simplifies the configuration for adjusting the height position of the suction hold mechanism 52, compared to a configuration in which the height position of the suction hold mechanism 52 when it is sucking up the load N on the first pallet 11 is different from the height position of the suction hold mechanism 52 when it releases the suction hold of the load N and places the load N on the second pallet 12. It also simplifies the processing configuration for adjusting the height position of the suction hold mechanism 52. Furthermore, it is possible to reduce the lifting distance of the suction hold mechanism 52 and the time required for lifting and lowering the suction hold mechanism 52, compared to a configuration in which the first lifter 25 and the second lifter 26 are not provided.

[0189] The luggage transfer device 15 includes a first lifter 25 that can adjust the height of the first pallet platform 27. The transfer device 51 also includes a lifting mechanism 53 that can adjust the height of the suction holding mechanism 52. The transfer device 51 can move the suction holding mechanism 52 in a direction from the first pallet platform 27 toward the luggage platform 46. The first pallet 11 on which luggage N is loaded is set on the first pallet platform 27 when the upper surface of the first pallet platform 27 is at the same height as the upper ends of the first carry-in rollers 13d. When the second movement control is executed, the CPU 112 controls the first lifter 25 so that the upper surface of the first pallet platform 27 is higher than the upper ends of the first carry-in rollers 13d. The upper surface of the luggage platform 46 is set higher than the upper ends of the first carry-in rollers 13d. This reduces the distance the suction hold mechanism 52 descends to contact the package N on the first pallet 11, the distance the suction hold mechanism 52 ascends to lift the package N, the distance the suction hold mechanism 52 descends to place the package N on the package platform 46, and the distance the suction hold mechanism 52 ascends after placing the package N, compared to a configuration not including the first lifter 25 or a configuration in which the upper surface of the package platform 46 is located lower than the upper end of the first carry-in roller 13d. This reduces the time required for the suction hold mechanism 52 to ascend and descend in the second movement control. It also reduces the magnitude of the impact on the package N when it falls.

[0190] The transfer device 51 is equipped with a suction holding mechanism 52 capable of holding one layer of luggage N present on the first pallet platform 27 or one layer of luggage N present on the luggage platform 46. In addition, the CPU 112 executes a process (step S208) in the first movement control to move the suction holding mechanism 52, which is holding one layer of luggage N that was present on the first pallet platform 27, in a direction from the first pallet platform 27 toward the second pallet platform 28. This allows one layer of luggage N present on the first pallet 11 to be transported onto the second pallet 12 all at once. In addition, the CPU 112 executes a process (step S308) in the second movement control to move the suction holding mechanism 52, which is holding one layer of luggage N that was present on the first pallet platform 27, in a direction from the first pallet platform 27 toward the luggage platform 46. This allows one layer of luggage N present on the first pallet 11 to be transported to the luggage platform 46 all at once. Furthermore, in the third movement control, the CPU 112 executes a process (step S412) of moving the suction holding mechanism 52, which is holding one layer of luggage N that was on the luggage platform 46, in a direction from the luggage platform 46 toward the second pallet platform 28. This allows one layer of luggage N that is on the luggage platform 46 to be transported onto the second pallet 12 at once. Therefore, compared to a configuration in which one layer of luggage N is transported in multiple batches, the processing configuration for preventing changes in the arrangement pattern of the luggage N can be simplified. Furthermore, the time required to move the luggage N can be shortened.

[0191] The first pallet platform 27, the second pallet platform 28, and the luggage platform 46 are arranged in a straight line, and the guide rails 67, 68 are linear paths. As a result, in a configuration in which the luggage platform 46 is present in addition to the first pallet platform 27 and the second pallet platform 28, and luggage N on the first pallet 11 can be temporarily placed on the luggage platform 46 before being transferred onto the second pallet 12, it is possible to eliminate the need for control to decelerate the supports 54 in order to change the direction of movement of the supports 54, and it is possible to reduce the time required for movement of the supports 54. Furthermore, by moving the supports 54 in a straight line, it is possible to simplify the configuration for moving the supports 54.

[0192] The second pallet platform 28 is arranged next to the first pallet platform 27, and the luggage platform 46 is arranged on the opposite side of the first pallet platform 27 from the second pallet platform 28. This makes it possible to reduce the travel distance of the transfer device 51 when transferring a luggage N from the first pallet 11 to the second pallet 12, compared to a configuration in which the luggage platform 46 is located between the first pallet platform 27 and the second pallet platform 28. Therefore, in a configuration in which the luggage platform 46 is located in addition to the first pallet platform 27 and the second pallet platform 28, and in which the luggage N on the first pallet 11 can be temporarily placed on the luggage platform 46 before being transferred onto the second pallet 12, it is possible to reduce the time required to transfer the luggage N from the first pallet 11 to the second pallet 12. Furthermore, when the first movement control is executed most frequently among the first movement control, second movement control, and third movement control, the time required to move the cargo N from the first pallet platform 27 to the second pallet platform 28 is shortened, thereby shortening the operating time of the cargo transfer device 15. Furthermore, compared to a configuration in which the second pallet platform 28 is present between the first pallet platform 27 and the cargo platform 46, the travel distance of the transfer device 51 when moving the cargo N from the first pallet 11 onto the cargo platform 46 can be reduced. This reduces the time required to move the cargo N from the first pallet 11 onto the cargo platform 46 in a configuration in which the cargo platform 46 is present in addition to the first pallet platform 27 and the second pallet platform 28 and in which the cargo N on the first pallet 11 can be temporarily placed on the cargo platform 46 before being transferred onto the second pallet 12.

[0193] <Other embodiments> The present invention is not limited to the above-described embodiment, and various modifications and improvements are possible within the scope of the present invention. For example, the following modifications may be made. The following alternative configurations may be applied individually or in combination to the configuration of the first embodiment.

[0194] (1) In the first embodiment, the luggage transfer device 15 is configured to load luggage N onto a destination platform (the second pallet 12 on the second pallet loading platform 28). However, this is not limited to this, and a configuration in which one layer of luggage N is placed on the destination platform may also be used. Specifically, the second output conveyor 17 is set as the destination platform. The luggage transfer device 15 transfers one layer of luggage N on the first pallet 11 to the second output conveyor 17 without changing the arrangement pattern of the luggage N. Each time one layer of luggage N is placed on the second output conveyor 17, the second output conveyor 17 outputs the one layer of luggage N downstream. This allows luggage N stacked in multiple layers on the first pallet 11 to be output one layer at a time downstream of the second output conveyor 17. Furthermore, by temporarily placing one layer of the luggage N on the first pallet 11 on the luggage placement table 46, the order of the arrangement pattern of the luggage N to be carried out downstream of the second outgoing conveyor 17 can be adjusted.

[0195] (2) In the first embodiment, the luggage transfer device 15 is configured such that luggage N is loaded on the source platform (the first pallet 11 on the first pallet loading platform 27). However, this is not limited to this, and a configuration in which one layer of luggage N is placed on the source platform may also be used. Specifically, the first carry-in conveyor 13 is set as the source platform. The luggage transfer device 15 is supplied with luggage N arranged in the first arrangement pattern or the second arrangement pattern, one layer at a time. The luggage transfer device 15 loads one layer of luggage N on the first carry-in conveyor 13 onto the second pallet 12 set on the second pallet loading platform 28 without changing the arrangement pattern of the luggage N. This allows the luggage N supplied from the first carry-in conveyor 13, one layer at a time, to be stacked on the second pallet 12 for shipment or storage. Furthermore, by temporarily placing one layer of luggage N on the first carry-in conveyor 13 on the luggage placement table 46, the order of the arrangement pattern of the luggage N to be loaded onto the second pallet 12 can be adjusted.

[0196] (3) The luggage transfer device 15 may be configured so that one layer of luggage N is placed on a source platform and a destination platform. Specifically, the first carry-in conveyor 13 is set as the source platform, and the second carry-out conveyor 17 is set as the destination platform. The luggage transfer device 15 is supplied with luggage N arranged in a first arrangement pattern or a second arrangement pattern, one layer at a time, by the first carry-in conveyor 13. The luggage transfer device 15 transfers one layer of luggage N on the first carry-in conveyor 13 to the second carry-out conveyor 17 without changing the arrangement pattern of the luggage N. The second carry-out conveyor 17 carries out one layer of luggage N downstream every time one layer of luggage N is placed thereon. This allows the luggage N supplied by the first carry-in conveyor 13 to be carried out downstream of the second carry-out conveyor 17, one layer at a time. Furthermore, by temporarily placing one layer of luggage N on the first carry-in conveyor 13 on the luggage placement table 46, the order of the arrangement pattern of the luggage N to be carried out downstream of the second carry-out conveyor 17 can be adjusted.

[0197] (4) The first pallet 11 supplied to the first pallet loading table 27 may have one level of cargo N placed on it, and the upper limit number of levels of cargo N on the second pallet 12 may be set to multiple levels. Alternatively, the first pallet 11 supplied to the first pallet loading table 27 may have multiple levels of cargo N placed on it, and the upper limit number of levels of cargo N on the second pallet 12 may be set to one level.

[0198] (5) The luggage transfer device 15 may be configured such that the upper limit number of layers of luggage N on the destination platform (second pallet 12) is set to a number that is less than the number of layers of luggage N on the source platform (first pallet 11). Specifically, the luggage transfer device 15 may be configured to transfer luggage N until seven layers of luggage N are stacked on the first pallet 11 supplied to the first pallet loading platform 27 and five layers of luggage N are stacked on the second pallet 12, or the luggage transfer device 15 may be configured to transfer luggage N until six layers of luggage N are stacked on the first pallet 11 supplied to the first pallet loading platform 27 and three layers of luggage N are stacked on the second pallet 12, or the luggage transfer device 15 may be configured to transfer luggage N until seven layers of luggage N are stacked on the first pallet 11 supplied to the first pallet loading platform 27 and one layer of luggage N is stacked on the second pallet 12.

[0199] (6) The luggage transfer device 15 may be configured such that the upper limit number of layers of luggage N on the destination platform (second pallet 12) is set to a number greater than the number of layers of luggage N on the source platform (first pallet 11). Specifically, the luggage transfer device 15 may be configured to transfer luggage N until three layers of luggage N are stacked on the first pallet 11 supplied to the first pallet loading platform 27 and six layers of luggage N are stacked on the second pallet 12, or the luggage transfer device 15 may be configured to transfer luggage N until one layer of luggage N is stacked on the first pallet 11 supplied to the first pallet loading platform 27 and seven layers of luggage N are stacked on the second pallet 12.

[0200] (7) The luggage transfer device 15 may be configured such that the upper limit number of layers of luggage N on the destination platform (second pallet 12) is set to the same number of layers as the number of layers of luggage N on the source platform (first pallet 11). Specifically, the luggage transfer device 15 may be configured to transfer luggage N until five layers of luggage N are loaded on the first pallet 11 supplied to the first pallet loading platform 27 and five layers of luggage N are loaded on the second pallet 12, or may be configured such that one layer of luggage N is loaded on the first pallet 11 supplied to the first pallet loading platform 27 and one layer of luggage N is loaded on the second pallet 12.

[0201] (8) A camera capable of capturing images of the state of the first pallet 11 set on the first pallet platform 27, a camera capable of capturing images of the state of the second pallet 12 set on the second pallet platform 28, and a camera capable of capturing images of the state of the luggage platform 46 may be provided, and the CPU 112 may execute a process to determine whether the arrangement pattern of the luggage N on the top level of the first pallet 11 matches the arrangement pattern of the luggage N on the top level of the second pallet 12. The CPU 112 starts the first movement control when the arrangement patterns of the luggage N on the top levels of the first pallet 11 and the second pallet 12 are different. Furthermore, when the arrangement patterns of the luggage N on the top levels of the first pallet 11 and the second pallet 12 are the same, the CPU 112 starts the second movement control, provided that the luggage platform 46 is empty. Furthermore, the CPU 112 is configured to start the third movement control when the arrangement patterns of the uppermost luggage N on the first pallet 11 and the second pallet 12 match, and the arrangement pattern of the luggage N on the luggage placement platform 46 differs from the arrangement pattern of the uppermost luggage N on the second pallet 12. This allows the CPU 112 to execute any of the first to third movement controls without the worker directly operating the start button 102, the bring-in start button 103, or the take-out start button 104. This reduces the operational burden on the worker.

[0202] (9) In the first embodiment, the first movement control is started based on the operation of the direct start button 102 after the first set-up lifting operation or the second set-up lifting operation has ended and the lifters 25, 26 are not operating. However, the present invention is not limited to this, and any of the first to third movement controls may be started based on the first set-up lifting operation or the second set-up lifting operation having ended and the lifters 25, 26 are not operating. Specifically, if the first set-up lifting operation or the second set-up lifting operation has ended and the lifters 25, 26 are not operating when the operation of the carry-in start button 103 and the operation of the take-out start button 104 has not been detected, the first movement control is started based on the end of the first set-up lifting operation or the second set-up lifting operation. Furthermore, when the operation of the bring-in start button 103 is detected and the lifting operation after the first setting or the lifting operation after the second setting is completed and the operation of the lifters 25, 26 is not being executed, the second movement control is started based on the completion of the lifting operation after the first setting or the lifting operation after the second setting. Furthermore, when the operation of the take-out start button 104 is detected and the lifting operation after the first setting or the lifting operation after the second setting is completed and the operation of the lifters 25, 26 is not being executed, the third movement control is started based on the completion of the lifting operation after the first setting or the lifting operation after the second setting.

[0203] (10) A camera capable of capturing images of the first pallet loading platform 27, the second pallet loading platform 28, and the luggage loading platform 46 may be provided above the luggage transfer device 15, and the presence or absence of luggage N on the luggage loading platform 46 and the presence or absence of luggage N on the first pallet 11 may be determined based on the image captured by the camera.

[0204] (11) A camera may be provided that moves together with the support 54, the lifting mechanism 53, and the suction holding mechanism 52, and the presence or absence of cargo N on the first pallet 11 may be determined based on the image captured by the camera.

[0205] (12) An ultrasonic sensor may be used instead of a photoelectric sensor as the temporarily placed baggage detection sensor 47. Also, an ultrasonic sensor may be used instead of a photoelectric sensor as the position detection sensors 71 to 73.

[0206] (13) The luggage transfer device 15 may be configured to be provided with a contact detection sensor that can detect whether the suction head 81 is in contact with the upper surface of the luggage N. Specifically, the contact detection sensor is fixed near the free end (lower end) of the suction head 81. When the suction holding mechanism 52 is being lowered toward the luggage N, the CPU 112 can detect whether the suction head 81 is in contact with the upper surface of the luggage N based on the state of the contact detection signal received from the contact detection sensor.

[0207] (14) The CPU 112 may be configured to determine that the first pallet 11 is empty when the number of times the one-stage lifting operation has been performed reaches five. The CPU 112 may also be configured to determine that the second pallet 12 is loaded with the upper limit number of stages of cargo N when the number of times the one-stage lowering operation has been performed reaches seven.

[0208] (15) The CPU 112 may be configured to determine the height position of the first pallet platform 27 based on the lifting speed (lifting speed or lowering speed) and lifting time of the first pallet platform 27. The CPU 112 may be configured to determine the height position of the second pallet platform 28 based on the lifting speed (lifting speed or lowering speed) and lifting time of the second pallet platform 28. Furthermore, the CPU 112 may be configured to determine the height position of the suction holding mechanism 52 based on the lifting speed (lifting speed or lowering speed) and lifting time of the suction holding mechanism 52.

[0209] (16) In the first embodiment, the luggage N is stacked on the pallets 11 and 12 in two different arrangement patterns so that the arrangement patterns of successive layers are not the same. However, this is not limited to this, and the luggage N may be stacked on the pallets 11 and 12 in three or more different arrangement patterns so that the arrangement patterns of successive layers are not the same.

[0210] (17) Instead of the first arrangement pattern in the first embodiment, an arrangement pattern may be used in which all luggage N in a layer are arranged in a first direction (vertical in Figure 2(c) or Figure 2(d)), and instead of the second arrangement pattern in the first embodiment, an arrangement pattern may be used in which all luggage N in a layer are arranged in a second direction (horizontal in Figure 2(c) or Figure 2(d)) perpendicular to the first direction.

[0211] (18) Instead of the first arrangement pattern in the first embodiment, an arrangement pattern may be used in which the luggage N in the left half of the layer is oriented in a first direction (vertical orientation in Figure 2(c) or Figure 2(d)) and the luggage N in the right half of the layer is oriented in a second direction perpendicular to the first direction (horizontal orientation in Figure 2(c) or Figure 2(d)), and instead of the second arrangement pattern in the first embodiment, an arrangement pattern may be used in which the luggage N in the left half of the layer is oriented in the second direction (horizontal orientation in Figure 2(c) or Figure 2(d)) and the luggage N in the right half of the layer is oriented in the first direction (vertical orientation in Figure 2(c) or Figure 2(d)).

[0212] (19) The distance between the first loading-side support column 22a and the first unloading-side support column 22c and the distance between the second loading-side support column 22b and the second unloading-side support column 22d may be at least twice (2200 mm) the width of the pallets 11 and 12, but less than three times (3300 mm) the width of the pallets 11 and 12. The distance between the first loading-side support column 22a and the second loading-side support column 22b and the distance between the first unloading-side support column 22c and the second unloading-side support column 22d may be at least three times (3300 mm) the width of the pallets 11 and 12, but less than four times (4400 mm) the width of the pallets 11 and 12.

[0213] (20) The distance from the transfer source stopping position to the temporary storage stopping position may be configured to be at least twice (2200 mm) the width of the pallets 11 and 12. For example, the distance from the transfer source stopping position to the temporary storage stopping position may be at least twice (2200 mm) the width of the pallets 11 and 12, but less than three times (3300 mm) the width of the pallets 11 and 12.

[0214] (21) The luggage transfer device 15 may be configured so that it is not equipped with the first lifter 25 and the height position of the first pallet platform 27 is not adjusted, or so that it is not equipped with the second lifter 26 and the height position of the second pallet platform 28 is not adjusted, or so that it is not equipped with the first lifter 25 and the second lifter 26 and the height positions of the first pallet platform 27 and the second pallet platform 28 are not adjusted.

[0215] (22) In the first embodiment described above, the first lifter 25 and the second lifter 26 are configured as two-stage table lifters in which the arm portion 32 has a lower arm portion 33 and an upper arm portion 34, but this is not limited to this, and the first lifter 25 and the second lifter 26 may be configured as one-stage table lifters, or the first lifter 25 and the second lifter 26 may be configured as three-stage table lifters.

[0216] (23) In the first embodiment, the upper surface of the luggage platform 46 is located at a height position 2004 mm above the floor of the facility, but this is not limited thereto, and the upper surface of the luggage platform 46 may be located above a height position 2004 mm above the floor, or may be located below a height position 2004 mm above the floor. For example, the upper surface of the luggage platform 46 may be located at the same height position as the upper ends of the carry-in rollers 13d, 14d and the carry-out rollers 16d, 17d (a height position 600 mm above the floor).

[0217] (24) In the first embodiment described above, the height of the luggage platform 46 is not adjusted, but this is not limited to this. The height of the luggage platform 46 may be adjusted by a lifter, similar to the height adjustment of the first pallet platform 27 by the first lifter 25 and the height adjustment of the second pallet platform 28 by the second lifter 26.

[0218] (25) A rotation mechanism for rotating the luggage placement platform 46 around a vertically extending rotation axis may be provided. In a case where an arrangement pattern in which all of the luggage N in a layer are oriented in a first direction (vertical orientation in FIGS. 2(c) and 2(d)) is used instead of the first arrangement pattern in the first embodiment, and an arrangement pattern in which all of the luggage N in a layer are oriented in a second direction perpendicular to the first direction (horizontal orientation in FIGS. 2(c) and 2(d)) is used instead of the second arrangement pattern in the first embodiment, the arrangement pattern of the luggage N temporarily placed on the luggage placement platform 46 can be changed by rotating the luggage placement platform 46 by 90 degrees. This reduces the possibility of the upper and lower luggage N being stacked in the same orientation on the second pallet 12.

[0219] (26) In the first embodiment, the luggage rack 46 is configured to be capable of holding one layer of luggage N. However, the present invention is not limited to this, and the luggage rack 46 may be configured to be capable of holding two or more layers of luggage N. Furthermore, in this configuration, a lifting device may be provided to lower the height of the luggage rack 46 by one layer (196 mm) each time a piece of luggage N is loaded onto the luggage rack 46. This allows the height of the top surface of the luggage N on the top layer of the luggage rack 46 when multiple layers of luggage N are placed on the luggage rack 46 to be the same height as the height of the top surface of the luggage N on the top layer (first layer) of the luggage rack 46 when one layer of luggage N is placed on the luggage rack 46.

[0220] (27) In the first embodiment, one luggage platform 46 is provided. However, this is not limiting, and two or more luggage platforms 46 may be provided. Specifically, the luggage platforms 46 include a first luggage platform and a second luggage platform. The first luggage platform is disposed on the opposite side of the first pallet platform 27 from the second pallet platform 28. The second luggage platform is disposed on the opposite side of the first luggage platform from the first pallet platform 27. The second pallet platform 28, the first pallet platform 27, the first luggage platform, and the second luggage platform are disposed on a straight line. The carry-in side restricting wall 57a and the carry-out side restricting wall 58a extend in a direction (vertical direction in FIG. 1) perpendicular to the pallet conveying direction (rightward in FIG. 1). The loading guide rail 67 and the unloading guide rail 68 also extend in a direction (vertical direction in FIG. 1) perpendicular to the pallet conveying direction (rightward in FIG. 1). The support body 54 can travel back and forth between near the center of the second pallet platform 28 and near the center of the second luggage platform. In this way, even in a configuration where two or more luggage platforms 46 are provided, the movement path of the support body 54 can be a straight path.

[0221] (28) In the first embodiment described above, the luggage platform 46, the first pallet platform 27, and the second pallet platform 28 are arranged in a straight line, but this is not limited to this. The platforms 27, 28, and 46 may be arranged so that the direction from the first pallet platform 27 to the second pallet platform 28 is perpendicular to the direction from the first pallet platform 27 to the luggage platform 46.

[0222] (29) The luggage placement platform 46, the first pallet placement platform 27, and the second pallet placement platform 28 may be arranged on the same circumference. Specifically, the luggage placement platform 46 is arranged on the opposite side of the first pallet placement platform 27 from the second pallet placement platform 28. Furthermore, the transport path (loading-side guide rails 67 and unloading-side guide rails 68) for the luggage N in the transfer device 51 is provided on a partial section (arcuate) of the circumference. Furthermore, the travel distance for moving the luggage N from the first pallet 11 on the first pallet placement platform 27 to the second pallet 12 on the second pallet placement platform 28 is shorter than the travel distance for moving the luggage N from the luggage placement platform 46 to the second pallet 12 on the second pallet placement platform 28. As a result, when the first movement control is executed most frequently among the first to third movement controls, the time required to transfer the luggage N can be shortened compared to a configuration in which the luggage placement platform 46 is provided between the first pallet placement platform 27 and the second pallet placement platform 28.

[0223] (30) In the first embodiment described above, the luggage platform 46 is arranged on the opposite side of the first pallet platform 27 from the second pallet platform 28, but this is not limited to this, and the luggage platform 46 may be arranged between the first pallet platform 27 and the second pallet platform 28. In this configuration as well, the first pallet platform 27, the luggage platform 46, and the second pallet platform 28 can be arranged in a straight line, and the movement path of the support body 54 can be a straight path.

[0224] (31) In the first embodiment, the luggage platform 46 is configured to be provided outside the frame body 21, but this is not limited to this, and the luggage platform 46 may also be configured to be provided within a space partitioned by the frame body 21.

[0225] (32) The first hydraulic unit 41 and the second hydraulic unit 42 may be arranged between the first pallet platform 27 and the second pallet platform 28, or the first hydraulic unit 41 and the second hydraulic unit 42 may be arranged between the luggage platform 46 and the first pallet platform 27. In this way, even in a configuration in which an article such as a device is placed between the first pallet platform 27 and the second pallet platform 28, or between the luggage platform 46 and the first pallet platform 27, by arranging the second pallet platform 28, the first pallet platform 27, and the luggage platform 46 in a straight line, the movement path of the support 54 can be a straight path.

[0226] (33) In the first embodiment, the suction head 81 is configured to suction and hold the luggage N by suctioning it onto the upper surface of the suction head 81, but this is not limited to this. The luggage N may be scooped up from below and held, or one layer of luggage N may be clamped from the side. Furthermore, for luggage N with a ferromagnetic material on its upper surface, a magnet may be brought close to the luggage N from above and attached to the ferromagnetic material to hold the luggage N.

[0227] (34) In the first embodiment, the suction holding mechanism 52 is configured to be capable of suction-holding one layer's worth of luggage N at a time. However, this is not limited thereto, and the suction holding mechanism 52 may be configured to suction-hold fewer luggage N than one layer at a time. For example, the suction holding mechanism 52 may be configured to have a total of 18 suction heads 81 arranged in six vertical and three horizontal rows, so that the suction holding mechanism 52 can suction-hold half of one layer's worth of luggage N at a time. The transfer device 51 transfers one layer's worth of luggage N from the source platform to the destination platform in two separate transfers. Alternatively, for example, the suction holding mechanism 52 may be configured to have one suction head 81 and to transfer the luggage N one by one from the source platform to the destination platform. Even in these configurations, the luggage N can be transferred from the source platform to the destination platform without changing the arrangement pattern of the luggage N by transferring the luggage N from the source platform to the destination platform without changing the orientation of the luggage N or the arrangement of the luggage N within the layer. In addition, the cargo N can be loaded onto the second pallet 12 in a manner that is less likely to cause the cargo to collapse.

[0228] (35) In the first embodiment, the transfer device 51 travels on the support 54 using a combination of racks 65, 66 and pinions 63, 64. However, the present invention is not limited to this. The transfer device 51 may travel on the support 54 using a combination of a traveling ball screw shaft and a traveling nut member. The traveling ball screw shaft is fixed at a distance above the second pallet platform 28, the first pallet platform 27, and the luggage platform 46. The traveling ball screw shaft extends in the arrangement direction of the platforms 27, 28, and 46 (the left-right direction in FIG. 3). One end of the traveling ball screw shaft is connected to a traveling servo motor, and the other end of the traveling ball screw shaft is connected to a bearing. A traveling nut member corresponding to the ball screw shaft is fixed to the support 54. A screw thread is formed on the outer circumferential surface of the traveling ball screw shaft. In addition, threads are formed on the inner peripheral surface of the traveling nut member in correspondence with the threads of the traveling ball screw shaft. The traveling ball screw shaft is inserted into the traveling nut member in such a manner that the threads formed on the outer peripheral surface of the traveling ball screw shaft mesh with the threads formed on the inner peripheral surface of the traveling nut member. When the traveling servo motor rotates the traveling ball screw shaft forward, the traveling nut member fitted to the traveling ball screw shaft moves toward the second pallet mount 28 (right side in FIG. 3). This allows the support body 54 to which the traveling nut member is fixed to move toward the second pallet mount 28. When the traveling servo motor rotates the traveling ball screw shaft backward, the traveling nut member fitted to the traveling ball screw shaft moves toward the luggage mount 46 (left side in FIG. 3). This allows the support body 54 to which the traveling nut member is fixed to move toward the luggage mount 46.

[0229] (36) In the first embodiment, the first movement control after the first pallet 11 is set on the first pallet mount 27 is executed when the first pallet mount 27 is located above the first initial position, but this is not limited to this, and the first movement control may be executed when the first pallet mount 27 is located at the first initial position. Also, in the first embodiment, the movement control to load the seventh layer on the second pallet 12 is executed when the second pallet mount 28 is located above the second initial position, but this is not limited to this, and the movement control to load the seventh layer may be executed when the second pallet mount 28 is located at the second initial position.

[0230] (37) The CPU 112 may be configured to execute a fourth movement control to move the top layer of luggage N on the second pallet 12 set on the second pallet platform 28 onto the luggage platform 46. In this way, if a situation arises in which layers of the same arrangement pattern are continuously stacked on the second pallet 12, the situation can be resolved by moving the top layer of luggage N on the second pallet 12 onto the luggage platform 46.

[0231] (38) Instead of or in addition to the direct start button 102 in the first embodiment, a button operated to execute the first movement control once may be provided. Also, instead of or in addition to the bring-in start button 103 in the first embodiment, a button operated to execute the second movement control once may be provided. Also, instead of or in addition to the take-out start button 104 in the first embodiment, a button operated to execute the third movement control once may be provided.

[0232] (39) The second movement control may be executed once based on the operation of the start bring-in button 103, the third movement control may be executed once based on the operation of the start take-out button 104, and the first movement control may be repeated based on the operation of the direct start button 102 until there is no luggage N on the first pallet 11 or the number of layers of luggage N on the second pallet 12 reaches the upper limit (specifically, seven layers).

[0233] (40) In the first embodiment, the shape of the cargo N loaded on the first pallet 11 supplied to the cargo transfer device 15 is a rectangular parallelepiped, but this is not limited to this, and the cargo N loaded on the first pallet 11 may be an elliptical cylindrical cargo with elliptical top and bottom surfaces.

[0234] (41) As a platform on which the cargo N is loaded, a dolly or a tray may be used instead of the pallets 11 and 12.

[0235] (42) Although the first pallet 11 and the second pallet 12 are configured to have the same size and shape, this is not limited to this, and the first pallet 11 and the second pallet 12 may be configured to have different sizes or shapes.

[0236] (43) The first pallet 11 may be a pallet for transportation, and the second pallet 12 may be a pallet for storage. This allows the cargo N to be transferred from the transportation pallet to the storage pallet using the cargo transfer device 15 in facilities such as warehouses and retail stores.

[0237] (44) In the first embodiment, the first pallet 11 carrying a plurality of parcels N of the same shape and size is supplied to the parcel transfer device 15, but this is not limited thereto, and the first pallet 11 carrying a plurality of parcels N of different shapes and sizes may be supplied to the parcel transfer device 15. Specifically, the parcels N may have different shapes and sizes on each layer, or parcels N of different shapes and sizes may be mixed in the same layer.

[0238] <Inventions extracted from the above embodiments> The following describes the features of the inventions extracted from the above-described embodiments, while indicating, as necessary, their effects, etc. Note that, for ease of understanding, the following will appropriately indicate corresponding configurations in the above-described embodiments in parentheses, etc. However, the present invention is not limited to the specific configurations indicated in parentheses, etc.

[0239] <Features Group A> Feature A1. A first loading platform (first pallet loading platform 27, first pallet 11) from which the luggage (luggage N) is moved, a second loading platform (second pallet loading platform 28, second pallet 12) to which the cargo is to be moved; a luggage transport means (transfer device 51) for transporting luggage; A predetermined control means (CPU 112), A luggage transfer device (luggage transfer device 15) comprising: The luggage transfer device includes a third platform (luggage platform 46) on which luggage can be placed, The predetermined control means a first transfer control means (a function of executing the processing of steps S114 and S115 in the CPU 112) that executes first transfer control (first movement control) to transfer a load from the first platform to the second platform by the load transfer means based on the occurrence of a first trigger (operation of the direct start button 102, termination of the second movement control with load N remaining on the first pallet 11 and the number of layers of load N on the second pallet 12 being less than the upper limit number of layers, or termination of the third movement control with load N remaining on the first pallet 11 and the number of layers of load N on the second pallet 12 being less than the upper limit number of layers); a second transport control means (a function of executing the processes of steps S116 and S117 in CPU 112) that executes second transport control (second movement control) to transport the luggage from the first platform to the third platform by the luggage transport means based on the occurrence of a second trigger (operation of carry-in start button 103); a third transport control means (a function of executing the processes of steps S118 and S119 in the CPU 112) that executes a third transport control (third movement control) to transport the luggage from the third platform to the second platform by the luggage transport means based on the occurrence of a third trigger (the operation of the take-out start button 104); Equipped with When the first transport control is executed in a state in which the packages are arranged on the first platform in a predetermined pattern (first arrangement pattern, second arrangement pattern in the first embodiment), the packages are transported from the first platform to the second platform so that the packages are arranged on the second platform in the predetermined pattern, When the second conveyance control is executed in a state in which the packages are arranged on the first platform in the predetermined pattern, the packages are conveyed from the first platform to the third platform so that the packages are arranged on the third platform in the predetermined pattern, A luggage transfer device characterized in that, when the third transport control is executed when luggage is arranged in the predetermined pattern on the third platform, luggage is transported from the third platform to the second platform so that the luggage is arranged in the predetermined pattern on the second platform.

[0240] According to feature A1, it is possible to move luggage from the first platform to the second platform, from the first platform to the third platform, and from the third platform to the second platform. This allows luggage loaded on the first platform to be moved to the third platform, and after another luggage is moved to the second platform, the luggage on the third platform can be moved to the second platform. In this way, by making it possible to temporarily place luggage on the third platform before moving it to the second platform, it is possible to adjust the order in which luggage is moved to the second platform.

[0241] When the first conveyance control is executed with the luggage arranged in a predetermined pattern on the first platform, the luggage can be arranged in the predetermined pattern on the second platform. Furthermore, when the second conveyance control is executed with the luggage arranged in a predetermined pattern on the first platform, the luggage can be arranged in the predetermined pattern on the third platform. Furthermore, when the third conveyance control is executed with the luggage arranged in a predetermined pattern on the third platform, the luggage can be arranged in the predetermined pattern on the second platform. This allows the luggage to be arranged in the predetermined pattern on the second platform even when luggage arranged in the predetermined pattern on the first platform is transferred to the third platform and then transferred from the third platform to the second platform. Therefore, in a configuration in which the order of luggage transferred to the second platform can be adjusted using the third platform, the luggage arrangement pattern can be prevented from changing even when the third platform is used.

[0242] Feature A2: A luggage transfer device described in Feature A1, characterized in that when the first conveying control is executed while luggage is present on the second platform, luggage transported from the first platform by the first conveying control is loaded on top of the luggage that was present on the second platform.

[0243] According to feature A2, the system has the configuration of feature A1, and when the first conveying control is executed when the luggage is arranged in a predetermined pattern on the first loading platform, the luggage is transported from the first loading platform to the second loading platform so that the luggage is arranged in the predetermined pattern on the second loading platform, so that the luggage can be loaded onto the second loading platform in the arrangement pattern of the luggage that was arranged on the first loading platform.

[0244] Since the configuration of feature A1 described above is provided and the configuration is capable of executing the first to third conveyance controls, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the first conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0245] Feature A3: A luggage transfer device described in Feature A1 or A2, characterized in that when the third conveying control is executed while luggage is present on the second platform, luggage transported from the third platform by the third conveying control is loaded on top of the luggage that was present on the second platform.

[0246] According to feature A3, when the configuration of feature A1 is provided and the third conveying control is executed when the luggage is arranged in a predetermined pattern on the third loading platform, the luggage is transported from the third loading platform to the second loading platform so that the luggage is arranged in the predetermined pattern on the second loading platform, so that the luggage can be loaded onto the second loading platform in the arrangement pattern of the luggage that was arranged on the third loading platform.

[0247] Since the configuration includes the feature A1 and is capable of executing the first to third conveyance controls, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the third conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0248] Feature A4. When the first conveyance control is executed while an object is present on the second platform, the object conveyed from the first platform by the first conveyance control is stacked on top of the object that was present on the second platform; When the third conveyance control is executed in a state where an object exists on the second platform, the object conveyed from the third platform by the third conveyance control is stacked on top of the object that existed on the second platform, A layer of luggage in which a plurality of luggage are arranged (in the first embodiment, a layer of luggage N arranged in a first arrangement pattern or a second arrangement pattern) is set on the first placement table, The luggage transfer device described in Feature A1 is characterized in that the number of layers of luggage loaded on the second loading platform is set to a different number (7 layers in the first embodiment) from the number of layers of luggage set on the first loading platform (5 layers in the first embodiment).

[0249] According to feature A4, the number of layers of luggage loaded on the second platform is set to be different from the number of layers of luggage set on the first platform, so the number of layers of luggage can be changed before and after transfer of luggage from the first platform to the second platform. This makes it possible to change the number of layers of luggage from one suitable for storage within a facility to one suitable for transportation by truck, etc. Also, it makes it possible to change the number of layers of luggage from one suitable for transportation by truck, etc. to one suitable for storage within a facility.

[0250] Since the configuration has the above-mentioned feature A1 and is equipped with a first conveying control means, a second conveying control means, and a third conveying control means, the possibility of creating areas on the second loading platform where cargo is likely to collapse in situations where the number of cargo tiers changes before and after transfer is reduced compared to a configuration that does not have the second conveying control means and the third conveying control means.

[0251] When the configuration of feature A1 is provided and the first conveyance control is executed in a state in which the luggage is arranged in a predetermined pattern on the first platform, the luggage is conveyed from the first platform to the second platform so that the luggage is arranged in the predetermined pattern on the second platform, so that the luggage can be stacked on the second platform in the arrangement pattern of the luggage that was arranged on the first platform.Furthermore, when the configuration of feature A1 is provided and the third conveyance control is executed in a state in which the luggage is arranged in a predetermined pattern on the third platform, the luggage is conveyed from the third platform to the second platform so that the luggage is arranged in the predetermined pattern on the second platform, so that the luggage can be stacked on the second platform in the arrangement pattern of the luggage that was arranged on the third platform.

[0252] Since the configuration of feature A1 described above is provided and the first to third conveyance controls can be executed, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the first conveyance control or the third conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0253] Feature A5. A luggage transfer device described in any one of Features A1 to A4, characterized in that the luggage transport means is equipped with an adsorption holding means (adsorption holding mechanism 52, adsorption head 81) that can adsorb and hold luggage on the first loading platform or luggage on the third loading platform from above.

[0254] According to feature A5, even when the luggage is arranged on the first or third platform with gaps between the luggage, the orientation or arrangement of the luggage is prevented from changing before and after movement. Furthermore, compared to a configuration in which luggage on the first or third platform is scooped up and held from below, the possibility of the orientation or arrangement of the luggage changing before and after movement can be reduced. Furthermore, compared to a configuration in which luggage on the first or third platform is held by suction from the side, the possibility of the orientation or arrangement of the luggage changing before and after movement can be reduced.

[0255] Feature A6. The luggage conveying means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a means for moving the suction holding means in a direction from the third table toward the second table (the transfer device 51, a function for executing the process of step S412 in the CPU 112); Equipped with The luggage transfer device described in feature A5 is characterized in that in the third conveying control, the transportation of luggage from the third loading platform to the second loading platform is carried out in a manner in which the luggage being adsorbed and held by the adsorption holding means passes above the uppermost luggage on the first loading platform.

[0256] According to feature A6, even when the first platform is present on the path from the third platform to the second platform, it is possible to prevent the package being transported from the third platform to the second platform from coming into contact with the package on the first platform. This makes it possible to prevent the package transport path from becoming complicated and the processing configuration for transporting the package from becoming complicated in a configuration that includes the configuration of feature A1 above, in which a third platform is present in addition to the first and second platforms, and in which the package on the first platform can be temporarily placed on the third platform before being transferred to the second platform.

[0257] Feature A7. The luggage conveying means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a transfer device (51) for moving the suction holding means in a direction from the first table toward the second table; a transfer device (51) for moving the suction holding means in a direction from the third table toward the second table; Equipped with In the first conveyance control, the suction holding means, which is present at a first height position (first conveyance height position in the first embodiment) while suction-holding a load, is configured to move in a direction from the first platform toward the second platform, The luggage transfer device described in feature A5 or A6 is characterized in that, in the third conveying control, the suction holding means, which is located at a second height position (second conveying height position) higher than the first height position while suction-holding luggage, moves in a direction from the third loading platform toward the second loading platform.

[0258] According to feature A7, the lifting distance of the suction holding means required in the first conveyance control can be shorter than the lifting distance of the suction holding means required in the third conveyance control. This allows the time required to lift the suction holding means in the first conveyance control to be shorter than the time required to lift the suction holding means in the third conveyance control. Therefore, when the first conveyance control is performed more frequently than the third conveyance control, the operating time of the luggage transfer device can be shortened. Furthermore, compared to when luggage falls from the suction holding means during the first conveyance control, the impact on the luggage can be reduced compared to when luggage falls from the suction holding means during the third conveyance control. This reduces the possibility of damage to the luggage, such as breakage, caused by an impact on the luggage when the luggage falls from the suction holding means during conveyance, when the first conveyance control is performed more frequently than the third conveyance control.

[0259] Feature A8: A predetermined lifting means (first lifter 25) that can adjust the height position of the first mounting table; a specific lifting means (second lifter 26) that can adjust the height position of the second mounting table; Equipped with The luggage transport means includes a predetermined height adjustment means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means, The luggage transfer device described in any one of features A5 to A7, characterized in that the predetermined control means is equipped with a means (a function of executing the processing of steps S120 and S121 in CPU 112) for executing control of the predetermined lifting and lowering means and the specific lifting and lowering means so that, in the first conveying control, the height position of the suction holding means when the suction holding means adsorbs luggage on the first loading platform and the height position of the suction holding means when the suction holding means releases the suction holding of the luggage and places it on the second loading platform are approximately the same height position (the suction and detachment height position in the first embodiment).

[0260] According to Feature A8, compared to a configuration in which the height position of the suction holding means when the suction holding means is sucking up the load on the first platform is different from the height position of the suction holding means when the suction holding means releases the suction holding of the load and places it on the second platform, the configuration for adjusting the height position of the suction holding means can be simplified. Also, the processing configuration for adjusting the height position of the suction holding means can be simplified. Furthermore, compared to a configuration in which the predetermined lifting / lowering means and the specific lifting / lowering means are not provided, it is possible to reduce the lifting distance of the suction holding means and the time required for lifting / lowering the suction holding means.

[0261] Feature A9. The first mounting table is provided with a predetermined lifting means (first lifter 25) that can adjust the height position of the first mounting table. The luggage transport means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a means for moving the suction holding means in a direction from the first table toward the third table (a transfer device 51, a function for executing the process of step S308 in the CPU 112); Equipped with The first loading platform is configured such that an upper surface of the first loading platform is at a predetermined height (the same height as the upper end of the first carry-in roller 13d), and the package is placed on the first loading platform. the predetermined control means includes a means for executing control of the predetermined lifting means so that the upper surface of the first mounting table is at a position higher than the predetermined height position when the second transport control is being executed (a function for executing the process of step S120 in CPU 112); A luggage transfer device described in any one of features A5 to A8, characterized in that the upper surface of the third loading platform is set at a position higher than the specified height position (in the first embodiment, a height position 2004 mm above the floor of the facility).

[0262] According to Feature A9, compared to a configuration that does not include a predetermined lifting means or a configuration in which the upper surface of the third platform is located at a height lower than the predetermined height, the distance the suction holding means descends to contact the load on the first platform, the distance the suction holding means ascends to lift the load, the distance the suction holding means descends to place the load on the third platform, and the distance the suction holding means ascends after placing the load can be reduced. This reduces the time required to raise and lower the suction holding means in the second conveyance control. It also reduces the magnitude of the impact on the load if it falls.

[0263] Feature A10: The luggage transport means is equipped with luggage holding means (suction holding mechanism 52, suction head 81) capable of holding one layer of luggage present on the first platform or one layer of luggage present on the third platform, In the first transport control, the cargo holding means, which is holding one layer of cargo that was on the first platform, is configured to move in a direction from the first platform toward the second platform, In the second transport control, the cargo holding means, which is holding one layer of cargo that was on the first platform, moves in a direction from the first platform toward the third platform, A luggage transfer device described in any one of features A1 to A9, characterized in that in the third conveying control, the luggage holding means holding one layer of luggage that was on the third loading platform moves in a direction from the third loading platform toward the second loading platform.

[0264] According to feature A10, one layer of luggage on the first platform can be transported onto the second platform at once. Also, one layer of luggage on the first platform can be transported onto the third platform at once. Furthermore, one layer of luggage on the third platform can be transported onto the second platform at once. This simplifies the processing configuration for preventing changes to the luggage arrangement pattern compared to a configuration in which one layer of luggage is transported in multiple batches. Also, the time required to move the luggage can be shortened.

[0265] Feature A11. A configuration in which the first stage, the second stage, and the third stage are arranged in a straight line, The luggage transfer device according to any one of Features A1 to A10, wherein the transport path (carry-in guide rail 67 and carry-out guide rail 68) of the luggage transport means is a straight path.

[0266] According to Feature A11, in a configuration having the configuration of Feature A1 described above, in which a third platform is provided in addition to the first and second platforms, and luggage on the first platform can be temporarily placed on the third platform before being transferred to the second platform, it is possible to eliminate the need for control to decelerate the luggage transport means in order to change the direction of movement of the luggage transport means. This reduces the time required for movement of the luggage transport means. Furthermore, by making the movement of the luggage transport means linear, it is possible to simplify the configuration for moving the luggage transport means.

[0267] Feature A12. The second stage is arranged in parallel with the first stage; The luggage transfer device according to any one of features A1 to A11, wherein the third platform is arranged on the opposite side of the first platform from the second platform.

[0268] According to feature A12, compared to a configuration in which a third platform is present between the first and second platforms, it is possible to reduce the travel distance of the luggage transfer device when moving luggage from the first platform to the second platform. This reduces the time required to move luggage from the first platform to the second platform. Furthermore, when the first transport control is executed most frequently among the first transport control, the second transport control, and the third transport control, it is possible to reduce the operating time of the luggage transfer device by reducing the time required to move luggage from the first platform to the second platform.

[0269] Compared to a configuration in which the second platform is located between the first and third platforms, this configuration reduces the distance the package transfer device must travel when moving the package from the first platform to the third platform, thereby shortening the time required to move the package from the first platform to the third platform.

[0270] Note that one or more of the features A1 to A12 and the features B1 to B11 may be applied to the features A1 to A12, thereby making it possible to achieve a synergistic effect by combining the features.

[0271] According to the invention relating to the above-mentioned feature group A, it is possible to solve the following problems.

[0272] In facilities such as production factories and logistics warehouses, when cargo is transported out of the facility, the cargo is transferred from a storage platform to a transportation platform.In addition, in facilities such as logistics warehouses and retail stores, when cargo is brought into the facility, the cargo is transferred from a transportation platform to a storage platform.As a cargo transfer device used for such cargo transfer, a cargo transfer device that moves cargo stacked on a source platform to a destination platform one layer at a time is known.

[0273] When cargo is transferred so that multiple layers of cargo are stacked on the platform at the transfer destination, the cargo is more likely to collapse during transportation or storage depending on how the cargo is loaded. For example, if cargo is stacked in a manner in which the upper and lower cargoes face the same direction (so-called "straight stacking"), the cargo is more likely to collapse. In contrast, if the cargo is stacked so that the orientation of the upper and lower cargoes changes, the cargo is less likely to collapse. In the above-mentioned cargo transfer device, if the number of layers of cargo on the platform is not changed at the transfer source and the transfer destination, the cargo will also be loaded in a manner that is less likely to collapse at the transfer destination, provided that the cargo is stacked in a manner that is less likely to collapse at the transfer source.

[0274] However, the number of tiers suitable for storing luggage in facilities such as factories and warehouses may differ from the number of tiers suitable for transporting luggage by truck or the like. In the luggage transfer device described above, if the number of tiers of luggage changes before and after transfer, even if the luggage is stacked on the source platform in a manner that is less likely to cause the luggage to collapse, there is a risk that the upper and lower luggage may be oriented in the same direction on the destination platform, i.e., a location where the luggage is more likely to collapse. Thus, there is still room for improvement in luggage transfer devices that transfer luggage from the source platform to the destination platform.

[0275] <Feature Group B> Feature B1. A first loading platform (first pallet loading platform 27, first pallet 11) from which the luggage (luggage N) is moved, a second loading platform (second pallet loading platform 28, second pallet 12) to which the cargo is to be moved; a luggage transport means (transfer device 51) for transporting luggage; A predetermined control means (CPU 112), A luggage transfer device (luggage transfer device 15) comprising: The luggage transfer device includes a third platform (luggage platform 46) on which luggage can be placed, The predetermined control means a first transfer control means (a function of executing the processing of steps S114 and S115 in the CPU 112) that executes first transfer control (first movement control) to transfer a load from the first platform to the second platform by the load transfer means based on the occurrence of a first trigger (operation of the direct start button 102, termination of the second movement control with load N remaining on the first pallet 11 and the number of layers of load N on the second pallet 12 being less than the upper limit number of layers, or termination of the third movement control with load N remaining on the first pallet 11 and the number of layers of load N on the second pallet 12 being less than the upper limit number of layers); a second transport control means (a function of executing the processes of steps S116 and S117 in CPU 112) that executes second transport control (second movement control) to transport the luggage from the first platform to the third platform by the luggage transport means based on the occurrence of a second trigger (operation of carry-in start button 103); a third transport control means (a function of executing the processes of steps S118 and S119 in the CPU 112) that executes a third transport control (third movement control) to transport the luggage from the third platform to the second platform by the luggage transport means based on the occurrence of a third trigger (the operation of the take-out start button 104); Equipped with the second stage is arranged next to the first stage, The luggage transfer device is characterized in that the third platform is disposed on the opposite side of the first platform from the second platform.

[0276] According to Feature B1, it is possible to move luggage from the first platform to the second platform, from the first platform to the third platform, and from the third platform to the second platform. This allows luggage loaded on the first platform to be moved to the third platform, and after another luggage is moved to the second platform, the luggage on the third platform can be moved to the second platform. In this way, by making it possible to temporarily place luggage on the third platform before moving it to the second platform, it is possible to adjust the order in which luggage is moved to the second platform.

[0277] Compared to a configuration in which a third platform is present between the first and second platforms, this configuration reduces the travel distance of the luggage transfer device when transferring luggage from the first platform to the second platform. This reduces the time required to transfer luggage from the first platform to the second platform in a configuration in which a third platform is present in addition to the first and second platforms and luggage on the first platform can be temporarily placed on the third platform before being transferred to the second platform. Furthermore, when the first transport control is executed most frequently among the first transport control, second transport control, and third transport control, the operating time of the luggage transfer device can be reduced by reducing the time required to transfer luggage from the first platform to the second platform.

[0278] Compared to a configuration in which the second platform is located between the first and third platforms, this configuration reduces the travel distance of the luggage transfer device when moving luggage from the first platform to the third platform. This reduces the time required to move luggage from the first platform to the third platform in a configuration in which the third platform is located in addition to the first and second platforms and luggage on the first platform can be temporarily placed on the third platform before being transferred to the second platform.

[0279] Feature B2. The first stage, the second stage, and the third stage are arranged in a straight line, The luggage transfer device according to Feature B1, wherein the transport path (carry-in guide rail 67 and carry-out guide rail 68) of the luggage transport means is a straight path.

[0280] According to Feature B2, in a configuration having the configuration of Feature B1, in which a third platform is provided in addition to the first and second platforms, and luggage on the first platform can be temporarily placed on the third platform before being transferred to the second platform, it is possible to eliminate the need for control to decelerate the luggage transport means in order to change the direction of movement of the luggage transport means. This reduces the time required for movement of the luggage transport means. Furthermore, by making the movement of the luggage transport means linear, it is possible to simplify the configuration for moving the luggage transport means.

[0281] Feature B3: A luggage transfer device described in Feature B1 or B2, characterized in that when the first conveying control is executed while luggage is present on the second platform, luggage transported from the first platform by the first conveying control is loaded on top of the luggage that was present on the second platform.

[0282] According to Feature B3, since the configuration of Feature B1 is included and the first to third conveyance controls can be executed, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the first conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0283] Feature B4: A luggage transfer device described in any one of Features B1 to B3, characterized in that when the third conveying control is executed while luggage is present on the second loading platform, luggage transported from the third loading platform by the third conveying control is loaded on top of the luggage that was present on the second loading platform.

[0284] According to Feature B4, since the configuration of Feature B1 is included and the first to third conveyance controls can be executed, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the third conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0285] Feature B5. When the first conveyance control is executed while an object is present on the second platform, the object conveyed from the first platform by the first conveyance control is stacked on top of the object that was present on the second platform; When the third conveyance control is executed in a state where an object exists on the second platform, the object conveyed from the third platform by the third conveyance control is stacked on top of the object that existed on the second platform, A layer of luggage in which a plurality of luggage are arranged (in the first embodiment, a layer of luggage N arranged in a first arrangement pattern or a second arrangement pattern) is set on the first placement table, A luggage transfer device described in feature B1 or B2, characterized in that the number of layers of luggage loaded on the second loading platform is set to a different number (7 layers in the first embodiment) from the number of layers of luggage set on the first loading platform (5 layers in the first embodiment).

[0286] According to feature B5, the number of layers of luggage loaded on the second platform is set to be different from the number of layers of luggage set on the first platform, so the number of layers of luggage can be changed before and after transfer of luggage from the first platform to the second platform. This makes it possible to change the number of layers of luggage from one suitable for storage within a facility to one suitable for transportation by truck, etc. Also, it makes it possible to change the number of layers of luggage from one suitable for transportation by truck, etc. to one suitable for storage within a facility.

[0287] Since the configuration has the above-mentioned feature B1 and is equipped with a first conveying control means, a second conveying control means, and a third conveying control means, the possibility of creating areas on the second loading platform where cargo is likely to collapse in situations where the number of cargo tiers changes before and after transfer is reduced compared to a configuration that does not have the second conveying control means and the third conveying control means.

[0288] Since the configuration includes the feature B1 and is capable of executing the first to third conveyance controls, it is possible to adjust the order of the luggage to be conveyed to the second mount by temporarily placing the luggage on the first mount on the third mount before transferring it to the second mount. In this configuration, by performing the first conveyance control or the third conveyance control to enable luggage to be loaded onto the second mount, it is possible to load luggage onto the second mount while adjusting the order of the luggage to be conveyed to the second mount. This reduces the possibility of the luggage loaded on the second mount having areas that are prone to collapse.

[0289] Feature B6: A luggage transfer device described in any one of Features B1 to B5, characterized in that the luggage transport means is equipped with an adsorption holding means (adsorption holding mechanism 52, adsorption head 81) that can adsorb and hold luggage on the first loading platform or the third loading platform from above.

[0290] According to feature B6, even when the luggage is arranged on the first or third platform with gaps between the luggage, the orientation or arrangement of the luggage is prevented from changing before and after movement. Furthermore, compared to a configuration in which luggage on the first or third platform is scooped up and held from below, the possibility of the orientation or arrangement of the luggage changing before and after movement can be reduced. Furthermore, compared to a configuration in which luggage on the first or third platform is held by suction from the side, the possibility of the orientation or arrangement of the luggage changing before and after movement can be reduced.

[0291] Feature B7. The luggage conveying means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a transfer device (51) for moving the suction holding means in a direction from the third table toward the second table; Equipped with The luggage transfer device described in Feature B6 is characterized in that in the third conveying control, the transportation of luggage from the third loading platform to the second loading platform is carried out in a manner in which the luggage being adsorbed and held by the adsorption holding means passes above the uppermost luggage on the first loading platform.

[0292] According to feature B7, even when the first platform is present on the path from the third platform to the second platform, it is possible to prevent the package being transported from the third platform to the second platform from coming into contact with the package on the first platform. This makes it possible to prevent the package transport path from becoming complicated and the processing configuration for transporting the package from becoming complicated in a configuration that includes the configuration of feature B1 above, in which a third platform is present in addition to the first and second platforms, and in which the package on the first platform can be temporarily placed on the third platform before being transferred to the second platform.

[0293] Feature B8. The luggage conveying means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a transfer device (51) for moving the suction holding means in a direction from the first table toward the second table; a transfer device (51) for moving the suction holding means in a direction from the third table toward the second table; Equipped with In the first conveyance control, the suction holding means, which is present at a first height position (first conveyance height position in the first embodiment) while suction-holding a load, is configured to move in a direction from the first platform toward the second platform, The luggage transfer device described in feature B6 or B7 is characterized in that, in the third conveying control, the suction holding means, which is located at a second height position (second conveying height position) higher than the first height position while suction-holding luggage, moves in a direction from the third loading platform toward the second loading platform.

[0294] According to feature B8, the lifting distance of the suction holding means required in the first conveyance control can be set shorter than the lifting distance of the suction holding means required in the third conveyance control. This allows the time required to lift the suction holding means in the first conveyance control to be shorter than the time required to lift the suction holding means in the third conveyance control. Therefore, when the first conveyance control is performed more frequently than the third conveyance control, the operating time of the luggage transfer device can be shortened. Furthermore, compared to when luggage falls from the suction holding means during the first conveyance control, the impact on the luggage can be reduced compared to when luggage falls from the suction holding means during the third conveyance control. This reduces the possibility of damage to the luggage caused by an impact if the luggage falls from the suction holding means during conveyance when the first conveyance control is performed more frequently than the third conveyance control.

[0295] Feature B9: A predetermined lifting means (first lifter 25) that can adjust the height position of the first mounting table; a specific lifting means (second lifter 26) that can adjust the height position of the second mounting table; Equipped with The luggage transport means includes a predetermined height adjustment means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means, The luggage transfer device described in any one of features B6 to B8 is characterized in that the predetermined control means is equipped with a means (a function of executing the processing of steps S120 and S121 in CPU 112) for executing control of the predetermined lifting and lowering means and the specific lifting and lowering means so that, in the first conveying control, the height position of the suction holding means when the suction holding means adsorbs luggage on the first loading platform and the height position of the suction holding means when the suction holding means releases the suction holding of the luggage and places it on the second loading platform are approximately the same height position (the suction and detachment height position in the first embodiment).

[0296] According to Feature B9, compared to a configuration in which the height position of the suction holding means when the suction holding means is sucking up the load on the first platform is different from the height position of the suction holding means when the suction holding means releases the suction holding of the load and places it on the second platform, the configuration for adjusting the height position of the suction holding means can be simplified. Also, the processing configuration for adjusting the height position of the suction holding means can be simplified. Furthermore, compared to a configuration in which the predetermined lifting / lowering means and the specific lifting / lowering means are not provided, it is possible to reduce the lifting distance of the suction holding means and the time required for lifting / lowering the suction holding means.

[0297] Feature B10: A predetermined lifting means (first lifter 25) is provided to adjust the height position of the first mounting table, The luggage transport means is a predetermined height adjusting means (elevating mechanism 53, first air cylinder 76, second air cylinder 77) that can adjust the height position of the suction holding means; a means (transfer device 51) for moving the suction holding means in a direction from the first table toward the third table; Equipped with The first loading platform is configured such that an upper surface of the first loading platform is at a predetermined height (the same height as the upper end of the first carry-in roller 13d), and the package is placed on the first loading platform. the predetermined control means includes a means for executing control of the predetermined lifting means so that the upper surface of the first mounting table is at a position higher than the predetermined height position when the second transport control is being executed (a function for executing the process of step S120 in CPU 112); A luggage transfer device described in any one of features B6 to B9, characterized in that the upper surface of the third loading platform is set at a position higher than the specified height position (in the first embodiment, a height position 2004 mm above the floor of the facility).

[0298] According to feature B10, compared to a configuration that does not include a predetermined lifting means or a configuration in which the upper surface of the third platform is located at a height lower than the predetermined height, the distance the suction holding means descends to contact the load on the first platform, the distance the suction holding means ascends to lift the load, the distance the suction holding means descends to place the load on the third platform, and the distance the suction holding means ascends after placing the load can be reduced. This reduces the time required to raise and lower the suction holding means in the second conveyance control. It also reduces the magnitude of the impact on the load if it falls.

[0299] Feature B11: The luggage transport means includes luggage holding means (suction holding mechanism 52, suction head 81) capable of holding one layer of luggage present on the first platform or one layer of luggage present on the third platform, In the first transport control, the cargo holding means, which is holding one layer of cargo that was on the first platform, is configured to move in a direction from the first platform toward the second platform, In the second transport control, the cargo holding means, which is holding one layer of cargo that was on the first platform, moves in a direction from the first platform toward the third platform, A luggage transfer device described in any one of features B1 to B10, characterized in that in the third conveying control, the luggage holding means holding one layer of luggage that was on the third loading platform moves in a direction from the third loading platform toward the second loading platform.

[0300] According to feature B11, one layer of luggage on the first platform can be transported onto the second platform at once. Also, one layer of luggage on the first platform can be transported onto the third platform at once. Furthermore, one layer of luggage on the third platform can be transported onto the second platform at once. This simplifies the processing configuration for preventing changes to the luggage arrangement pattern compared to a configuration in which one layer of luggage is transported in multiple batches. Also, the time required to move the luggage can be shortened.

[0301] Note that one or more of the features A1 to A12 and the features B1 to B11 may be applied to the features B1 to B11, thereby making it possible to achieve a synergistic effect by combining the features.

[0302] According to the invention relating to the above-mentioned feature group B, it is possible to solve the following problems.

[0303] In facilities such as production factories and logistics warehouses, when cargo is transported out of the facility, the cargo is transferred from a storage platform to a transportation platform.In addition, in facilities such as logistics warehouses and retail stores, when cargo is brought into the facility, the cargo is transferred from a transportation platform to a storage platform.As a cargo transfer device used for such cargo transfer, a cargo transfer device that moves cargo stacked on a source platform to a destination platform one layer at a time is known.

[0304] When cargo is transferred so that multiple layers of cargo are stacked on the platform at the transfer destination, the cargo is more likely to collapse during transportation or storage depending on how the cargo is loaded. For example, if cargo is stacked in a manner in which the upper and lower cargoes face the same direction (so-called "straight stacking"), the cargo is more likely to collapse. In contrast, if the cargo is stacked so that the orientation of the upper and lower cargoes changes, the cargo is less likely to collapse. In the above-mentioned cargo transfer device, if the number of layers of cargo on the platform is not changed at the transfer source and the transfer destination, the cargo will also be loaded in a manner that is less likely to collapse at the transfer destination, provided that the cargo is stacked in a manner that is less likely to collapse at the transfer source.

[0305] However, the number of tiers suitable for storing luggage in facilities such as factories and warehouses may differ from the number of tiers suitable for transporting luggage by truck or the like. In the above-described luggage transfer device, if the number of tiers of luggage changes before and after transfer, even if the luggage is stacked on the source platform in a manner that is less likely to cause the luggage to collapse, there is a risk that the orientation of the upper and lower luggage may be the same on the destination platform, i.e., a location where the luggage is more likely to collapse. Furthermore, while a configuration may be considered in which a platform is provided on which luggage removed from the source platform can be temporarily placed before being loaded onto the destination platform, an increase in the number of luggage sources and destinations significantly increases the time required to transfer the luggage. Thus, there is still room for improvement in luggage transfer devices that transfer luggage from the source platform to the destination platform. [Explanation of symbols]

[0306] 11...first pallet, 12...second pallet, 13d...first loading roller, 15...luggage transfer device, 25...first lifter, 26...second lifter, 27...first pallet loading platform, 28...second pallet loading platform, 46...luggage loading platform, 51...transfer device, 52...suction holding mechanism, 53...lifting mechanism, 67...loading side guide rail, 68...unloading side guide rail, 76...first air cylinder, 77...second air cylinder, 81...suction head, 102...direct start button, 103...carry-in start button, 104...carry-out start button, 112...CPU, N...luggage.

Claims

1. a first loading platform from which the luggage is moved; a second loading platform to which the luggage is transferred; a luggage transport means for transporting luggage; A predetermined control means; A luggage transfer device comprising: the luggage transfer device includes a third platform on which luggage can be placed, The predetermined control means a first transfer control means for executing a first transfer control to transfer the luggage from the first platform to the second platform by the luggage transfer means based on the occurrence of a first trigger; a second transfer control means for executing a second transfer control to transfer the luggage from the first platform to the third platform by the luggage transfer means based on the occurrence of a second trigger; a third transfer control means for executing a third transfer control to cause the luggage transfer means to transfer the luggage from the third platform to the second platform when a third trigger occurs; Equipped with When the first transport control is executed in a state in which the packages are arranged in a predetermined pattern on the first platform, the packages are transported from the first platform to the second platform so that the packages are arranged in the predetermined pattern on the second platform, When the second transport control is executed in a state in which the packages are arranged on the first platform in the predetermined pattern, the packages are transported from the first platform to the third platform so that the packages are arranged on the third platform in the predetermined pattern, A luggage transfer device characterized in that, when the third transport control is executed when luggage is arranged in the predetermined pattern on the third loading platform, luggage is transported from the third loading platform to the second loading platform so that the luggage is arranged in the predetermined pattern on the second loading platform.

2. The luggage transfer device described in claim 1, characterized in that when the first conveying control is executed while luggage is present on the second loading platform, luggage transported from the first loading platform by the first conveying control is loaded on top of the luggage that was present on the second loading platform.

3. The luggage transfer device described in claim 2, characterized in that when the third conveying control is executed while luggage is present on the second loading platform, luggage transported from the third loading platform by the third conveying control is loaded on top of the luggage that was present on the second loading platform.

4. When the first transport control is executed in a state where an object exists on the second platform, the object transported from the first platform by the first transport control is stacked on top of the object that existed on the second platform, When the third conveyance control is executed in a state where an object exists on the second platform, the object conveyed from the third platform by the third conveyance control is stacked on top of the object that existed on the second platform, A layer of luggage in which a plurality of luggage items are arranged is set on the first loading platform, 2. The luggage transfer device according to claim 1, wherein the number of layers of luggage loaded on the second loading platform is set to be different from the number of layers of luggage set on the first loading platform.

5. The luggage transfer device according to any one of claims 1 to 4, characterized in that the luggage transport means is equipped with an adsorption holding means capable of adsorbing and holding luggage on the first loading platform or the third loading platform from above.

6. The luggage transport means is a predetermined height adjusting means for adjusting the height position of the suction holding means; a means for moving the suction holding means in a direction from the third stage toward the second stage; Equipped with The luggage transfer device described in claim 5, characterized in that in the third conveying control, the transportation of luggage from the third loading platform to the second loading platform is carried out in a manner in which the luggage being adsorbed and held by the adsorption holding means passes above the uppermost luggage on the first loading platform.

7. The luggage transport means is a predetermined height adjusting means for adjusting the height position of the suction holding means; a means for moving the suction holding means in a direction from the first stage toward the second stage; a means for moving the suction holding means in a direction from the third stage toward the second stage; Equipped with In the first transport control, the suction holding means, which is at a first height position while suction-holding an object, moves in a direction from the first platform toward the second platform, The luggage transfer device described in claim 5, characterized in that in the third conveying control, the suction holding means, which is located at a second height position higher than the first height position while suction-holding luggage, moves in a direction from the third loading platform toward the second loading platform.

8. a predetermined lifting means for adjusting the height position of the first mounting table; a specific lifting means for adjusting the height position of the second table; Equipped with the luggage conveying means is provided with a height adjusting means that can adjust the height position of the suction holding means, The luggage transfer device according to claim 5, characterized in that the predetermined control means is provided with means for executing control of the predetermined lifting means and the specific lifting means so that, in the first conveying control, the height position of the suction holding means when the suction holding means adsorbs luggage on the first loading platform and the height position of the suction holding means when the suction holding means releases the suction holding of the luggage and places the luggage on the second loading platform are approximately the same height position.

9. a predetermined lifting means for adjusting the height position of the first mounting table; The luggage transport means is a predetermined height adjusting means for adjusting the height position of the suction holding means; a means for moving the suction holding means in a direction from the first stage toward the third stage; Equipped with The luggage is placed on the first platform when the top surface of the first platform is at a predetermined height, the predetermined control means includes means for controlling the predetermined lifting means so that the upper surface of the first mounting table is at a position higher than the predetermined height position when the second transport control is being executed, 6. The luggage transfer device according to claim 5, wherein an upper surface of the third platform is set at a position higher than the predetermined height position.

10. the luggage transport means includes luggage holding means capable of holding one layer of luggage present on the first platform or one layer of luggage present on the third platform, In the first transport control, the cargo holding means holding one layer of cargo that was on the first platform moves in a direction from the first platform toward the second platform, In the second transport control, the cargo holding means, which is holding one layer of cargo that was on the first platform, is configured to move in a direction from the first platform toward the third platform, A luggage transfer device as described in any one of claims 1 to 4, characterized in that in the third conveying control, the luggage holding means holding one layer of luggage that was on the third loading platform moves in a direction from the third loading platform toward the second loading platform.

11. the first stage, the second stage, and the third stage are arranged in a straight line, 5. A luggage transfer device according to claim 1, wherein the transport path of said luggage transport means is a straight path.

12. the second stage is arranged next to the first stage, 5. The baggage transfer device according to claim 1, wherein the third platform is disposed on an opposite side of the first platform from the second platform.

Images