Transfer system and transfer method

Abstract

To provide a transfer system capable of suppressing deterioration of work efficiency when loading a cargo on a cargo bed of a vehicle.SOLUTION: The entry portion moves on the discharge table in the first direction while holding the article, and enters the loading platform of the vehicle from the discharge table. A detector detects the position of the loading platform. The adjustment device adjusts the position of at least one of the discharge table and the loading platform. The control device drives the adjustment device based on the detection result of the detector.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transfer system and a transfer method. [Background technology]

[0002] Pallet loading devices that load pallets onto the bed of a vehicle are known. For example, Patent Document 1 describes a pallet loading device that includes a table lifter and a conveyor. In this device, the conveyor is mounted on a height-adjustable table lifter, and is movable horizontally by a slide adjustment mechanism. In this device, an operator must operate an operating handle to change the height and position of the table lifter and adjust the conveyor's feed direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 08-151131 Summary of the Invention [Problem to be solved by the invention]

[0004] If the truck's stopping position is not accurate, the relative position of the transfer device will be misaligned when it enters the truck bed, hindering loading. Furthermore, if a pallet is transferred in this state, the loading position will be misaligned and the pallet will not be placed in the desired position. In this case, the pallet must ultimately be manually adjusted to the desired position, significantly reducing work efficiency.

[0005] An object of the present invention is to provide a transfer system and a transfer method that can suppress a decrease in work efficiency when loading cargo onto the bed of a vehicle. [Means for solving the problem]

[0006] According to one aspect of the present invention, A loading platform and an entrance section that holds a load and moves in a first direction on the discharge platform and enters a loading platform of a vehicle; a detector for detecting the position of the loading platform; an adjustment device for adjusting the position of at least one of the discharge platform and the loading platform; a control device that drives the adjustment device based on the detection result by the detector; A transfer system is provided.

[0007] According to another aspect of the present invention, The approach section holding the load is moved on the delivery platform, and the load is advanced from the delivery platform to the loading platform of the vehicle; A transfer method for transferring a load held in the approach section onto the loading platform after the approach section has entered the loading platform, comprising: Before the access section is moved into the loading platform, A control device detects the position of the loading platform, There is provided a transfer method in which the control device drives an adjustment device to adjust the position of at least one of the discharge platform and the loading platform based on the detection result of the position of the loading platform. [Effects of the Invention]

[0008] The control device drives the adjustment device to adjust the positions of the discharge platform and the loading platform, thereby making it possible to prevent a decrease in work efficiency when loading cargo onto the vehicle's loading platform. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic side view of a loading and unloading system and a truck 500 according to a first embodiment. [Figure 2] FIG. 2 is a schematic plan view of the transfer system and the truck 500 according to the first embodiment. [Figure 3] 3 is a block diagram of the control device 19. [Figure 4] FIG. 4 is a flowchart showing the procedure for adjusting the position of the transfer system according to the first embodiment. [Figure 5]Figure 5A is a diagram (part 1) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 5B is a diagram (part 1) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 6] Figure 6A is a diagram (part 2) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 6B is a diagram (part 2) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 7] Figure 7A is a diagram (part 3) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 7B is a diagram (part 3) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 8] Figure 8A is a diagram (part 4) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 8B is a diagram (part 4) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 9] Figure 9A is a diagram (part 5) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 9B is a diagram (part 5) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 10] Figure 10A is a diagram (part 6) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 10B is a diagram (part 6) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 11] Figure 11A is a diagram (part 7) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 11B is a diagram (part 7) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 12] Figure 12A is a diagram (part 8) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 12B is a diagram (part 8) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 13] Figure 13A is a diagram (part 9) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 13B is a diagram (part 9) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 14] Figure 14A is a diagram (part 10) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 14B is a diagram (part 10) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 15] Figure 15A is a diagram (part 11) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 15B is a diagram (part 11) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 16] Figure 16A is a diagram (part 12) showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figure 16B is a diagram (part 12) showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side. [Figure 17] Figure 17A is a diagram (part 13) showing the planar positional relationship between the transfer system and truck according to the second embodiment, and Figure 17B is a diagram (part 13) showing the positional relationship when the transfer system and truck according to the second embodiment are viewed from the side. [Figure 18] Figure 18A is a diagram (part 14) showing the planar positional relationship between the transfer system and truck according to the second embodiment, and Figure 18B is a diagram (part 14) showing the positional relationship when the transfer system and truck according to the second embodiment are viewed from the side. [Figure 19] FIG. 19 is a schematic plan view of the transfer device 40. As shown in FIG. [Figure 20] 20A and 20B are schematic side views of the fulcrum lifting mechanism 47. FIG. [Figure 21] 21A and 21B are schematic side views of the parallel link mechanism 46 and the fork 41. FIG. [Figure 22]22A and 22B are schematic side views (part 1) of the approach section 30, transfer device 40, pallet 60, and load 61 for illustrating the procedure by which transfer device 40 transfers a pallet from approach section 30 to loading platform 501. [Figure 23] 23A and 23B are schematic side views (part 2) of the approach section 30, transfer device 40, pallet 60, and load 61 for illustrating the procedure by which transfer device 40 transfers a pallet from approach section 30 to loading platform 501. [Figure 24] 24A and 24B are schematic side views (part 3) of the approach section 30, transfer device 40, pallet 60, and load 61 for explaining the procedure by which transfer device 40 transfers a pallet from approach section 30 to loading platform 501. [Figure 25] FIG. 25 is a schematic plan view (part 1) of the unloading table 20, the unloading conveying path 80, etc. of the transfer system according to the third embodiment. [Figure 26] FIG. 26 is a schematic plan view (part 2) of the unloading table 20, the unloading conveying path 80, etc. of the transfer system according to the third embodiment. [Figure 27] FIG. 27 is a schematic plan view (part 3) of the unloading table 20, the unloading conveying path 80, etc. of the transfer system according to the third embodiment. [Figure 28] FIG. 28 is a schematic plan view of the unloading table 20 and the unloading conveying path 80 of the transfer system according to a modified example of the third embodiment. [Figure 29] FIG. 29 is a schematic side view of the transfer device 100 and the truck 500 of the transfer system according to the fourth embodiment. [Figure 30] FIG. 30 is a schematic plan view of the transfer device 100 and the truck 500 of the transfer system according to the fourth embodiment. [Figure 31] FIG. 31 is a diagram showing the planar positional relationship in a state where a plurality of forks 110 are holding a plurality of pallets 130. As shown in FIG. [Figure 32] 32A and 32B are schematic side views of fork 110, support 111, pallet 130, load 131, and output platform 120. FIG. [Figure 33]FIG. 33 is a schematic side view (part 1) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 34] FIG. 34 is a schematic side view (part 2) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 35] FIG. 35 is a schematic side view (part 3) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 36] FIG. 36 is a schematic side view (part 4) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 37] FIG. 37 is a schematic side view (part 5) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 38] FIG. 38 is a schematic side view (part 6) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 39] FIG. 39 is a schematic side view (part 7) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 40] FIG. 40 is a schematic side view (part 8) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. [Figure 41] FIG. 41 is a schematic side view (part 9) of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501. DETAILED DESCRIPTION OF THE INVENTION

[0010] [First Example] A transfer system according to a first embodiment will be described with reference to FIGS. FIG. 1 is a schematic side view of the transfer system and truck 500 according to the first embodiment, and FIG. 2 is a schematic plan view of the transfer system and truck 500 according to the first embodiment.

[0011] The transfer system according to the first embodiment includes an output platform 10, an entrance section 11, a detector 13, an adjustment device 12, and a control device 19. The entrance section 11 moves in a first direction Da on the output platform 10 while holding a load, and enters from the output platform 10 onto a loading platform 501 of a truck 500. The detector 13 detects the position of the loading platform 501. The adjustment device 12 adjusts the position of at least one of the output platform 10 and the loading platform 501. The control device 19 drives the adjustment device 12 based on the detection result by the detector 13.

[0012] When the truck 500 is stopped, if the position of the loading platform 501 is misaligned with the position of the delivery platform 10, the two can be aligned without manual intervention. This improves the efficiency of the work of loading cargo onto the loading platform 501.

[0013] Next, a detailed description will be given of the transfer system according to the first embodiment. The transfer system according to the first embodiment includes an alarm 16 in addition to the unloading platform 10, the entrance 11, the detector 13, the adjusting device 12, and the control device 19. When loading cargo, the loading / unloading entrance at the rear of the loading platform 501 of the truck 500 is brought close to the unloading platform 10 and the truck is stopped.

[0014] The entrance section 11 is equipped with multiple wheels 11A and can move on the top surface of the output platform 10. The movement direction of the entrance section 11 is referred to as the first direction Da, and the direction that intersects with the first direction Da in the horizontal plane, for example, the direction perpendicular thereto, is referred to as the second direction Db. The output platform 10 can change its position in the rotational direction in the horizontal plane, as described below. An xyz Cartesian coordinate system is defined in which the first direction Da when the position (posture) of the output platform 10 in the rotational direction is the reference position is the x direction, and the vertically upward is the z direction. The direction from the output platform 10 facing the loading platform 501 is referred to as the forward direction, and the opposite direction is defined as the backward direction.

[0015] A plurality of pallets 17 are placed on the entrance 11. Each pallet 17 carries a load 18. The pallets 17 may be single-sided or double-sided.

[0016] With the pallet 17 and the load 18 loaded, the entrance section 11 moves in the first direction Da on the top surface of the discharge table 10 and enters from the discharge table 10 into the loading platform 501. With the entrance section 11 entering the loading platform 501, the pallet 17 loaded on the entrance section 11 together with the load 18 is transferred onto the floor surface of the loading platform 501, thereby loading the load 18. The transfer of the pallet 17 and the load 18 is performed by a transfer device 14 which enters the loading platform 501 together with the entrance section 11.

[0017] The transfer device 14 is equipped with, for example, a liftable fork, and receives the pallet 17 from the entrance 11 by holding it with the fork, and then lowers it onto the floor surface of the loading platform 501. An example of the configuration of the transfer device 14 will be described in detail later in the second embodiment.

[0018] The detector 13 detects the position of the loading platform 501. The detector 13 includes a first sensor 13A arranged to face the side of the loading platform 501, and a second sensor 13B arranged to face the loading / unloading entrance at the rear of the loading platform 501. For example, LiDAR can be used as the first sensor 13A and the second sensor 13B. The first sensor 13A and the second sensor 13B are supported by, for example, a support pillar (not shown).

[0019] The first sensor 13A measures the distance to multiple points on the side of the loading platform. For example, the first sensor 13A can measure the distance to multiple points lined up horizontally on the side of the loading platform 501 by scanning a laser beam in the x direction. The measurement results are input to the control device 19. From these measurement results, the position of the loading platform 501 in the y direction and the position in the rotational direction around the z axis can be detected.

[0020] The second sensor 13B is disposed at a position slightly lower than the upper end of the loading platform 501, facing diagonally downward and forward. For example, the second sensor 13B measures the distance to the rear end of the loading platform 501, the floor of the loading platform 501, and multiple locations on the inner surface of the side wall by scanning a laser beam in the y direction. The measurement results are input to the control device 19. From these measurement results, the position of the loading platform 501 in the x direction and the position (height) in the z direction can be detected.

[0021] The second sensor 13B may be attached to the entrance 11. When the second sensor 13B is attached to the entrance 11, it is possible to measure the distance to the inner surface of the side wall, the floor, and a plurality of points on the front wall of the loading platform 501 when the entrance 11 has entered the loading platform 501.

[0022] As the first sensor 13A and the second sensor 13B, a camera capable of measuring the distance to the subject may be used.

[0023] The adjustment device 12 includes a loading platform adjustment device 12A and an output platform adjustment device 12B. The truck 500 is parked on the vehicle bed 15, and the loading platform adjustment device 12A adjusts the position of the vehicle bed 15 to adjust the position of the loading platform 501. The output platform adjustment device 12B adjusts the position of the output platform 10. Here, the "positions" to be adjusted are mainly the position in the height direction (z direction), the position in the direction intersecting the first direction Da in the horizontal plane (e.g., the position in the y direction), and the position in the rotational direction in the horizontal plane (the position in the rotational direction around the z axis). Since these positions are likely to be misaligned when the truck 500 is parked, adjusting these positions is particularly effective. Note that at least one of these positions may be adjusted. The function of the adjustment device 12 can be realized, for example, by combining multiple hydraulic cylinders.

[0024] It is also possible to install only one of the loading platform adjustment device 12A and the output platform adjustment device 12B and adjust the position of only the output platform 10 or the loading platform 501. The adjustment device 12 is driven by the control device 19 based on the detection result of the detector 13.

[0025] The alarm 16 includes a sound generator 16A and a display 16B, and outputs warning information to the driver of the truck 500. The sound generator 16A outputs, for example, a warning sound. The display 16B displays, for example, an image to call attention. The display 16B is preferably placed at a high position at the front of the truck 500, in a position that is easily visible from the driver's seat. The sound generator 16A is preferably placed in a position where the warning sound can be easily transmitted to the driver's seat.

[0026] Figure 3 is a block diagram of the control device 19. The functions of each block of the control device 19 shown in Figure 3 can be realized in terms of hardware by elements such as a computer processor, CPU, and memory, electronic circuits, and mechanical devices, and in terms of software by a computer program, etc., but here, functional blocks realized by the cooperation of these elements are depicted. Therefore, it will be easily understood by those skilled in the art that these functional blocks can be realized in various ways by combining hardware and software.

[0027] The control device 19 includes an input unit 19A, a position determination unit 19B, a communication unit 19C, a loading platform position control unit 19D, an output platform position control unit 19E, and an alarm unit 19F. The input unit 19A receives the detection results of the detector 13. The position determination unit 19B calculates the deviation from the reference position of the loading platform 501 to the current position based on the detection results of the detector 13. It also determines whether the calculated deviation exceeds a predetermined reference range. If the deviation is equal to or less than the reference range, no position adjustment is made. By not adjusting the position, the cycle time can be shortened. The reference range can be set by simulation or evaluation experiments.

[0028] If the deviation exceeds the reference range, the platform position control unit 19D drives the platform adjustment device 12A to adjust the position of the platform 501. If the deviation exceeds the reference range, the output platform position control unit 19E drives the output platform adjustment device 12B to adjust the position of the output platform 10.

[0029] The alarm unit 19F controls the alarm 16 to output warning information when the deviation exceeds a preset limit range. "Exceeding the limit range" means that the deviation is so excessive that the position adjustments by the loading platform adjustment device 12A and the output platform adjustment device 12B cannot align the loading platform 501 with the output platform 10. In this case, the truck 500 must be temporarily removed from the vehicle bed 15 and then moved back to the vehicle bed 15.

[0030] The communication unit 19C transmits and receives information to and from an external device such as a host system (not shown) via a wireless or wired communication line. For example, the communication unit 19C receives an operation command for the transfer system from the host system and transmits the operation status of the transfer system to the host system. The communication unit 19C transmits predetermined commands to multiple control objects included in the transfer system. For example, the control device 19 prohibits movement of the approach unit 11 before position adjustment, and allows movement of the approach unit 11 after position adjustment.

[0031] The procedure for adjusting the position of the transfer system according to the first embodiment will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the procedure for adjusting the position of the transfer system according to the first embodiment.

[0032] When the truck 500 stops at the vehicle platform 15 (FIGS. 1 and 2) and the control device 19 receives a command to start operation from the higher-level system, the procedure shown in FIG. 4 is started. First, the control device 19 detects the position of the loading platform 501 (step S1). Specifically, the input unit 19A (FIG. 3) of the control device 19 acquires the measurement results from the detector 13, and the position determination unit 19B calculates the position of the loading platform 501. Then, the deviation of the calculated position of the loading platform 501 from a reference position is calculated (step S2). Here, the reference position of the loading platform 501 means a position where, when the output platform 10 (FIG. 2) is placed at the reference position, the center line of the output platform 10 and the center line of the loading platform 501 coincide in a plan view, and the height of the floor surface of the loading platform 501 coincides with the height of the top surface of the output platform 10, and the reference position of the loading platform 501 and the top surface of the output platform 10 are satisfied.

[0033] Next, the position determination unit 19B (FIG. 3) determines whether the deviation exceeds a predetermined reference range (step S3). If the deviation does not exceed the reference range, the approach unit 11 (FIGS. 1 and 2) starts approaching the loading platform 501 (step S4). Once the loading of the cargo is complete, the procedure for detecting the position of the loading platform 501 ends (step S5). If the loading of the cargo is not complete, the procedure for detecting the position of the loading platform 501 in step S1 is resumed (step S5).

[0034] If it is determined in step S3 that the deviation exceeds the standard range, it is then determined whether the deviation exceeds the limit range (step S6). If the deviation does not exceed the limit range, the amount of position adjustment for at least one of the platform 501 and the output platform 10 is determined based on the deviation (step S7). Once the amount of position adjustment has been determined, the platform position control unit 19D (FIG. 3) controls the platform adjustment device 12A, or the output platform position control unit 19E (FIG. 3) controls the output platform adjustment device 12B, thereby adjusting the position of at least one of the platform 501 and the output platform 10 (step S8).

[0035] For example, if the deviation is within the range that can be adjusted by the output platform adjustment device 12B, the control device 19 operates the output platform adjustment device 12B with priority to adjust the position of the output platform 10. If the deviation exceeds the range that can be adjusted by the output platform adjustment device 12B, the control device 19 operates the loading platform adjustment device 12A to adjust the position of the loading platform 501. If the deviation cannot be eliminated by adjusting the position of either the loading platform 501 or the output platform 10, it is recommended to adjust the positions of both the loading platform 501 and the output platform 10.

[0036] Once the position adjustment is complete, the procedure for detecting the position of the loading platform 501 in step S1 is resumed.

[0037] If it is determined in step S6 that the deviation exceeds the limit range, the notification unit 19F (FIG. 3) activates the notification unit 19F to output attention-calling information to the driver of the truck 500 (step S9). At this time, the driver causes the truck 500 to temporarily exit the vehicle bed 15 and then move it back to the vehicle bed 15. When the truck 500 re-enters the vehicle bed 15 and stops, the procedure for detecting the position of the loading platform 501 in step S1 is resumed. In this way, the driver immediately notices the positional deviation and can quickly take action to address the positional deviation.

[0038] As described above, the control device 19 detects the position of the loading platform 501 based on the detection results from the detector 13 before the entrance section 11 enters the loading platform 501 and while the loading platform 501 is moving after entering the loading platform 501. When a change in the position of the loading platform 501 is detected such that the deviation from the reference position exceeds a standard range, the control device 19 controls the adjustment device 12 to adjust the position of at least one of the discharge platform 10 and the loading platform 501.

[0039] Next, the excellent effects of the first embodiment will be described. In the first embodiment, when the truck 500 is stopped on the vehicle bed 15, if the position of the loading platform 501 is misaligned with the position of the delivery platform 10, the two can be aligned without manual intervention. This improves the efficiency of the work of loading cargo onto the loading platform 501.

[0040] Furthermore, even while the approach unit 11 is entering and moving on the loading platform 501, the position of the loading platform 501 is detected, and position adjustment is performed so that the relative position between the loading platform 501 and the discharge platform 10 does not deviate significantly. For example, when the approach unit 11 enters the loading platform 501, a large load is applied to the loading platform 501, which may cause the position of the loading platform 501 to deviate. If the approach unit 30 is moved out of the loading platform 501 while the relative position between the loading platform 501 and the discharge platform 20 is deviated, the relative position of the approach unit 30 with respect to the discharge platform 20 will deviate from its initial position. If the position adjustment between the discharge platform 20 and the loading platform 501 is performed even while the approach unit 11 is entering the loading platform 501, a situation in which a large deviation occurs in the relative position between the loading platform 501 and the discharge platform 10 when the approach unit 11 is moved out of the loading platform 501 is unlikely to occur. This allows the approach section 11 to be returned to the target position of the discharge table 10 when the approach section 11 is withdrawn from the loading platform 501.

[0041] Next, a modification of the first embodiment will be described. In the first embodiment, the position of the loading platform 501 in the y direction, the position in the z direction (height), and the position in the rotation direction around the z axis (posture) are detected, and these positions are adjusted between the loading platform 501 and the output platform 10. Alternatively, the position in the x direction (front-rear direction position), the position in the rotation direction around the y axis, and the position in the rotation direction around the x axis may be detected, and the loading platform 501 and the output platform 10 may also be aligned with respect to these positions.

[0042] In the first embodiment, the vehicle bed 15 and the bed adjustment device 12A (FIG. 1) are housed in a recess provided in the ground, and the height of the upper surface of the vehicle bed 15 is made approximately the same as the height of the ground, but the vehicle bed 15 and the bed adjustment device 12A may be installed on flat ground without providing a recess. In this case, to eliminate the difference in level between the upper surface of the vehicle bed 15 and the ground, it is advisable to provide a gentle slope in the area where the truck 500 passes.

[0043] In the first embodiment, the transfer device 14 equipped with forks receives the pallet 17 from the entrance 11 that has entered the loading platform 501, and then lowers it onto the floor of the loading platform 501, thereby transferring the pallet 17 and the load 18, but transfers may be performed in other ways.

[0044] For example, a method may be adopted in which the entrance section 11 carrying multiple pallets 17 and loads 18 enters the loading platform 501, the pallets 17 and loads 18 are held down from behind to prevent them from moving backward, and only the entrance section 11 is pulled out from the loading platform 501.

[0045] Alternatively, a groove extending in the front-to-rear direction may be formed in the floor surface of the loading platform 501, and the pallets 17 and loads 18 may be loaded onto the loading platform using this groove. In this method, a support member that is long in the front-to-rear direction and whose height dimension is variable is used as the entrance 11. First, the height dimension of the support member is set higher than the depth of the groove, and multiple pallets 17 and loads 18 are placed on the support member. In this state, the support member is advanced into the loading platform 501 along the groove.

[0046] After the support members have entered, the height dimension of the support members is reduced, allowing the pallet 17 and load 18 to be lowered to the floor of the loading platform 501. The support members are then pulled out of the loading platform along the grooves, allowing the pallet 17 and load 18 to be transferred from the support members to the loading platform. Air pressure, for example, can be used to adjust the height dimension of the support members.

[0047] In the first embodiment, the distance in the x direction between the output platform 10 and the loading platform 501 is obtained by measuring the distance to the rear end of the loading platform 501 with the second sensor 13B (FIGS. 1 and 2), but other methods may be adopted. For example, a marker may be attached to the rear bumper of the truck 500, and the distance in the x direction between the output platform 10 and the loading platform 501 may be obtained by capturing an image of the marker on the truck 500. For example, the distance to the marker can be estimated based on the visibility of the marker.

[0048] Alternatively, data communication may be enabled between the truck 500 and the control device 19 (FIGS. 1, 2, etc.), so that the control device 19 obtains the absolute coordinates of the truck from the truck 500. From the absolute coordinates of the truck 500, the positions of the truck 500 in the x and y directions (FIGS. 1 and 2) can be determined.

[0049] [Second Example] Next, a transfer system according to a second embodiment will be described with reference to Figures 5A to 24B. Figures 5A, 6A, 7A, ... 18A are diagrams showing the planar positional relationship between the transfer system and the truck according to the second embodiment, and Figures 5B, 6B, 7B, ... 18B are diagrams showing the positional relationship when the transfer system and the truck according to the second embodiment are viewed from the side.

[0050] In addition to the configuration of the transfer system according to the first embodiment, the transfer system according to the second embodiment includes a first conveyance path 21C that is provided on the output platform 10 and conveys the load in the first direction Da. Furthermore, the entrance section 30 includes a second conveyance path 31C that conveys the load in the first direction Da. The first conveyance path 21C and the second conveyance path 31C are configured to enable the transfer of the load from the first conveyance path 21C to the second conveyance path 31C.

[0051] Even while a pallet 60 and a load 61 are being transferred from the second conveying path 31C of the entrance 30 to the loading platform 501, a new pallet 60 and a load 61 can be supplied to the first conveying path 21C of the output platform 20. This makes it possible to improve loading efficiency.

[0052] Next, the transfer system according to the second embodiment will be described in more detail. As shown in Figures 5A and 5B, the transfer system according to the second embodiment includes an unloading platform 20, an entrance section 30, a transfer device 40, a frame 50, a traverse carriage 51, traverse rails 52, a detector 13, a vehicle base 15, and a loading platform adjustment device 12A.

[0053] The discharge platform 20 corresponds to the discharge platform 10 of the first embodiment (FIGS. 1 and 2), and the entrance section 30 corresponds to the entrance section 11 of the first embodiment. The detector 13 has the same function as the detector 13 of the first embodiment. The vehicle bed 15 and the bed adjustment device 12A have the same functions as the vehicle bed 15 and the bed adjustment device 12A of the first embodiment, respectively. The traverse carriage 51 and the traverse rail 52 have the same position adjustment function as the discharge platform adjustment device 12B of the first embodiment. Note that in Figures 6A and 6B and subsequent figures, the detector 13, the vehicle bed 15, and the bed adjustment device 12A are omitted.

[0054] In Fig. 5A, the entrance section 30 is hatched upward to the right. Note that the pallet 60 and the load 61, which will be described later, are hatched relatively lightly to the right. Similar hatching is used in Figs. 6A, 7A, ..., 18A. The operations of the discharge platform 20, entrance section 30, transfer device 40, and traversing cart 51 are controlled by a control device 70.

[0055] The truck 500 is parked on the vehicle platform 15 so that the rear loading / unloading entrance of the loading platform 501 of the truck 500 faces the unloading platform 20. The entrance section 30 carrying multiple pallets 60 and loads 61 enters the loading platform 501, and the pallets 60 are transferred from the entrance section 30 to the loading platform 501, thereby loading the pallets 60 and loads 61 onto the loading platform 501. The direction in which the entrance section 30 enters and exits the loading platform 501 is referred to as the first direction Da, and the direction perpendicular to the first direction Da in the horizontal plane is referred to as the second direction Db. The direction in which the entrance section 30 enters the loading platform 501 is referred to as the forward direction, and the opposite direction is referred to as the rearward direction. Either a double-sided or single-sided pallet may be used as the pallet 60. Note that when a single-sided pallet is used, it must have a shape that can be stably supported by the rollers 21 of the unloading platform 20, which will be described later.

[0056] On the floor of a work area where the load 61 is loaded onto the loading platform 501 of the truck 500, three pairs of lateral rails 52 extend in a direction intersecting the first direction Da and are arranged at different positions relative to the first direction Da. For example, the lateral rails 52 are arranged parallel to a direction perpendicular to the first direction Da when the output platform 20 is arranged at the reference position.

[0057] A traverse carriage 51 is placed on each of the traverse rails 52. The traverse carriage 51 is movable on the traverse rails 52 in the direction in which the traverse rails 52 extend. The frame 50 and the discharge platform 20 are supported by the three traverse carriages 51. Each of the traverse carriages 51 has a height adjustment mechanism that adjusts the height of the frame 50. By operating the traverse carriage 51, the height and position of the frame 50 are adjusted, and the discharge platform 20 and the loading platform 501 of the truck 500 are aligned.

[0058] The output platform 20 is fixed onto the frame 50. In a plan view, the output platform 20 has a rectangular shape that is long in the first direction Da. The output platform 20 has a floor surface 20A along which the entrance section 30 and the transfer device 40 move, and side walls 20B that restrict the position of the entrance section 30 in the second direction Db. The output platform 20 further has a plurality of rollers 21 arranged in two rows in the first direction Da. The plurality of rollers 21 in each row are arranged from the rear end toward the front to a predetermined position. The plurality of rollers 21 form a first conveying path 21C that conveys loads in the first direction Da.

[0059] The entrance section 30 has a plurality of wheels 32 and is capable of moving in a first direction Da on the floor surface 20A of the output table 20 and the floor surface of the loading platform 501. The entrance section 30 has three rows of rollers 31 aligned in the first direction Da. The rollers 31 form a second transport path 31C that transports the load in the first direction Da. One row of rollers 31 is disposed between two rows of rollers 21 of the output table 20 in the second direction Db, and the other two rows of rollers 31 are disposed outside the rows of rollers 21 of the output table 20.

[0060] The entry section 30 includes three roller support sections 30B that are long in the first direction Da and rotatably support each of the multiple rollers 31 arranged in three rows, and a connecting section 30A that connects the three roller support sections 30B at their intermediate positions.

[0061] An extension portion 34 extends rearward from each of the two ends of the rear end of the entrance portion 30. A guide roller 33 is attached to the outer side surface of the extension portion 34. The guide roller 33 contacts the side wall 20B of the carry-out table 20 to guide the entrance portion 30 in the first direction Da.

[0062] 5A and 5B show a state in which the position of the front end (hereinafter sometimes referred to as the tip) of the entry section 30 is approximately aligned with the position of the front end of the output table 20. At this time, a front portion of the first transport path 21C of the output table 20 overlaps with a rear portion of the second transport path 31C of the entry section 30 in the first direction Da.

[0063] When the pallet 60 placed on the first conveying path 21C of the output table 20 is conveyed forward, it is handed over to the second conveying path 31C of the entrance section 30 and further conveyed forward by the second conveying path 31C.

[0064] A transfer device 40 is disposed between a portion in front of the central roller support portion 30B of the entrance section 30 and a portion in front of each of the roller support portions 30B at both ends. As will be described later, the transfer device 40 has the function of lifting the pallet 60 and load 61 placed on the entrance section 30 and transferring them onto the loading platform 501 when the entrance section 30 has entered the loading platform 501.

[0065] The transfer device 40 is equipped with a plurality of wheels 42 and is capable of moving in a first direction Da on the floor surface 20A of the output platform 20. Guide rollers 45 provided on the sides of the transfer device 40 come into contact with the side surfaces of the roller support parts 30B, thereby guiding the transfer device 40 in the first direction Da. The transfer device 40 is equipped with a drive shaft 43 extending rearward. A power source 44 attached to the entrance part 30 applies a force in the first direction Da to the drive shaft 43, causing the transfer device 40 to move in the first direction Da.

[0066] Each transfer device 40 has two forks 41 extending forward. The forks 41 can be inserted into fork insertion portions of the pallet 60 to raise and lower the pallet 60. If the pallet 60 is a double-sided pallet, the forks 41 are inserted through the insertion openings of the pallet 60. With the forks 41 lowered, the transfer device 40 can assume a position in which its uppermost end is lower than the conveyance surface (the plane connecting the uppermost roller surfaces of the rollers 31) of the second conveyance path 31C of the entrance section 30. This allows the pallet 60 placed on the second conveyance path 31C to pass above the transfer device 40. The lifting mechanism for the forks 41 will be described later with reference to Figures 19 to 24.

[0067] Before the approach section 30 starts to move forward toward the loading platform 501, the center line of the loading platform 501 in the width direction is made to coincide with the center line of the output platform 20 in the second direction Db. Here, "coincidence" means that the center line of the loading platform 501 and the center line of the output platform 20 are located on the same straight line. The control device 70 moves the three traversing carriages 51 along the traversing rails 52, thereby adjusting the position of the output platform 20 and making the center lines coincident.

[0068] For example, when the control device 70 moves the three traverse carriages 51 by the same distance in the same direction, it is possible to translate the output platform 20. When the front traverse carriage 51 and the rear traverse carriage 51 are moved in opposite directions, it is possible to change the position (posture) of the output platform 20 in the rotational direction within the horizontal plane.

[0069] A plurality of pallets 60 carrying loads 61 are supplied from the rear end of the output table 20 onto the first conveying path 21C of the output table 20. The plurality of pallets 60 are supplied by rows of rollers 21 of the output table 20. The pallets 60 placed on the first conveying path 21C of the output table 20 are conveyed forward by rotating the rollers 21 and handed over to the second conveying path 31C of the entrance section 30. The pallets 60 are then conveyed to a predetermined position by the rollers 31 of the entrance section 30. As a result, the output table 20 and the entrance section 30 hold a plurality of pallets 60 arranged in two rows in the first direction Da.

[0070] When the pallet 60 is being transported on the first transport path 21C, the pallet 60 is supported by the rollers 21 of the output table 20 in the central portion in the second direction Db. After the pallet 60 is handed over to the second transport path 31C, the pallet 60 is supported by the rollers 31 of the entrance section 30 near both ends in the second direction Db. In the overlapping region of the area occupied by the first transport path 21C of the output table 20 and the area occupied by the second transport path 31C of the entrance section 30 in the first direction Da, the pallet 60 is supported by both the rollers 21 and 31.

[0071] When multiple pallets 60 are supplied to the first conveying path 21C from its rear end and conveyed forward, a row of pallets 60 is formed, lined up closely together in the first direction Da from the rear end of the discharge table 20 toward the front. The multiple pallets 60 lined up in the first direction Da are numbered sequentially, starting with 1, from the front pallet 60 toward the rear pallet 60, to distinguish between them. In the state shown in Figures 5A and 5B, a space is secured in which multiple pallets 60 can be arranged from the first pallet 60 to the front end of the entrance 30.

[0072] After loading a plurality of pallets 60 and loads 61 onto the discharge platform 20 and the entrance section 30, as shown in Figures 6A and 6B, the second transport path 31C of the entrance section 30 is operated to transport the first pallet 60 to the front end of the entrance section 30. At this time, the transfer device 40 is maintained in a low position, and the pallet 60 passes above the transfer device 40.

[0073] Next, as shown in FIGS. 7A and 7B, the entrance section 30 is advanced to enter the loading platform 501. Note that, before the entrance section 30 is advanced, it is confirmed that the deviation of the current position of the loading platform 501 from the reference position does not exceed the standard range, as in step S3 (FIG. 4) of the first embodiment. If the deviation exceeds the standard range, the positions of the loading platform 501 and the carrying-out platform 20 are adjusted, as in steps S7 and S8 (FIG. 4) of the first embodiment. After the entrance section 30 is advanced into the loading platform 501, the entrance section 30 is stopped when the distance between the tip of the entrance section 30 and the front wall of the loading platform 501 reaches a predetermined distance. Note that the transfer device 40 also moves forward together with the entrance section 30.

[0074] 8A and 8B, the transfer device 40 is operated to insert the forks 41 into the insertion openings of the first pallet 60, and the pallet 60 is held by the forks 41. At this time, the space between the first pallet 60 and the second pallet 60 is used as a space for the forks 41 to pass through when inserting the forks 41 into the insertion openings of the pallets 60.

[0075] Next, as shown in Figures 9A and 9B, the entrance section 30 is retracted a distance equivalent to the dimension of one pallet 60. At this time, the transfer device 40 is moved forward relative to the entrance section 30, thereby maintaining the transfer device 40 in a substantially stationary state relative to the loading platform 501. In this state, the forks 41 of the transfer device 40 protrude forward beyond the tip of the entrance section 30, and the first pallet 60 is raised above the floor surface of the loading platform 501. A space free of obstacles is secured between the underside of the pallet 60 and the floor surface of the loading platform 501.

[0076] Next, as shown in Figures 10A and 10B, the transfer device 40 is operated to lower the forks 41. As a result, the first pallet 60 is placed on the floor of the loading platform 501. By following the steps from Figures 8A to 10B, the first pallet 60 is transferred from the entrance 30 to the loading platform 501. In this way, the transfer device 40 receives the load placed on the second conveying path 31C of the entrance 30 from the second conveying path 31C and lowers it onto the floor of the loading platform 501.

[0077] 11A and 11B, the entrance section 30 is moved backward by a distance corresponding to the dimension of the pallet 60 in the first direction Da. At this time, the transfer device 40 is moved rearward relative to the entrance section 30. As a result, the forks 41 of the transfer device 40 are lowered rearward beyond the tip of the entrance section 30.

[0078] 12A and 12B, the second conveying path 31C of the entrance section 30 is operated to convey the second pallet 60 (the frontmost pallet 60 currently loaded in the entrance section 30) to the tip of the entrance section 30. At this time, the transfer device 40 is in a low position, and the pallet 60 passes above the transfer device 40.

[0079] 13A and 13B, the transfer device 40 is operated to transfer the second pallet 60 from the second conveying path 31C of the entrance section 30 onto the loading platform 501. At this time, the operation of the transfer device 40 is controlled so that the distance between the first pallet 60 and the second pallet 60 is a predetermined distance.

[0080] By repeating the steps of retracting the entrance section 30 (Figures 11A and 11B), transporting the frontmost pallet 60 placed on the second conveying path 31C of the entrance section 30 to the tip of the entrance section 30 (Figures 12A and 12B), and transferring the pallet 60 that has been transported to the tip of the entrance section 30 from the second conveying path 31C to the loading platform 501 (Figures 13A and 13B), multiple pallets 60 are transferred from the second conveying path 31C of the entrance section 30 to the loading platform 501.

[0081] 14A and 14B show the state where the first through sixth pallets 60 have been transferred from the second conveying path 31C of the entrance 30 to the loading platform 501. In this state, the seventh pallet 60 and load 61 remain on the second conveying path 31C. In addition, the first conveying path 21C consisting of a plurality of rollers 21 and the second conveying path 31C consisting of a plurality of rollers 31 overlap in the first direction Da.

[0082] 15A and 15B, by operating the first conveying path 21C of the output table 20 and the second conveying path 31C of the entrance section 30, some of the pallets 60 and loads 61 that were left on the first conveying path 21C of the output table 20 are transferred to the second conveying path 31C of the entrance section 30. For example, the eighth, ninth, and tenth pallets 60 are conveyed from the first conveying path 21C of the output table 20 to the second conveying path 31C of the entrance section 30.

[0083] At this time, the pallet 60 is transported from the first conveying path 21C to the second conveying path 31C via the area where the first conveying path 21C and the second conveying path 31C overlap. When the first conveying path 21C and the second conveying path 31C overlap, both ends of the article in the second direction Db are placed on the second conveying path 31C in the overlapping area, and the center portion is placed on the first conveying path 21C. This allows the article to be transported stably from the first conveying path 21C to the second conveying path 31C.

[0084] As shown in Figures 16A and 16B, the pallets 60 placed on the second conveying path 31C of the entrance section 30 are transferred onto the loading platform 501 in order, starting with the frontmost pallet 60. Figures 17A and 17B show the state in which the first through tenth pallets 60 have been loaded onto the loading platform 501, making the loading platform 501 full. Figures 17A and 17B show the state in which the tip of the entrance section 30 remains within the loading platform 501. Thereafter, the entrance section 30 is retracted and removed from the loading platform 501.

[0085] 18A and 18B, a plurality of new pallets 60 and loads 61 are supplied to the rear end of the first transport path 21C of the output table 20 and transported forward, thereby achieving the same state as that shown in FIGS. 5A and 5B.

[0086] Next, the structure and operation of the transfer device 40 will be described with reference to FIGS. 19 to 24B. 19 is a schematic plan view of the transfer device 40. A plurality of wheels 42 are attached to a support plate 48. The wheels 42 enable the transfer device 40 to move in a first direction Da on the floor surface 20A of the output platform 20 (FIGS. 5A, 5B, etc.) and the floor surface of the loading platform 501 (FIGS. 7A, 7B, etc.). A plurality of guide rollers 45 protruding laterally from the support plate 48 come into contact with the side surfaces of the roller support portions 30B of the entrance portion 30, thereby guiding the support plate 48 in the first direction Da.

[0087] Two forks 41 extend forward of a support plate 48. Each of the two forks 41 is attached to the support plate 48 via a parallel link mechanism 46. A fulcrum lifting mechanism 47 raises and lowers a fulcrum joint 47C. A plurality of sprockets 49C are connected to the fulcrum joint 47C via horizontally arranged rods 49D, and the sprockets 49C rise and lower together with the fulcrum joint 47C.

[0088] 20A and 20B are schematic side views of the fulcrum lifting mechanism 47. A fixed-length link 47A and a variable-length link 47B are attached to a support plate 48. The fixed-length link 47A and the variable-length link 47B are connected by a fulcrum joint 47C. The variable-length link 47B includes, for example, a hydraulic cylinder, and its length can be changed. The fixed-length link 47A, the variable-length link 47B, and the support plate 48 form a three-bar linkage mechanism in which the length of one link is variable.

[0089] When variable length link 47B is extended, fulcrum joint 47C rises relative to support plate 48 as shown in FIG. 20A, and when variable length link 47B is contracted, fulcrum joint 47C descends relative to support plate 48 as shown in FIG. 20B.

[0090] Instead of the variable-length link 47B, a slider crank mechanism may be employed in which one of the joints at both ends of the link formed by the support plate 48 slides along the support plate 48.

[0091] 21A and 21B are schematic side views of the parallel link mechanism 46 and the fork 41. The parallel link mechanism 46 has the support plate 48 as one link and the base of the fork 41 as another link parallel to the support plate 48. A fulcrum joint 47C (FIGS. 20A and 20B) is disposed above the support plate 48. As described with reference to FIGS. 20A and 20C, the fulcrum joint 47C can be raised and lowered relative to the support plate 48. FIGS. 21A and 21B show a state in which the fulcrum joint 47C is raised.

[0092] A sprocket 49C is attached to the fulcrum joint 47C via a rod 49D (FIG. 19), and the sprocket 49C also moves up and down relative to the support plate 48 together with the fulcrum joint 47C. One end of a hydraulic cylinder 49A is rotatably attached to the support plate 48 at a location rearward of the parallel link mechanism 46. A chain 49B is connected to the other end of the hydraulic cylinder 49A and to the fork 41 via the sprocket 49C. The fork 41 is suspended by the chain 49B. When the hydraulic cylinder 49A is extended or retracted, the fork 41 moves up and down relative to the support plate 48 along the movement trajectory defined by the parallel link mechanism 46.

[0093] Fig. 21A shows a state in which the hydraulic cylinder 49A is extended to lower the fork 41. Fig. 21B shows a state in which the hydraulic cylinder 49A is retracted to raise the fork 41.

[0094] 22A to 24B, a procedure by which transfer device 40 transfers pallet 60 from second conveying path 31C of entrance section 30 onto loading platform 501 will be described. Figures 22A to 24B are schematic side views of entrance section 30, transfer device 40, pallet 60, and load 61 to explain the procedure by which transfer device 40 transfers pallet 60 from second conveying path 31C of entrance section 30 onto loading platform 501.

[0095] As shown in FIG. 22A, by operating the fulcrum lifting mechanism 47, the sprocket 49C is lowered to a position lower than the conveyance surface of the second conveyance path 31C of the entrance section 30 (the plane connecting the highest roller surfaces of the rollers 31), thereby lowering the transfer device 40 to a low position. In this state, the second conveyance path 31C of the entrance section 30 is operated to convey the pallet 60 forward. At this time, the pallet 60 passes above the transfer device 40. This procedure corresponds to the procedure for conveying the pallet 60 to the tip of the entrance section 30 shown in FIGS. 6B, 12B, etc.

[0096] Next, as shown in FIG. 22B, after the pallet 60 has been transported to the tip of the entry section 30, the fulcrum lifting mechanism 47 is operated to raise the fulcrum joint 47C and the sprocket 49C to a position higher than the conveying surface of the second conveying path 31C.

[0097] Next, as shown in FIG. 23A, the hydraulic cylinder 49A is retracted to raise the forks 41. At this time, the height of the forks 41 is adjusted to the height of the insertion opening of the pallet 60 located at the tip of the entrance section 30. Next, as shown in FIG. 23B, the power source 44 (FIG. 5A) is operated to move the transfer device 40 forward. As the transfer device 40 moves forward, the forks 41 are inserted into the insertion opening (fork insertion section) of the pallet 60. Thereafter, the hydraulic cylinder 49A is further retracted to raise the forks 41 and receive the pallet 60 from the second conveyor path 31C. As a result, the pallet 60 rises from the rollers 31 of the second conveyor path 31C. This state corresponds to the state shown in FIG. 8B.

[0098] Next, as shown in FIG. 24A, the entrance section 30 is retracted. At this time, the power source 44 (FIG. 5A) is operated to move the transfer device 40 forward relative to the entrance section 30. This causes the transfer device 40 to remain stationary with respect to the floor surface of the loading platform 501. In this state, the underside of the pallet 60 and the floor surface of the loading platform 501 directly face each other with a gap between them. For example, a state is achieved in which no obstacles exist between the entire underside of the pallet 60 and the floor surface of the loading platform 501.

[0099] Next, as shown in Figure 24B, hydraulic cylinder 49A is extended to lower fork 41. This places pallet 60 on the floor of platform 501. By performing the procedures from Figure 22A to Figure 24B, pallet 60 can be transferred from second conveying path 31C of entrance section 30 to the floor of platform 501.

[0100] In this way, in the transfer system according to the second embodiment, the transfer device 40 transfers the multiple pallets 60 placed on the entry section 30 onto the loading platform 501 in order, starting from the first pallet 60 at the front in the first direction Da to the pallet 60 at the rear.

[0101] Next, the excellent effects of the second embodiment will be described. In the second embodiment, a plurality of pallets 60 lined up in the first direction Da are loaded into the loading platform 501 of the truck 500 at one time from the rear of the loading platform 501. This allows the pallets 60 to be loaded into the loading platform 501 more efficiently than if they were loaded one by one.

[0102] Furthermore, in the second embodiment, the transfer device 40 lifts the pallet 60 from the entrance 30, then raises the underside of the pallet 60 above the floor of the loading platform 501, and then lowers the pallet 60 from this state. Therefore, compared to a method in which the pallet 60 is slid forward from the tip of the entrance 30 and dropped onto the loading platform 501, there are excellent effects in that the load 61 does not become tilted and the impact on the load 61 is reduced. Furthermore, it is easy to adjust the spacing between the pallets 60 lined up in the first direction Da within the loading platform 501.

[0103] Furthermore, as shown in FIG. 22A , the transfer device 40 can be lowered by lowering the fulcrum joint 47C and the sprocket 49C. As shown in FIG. 7B , in order to allow the pallet 60 to pass above the transfer device 40, the height of the conveying surface of the second conveying path 31C of the entrance section 30 must be higher than the height of the transfer device 40. If the transfer device 40 cannot be lowered to a low position, the height of the conveying surface of the second conveying path 31C must also be increased in accordance with the height of the transfer device 40. If the height of the conveying surface of the second conveying path 31C is increased, the height of the load 61 is limited so that the load 61 does not contact the ceiling of the loading platform 501. In the second embodiment, the transfer device 40 can be lowered, making it possible to lower the height of the conveying surface of the second conveying path 31C. As a result, the height restriction on the load 61 is alleviated.

[0104] 15A and 15B, in the second embodiment, with a portion of the front side of the entrance 30 inserted into the loading platform 501, the pallets 60 and the loads 61 can be transported from the first conveying path 21C of the discharge platform 20 to the second conveying path 31C of the entrance 30, and the pallets 60 and the loads 61 can be replenished onto the second conveying path 31C. Since the pallets 60 and the loads 61 can be supplied without the entire entrance 30 being removed from the loading platform 501, the pallets 60 and the loads 61 can be loaded onto the loading platform 501 efficiently.

[0105] 18A and 18B, new pallets 60 and loads 61 are supplied to the first conveying path 21C of the output table 20. Alternatively, as shown in FIGS. 7A and 7B, after some pallets 60 and loads 61 placed on the first conveying path 21C are conveyed forward and there is enough space to place new pallets 60 on the first conveying path 21C, new pallets 60 and loads 61 can be supplied to the first conveying path 21C at any stage.

[0106] That is, even while a pallet 60 and a load 61 are being transferred from the second conveying path 31C of the entrance 30 to the loading platform 501, a new pallet 60 and a load 61 can be supplied to the first conveying path 21C of the output platform 20. This makes it possible to improve loading efficiency.

[0107] Furthermore, in the second embodiment, the position of the center line of the output platform 20 in the second direction Db and the position in the rotational direction within the horizontal plane can be adjusted by adjusting the position of the traversing cart 51 (FIG. 5B) in the second direction Db under the control of the control device 70. As a result, even if the position and orientation of the center line of the loading platform 501 deviate from the predetermined position and orientation when the truck 500 is stopped, the center line of the output platform 20 can be aligned with the center line of the loading platform 501. In this way, the position adjustment is performed without manual intervention, thereby improving loading efficiency.

[0108] Furthermore, in the second embodiment, similarly to steps S7 and S8 (FIG. 4) of the first embodiment, the positions of the loading platform 501 and the output platform 20 are adjusted even while the entrance section 30 is entering the loading platform 501. For example, the positions of the loading platform 501 and the output platform 20 are adjusted even during the period from the pre-entry state shown in FIGS. 6A and 6B to the post-entry state shown in FIGS. 7A and 7B.

[0109] When the approaching section 30 approaches the loading platform 501, the load from the load 61 may cause the loading platform 501 to shift in position. If the position of the loading platform 501 shifts and the position of the output platform 20 is adjusted to absorb the shift in position of the loading platform 501, the approaching section 30 will be guided by the guide rollers 33 (FIGS. 5A and 5B) and will move in the front-to-rear direction of the output platform 20 after the position adjustment. Therefore, even if the loading platform 501 shifts in position while the approaching section 30 is approaching, the approaching section 30 can be moved to the target position of the loading platform 501.

[0110] Next, a modification of the second embodiment will be described. In the second embodiment, the second sensor 13B (FIGS. 5A and 5B) is fixed to a support as in the first embodiment, but may also be attached to the tip of the entry section 30. Attaching the second sensor 13B to the tip of the entry section 30 makes it possible to measure the distance to the floor, front wall, and side walls of the loading platform 501 while the entry section 30 is in the loading platform 501. This makes it possible to prevent contact with the front wall or side walls. Furthermore, by fine-tuning the entry path of the entry section 30 based on the measurement results of the second sensor 13B, it becomes possible to place the pallet 60 and load 61 at the desired position within the loading platform 501.

[0111] Next, a modification of the second embodiment will be described. In order to prevent the loads from coming into contact with each other or collapsing due to shaking during transportation, cushioning material may be inserted between the loads 61 adjacent in the front-rear direction. In this modification, cushioning material is inserted between the loads 61 adjacent in the front-rear direction before the entrance 30 starts moving forward toward the loading platform 501. Next, a configuration for placing cushioning material between the loads 61 and maintaining its position will be described.

[0112] The buffer material is suspended from a hanging holder disposed on the top surface of the load 61, and is disposed along one side of the load 61 (for example, the side facing forward). The buffer material and the hanging holder have an inverted L shape when viewed from the side. The hanging holder is sufficiently heavier than the buffer material so that the position of the buffer material remains stable even when it is hung.

[0113] By placing buffer materials between the loads 61 before loading the multiple pallets 60 and loads 61 onto the loading platform 501, it becomes unnecessary to place buffer materials after or during loading of the loads 61 onto the loading platform 501. This makes it possible to improve the efficiency of the loading work.

[0114] [Third Example] Next, a transfer system according to a third embodiment will be described with reference to Figures 25 to 27. Figures 25 to 27 are schematic plan views of the unloading table 20, unloading conveying path 80, etc. of the transfer system according to the third embodiment. The transfer system according to the third embodiment is obtained by adding the unloading conveying path 80 and a position variable sorting mechanism 81 to the transfer system according to the second embodiment (Figures 5A to 24B). The unloading conveying path 80 and the position variable sorting mechanism 81 operate under the control of the control device 70.

[0115] The output conveying path 80 and the position-variable sorting mechanism 81 transport the goods that have been transported out of the warehouse to the first conveying path 21C of the output platform 20. For example, the output conveying path 80 transports the pallets 60 and goods 61 in a direction that intersects with the first direction Da, which is the transport direction of the first conveying path 21C. For example, the transport direction of the output conveying path 80 is perpendicular to the first direction Da when the output platform 20 is in the reference position.

[0116] The position-variable sorting mechanism 81 delivers predetermined pallets 60 and loads 61 from among the pallets 60 and loads 61 transported on the outgoing conveying path 80 to the rear end of the first conveying path 21C. The configuration of the position-variable sorting mechanism 81 will be described below. Rails 82 are arranged between the outgoing conveying path 80 and the rear end of the discharge platform 20, parallel to the conveying direction of the outgoing conveying path 80. A sorting cart 83 is placed on the rails 82 and moves in a direction parallel to the conveying direction of the outgoing conveying path 80.

[0117] A sorting position 80A is provided in a portion of the output conveying path 80. A sorting cart 83 is on standby to the side of the sorting position 80A. As shown in Figure 25, when a pallet 60 and a load 61 to be delivered to the first conveying path 21C are conveyed to the sorting position 80A, the pallet 60 and the load 61 have their traveling direction changed by 90° at the sorting position 80A and are transferred onto the sorting cart 83. A well-known mechanism can be used as the mechanism for changing the traveling direction of the pallet 60 and the load 61 by 90°.

[0118] When the pallets 60 and the loads 61 are loaded onto the sorting cart 83, the sorting cart 83 moves to a position opposite the rear end of the first conveying path 21C, as shown in Figure 26. The sorting cart 83 is equipped with a plurality of rollers 84 that move the loaded pallets 60 and loads 61 in a direction perpendicular to the direction of movement of the sorting cart 83.

[0119] When the sorting cart 83 moves to a position opposite the rear end of the first conveying path 21C, the rollers 84 are operated to transfer the pallet 60 and the load 61 from the sorting cart 83 to the rear end of the first conveying path 21C, as shown in Figure 27.

[0120] Next, the excellent effects of the third embodiment will be described. When the position of the output platform 20 is adjusted to match the position of the loading platform 501 of the truck 500, the position of the rear end of the first conveying path 21C changes in the conveying direction of the output conveying path 80. In the third embodiment, the sorting cart 83 interposed between the output conveying path 80 and the first conveying path 21C is movable in a direction parallel to the conveying direction of the output conveying path 80. Therefore, even if the position of the rear end of the first conveying path 21C changes, the position-variable sorting mechanism 81 can deliver the pallet 60 and the load 61 to the rear end of the first conveying path 21C after the change.

[0121] Next, a modified example of the third embodiment will be described with reference to Fig. 28. Fig. 28 is a schematic plan view of the output table 20 and the output conveying path 80 of a transfer system according to a modified example of the third embodiment. In this modified example, a position-variable sorting mechanism 81 is incorporated into the output conveying path 80.

[0122] The output conveying path 80 includes a plurality of conveying rollers 80R that convey the pallets 60 and the loads 61 in the conveying direction. A plurality of sorting rollers 81R are arranged between the plurality of conveying rollers 80R within the range of the sorting location 80A of the output conveying path 80. The sorting rollers 81R are capable of rising and lowering, and carry the pallets 60 and the loads 61 and move them in a direction intersecting the conveying direction of the output conveying path 80, for example, in a direction perpendicular to the conveying direction of the output conveying path 80.

[0123] The sorting rollers 81R are positioned to encompass the range in which the rear end of the first conveying path 21C can move when the position of the output table 20 is adjusted within its adjustable range. Therefore, even if the position of the rear end of the first conveying path 21C changes in the conveying direction of the output conveying path 80, the pallet 60 and the load 61 can be delivered from the output conveying path 80 to the rear end of the first conveying path 21C.

[0124] [Fourth Example] Next, a transfer system according to a fourth embodiment will be described with reference to FIGS. 29 and 30 are a schematic side view and a schematic plan view, respectively, of the transfer device 100 and truck 500 of the transfer system according to the fourth embodiment. With the height of the upper surface of the output platform 120 and the floor surface of the loading platform 501 of the truck 500 aligned, multiple pallets 130 and loads 131 are loaded into the loading platform 501 through an opening at the rear of the loading platform 501. A control device 150 controls the operation of each part of the transfer system.

[0125] The output platform 120 is supported by a support unit 170 via a plurality of hydraulic cylinders 171. The support unit 170 is supported on the floor of the berth by a plurality of pedestals 160. The plurality of hydraulic cylinders 171 have the same function as the output platform adjustment device 12B of the first embodiment (FIGS. 1 and 2), and adjust the position of the output platform 120.

[0126] The truck 500 stops on the vehicle bed 15. The vehicle bed 15 is supported by a plurality of hydraulic cylinders 161. The plurality of hydraulic cylinders 161 have the same function as the bed adjustment device 12A of the first embodiment, and adjust the position of the vehicle bed 15.

[0127] Similar to the transfer system according to the first embodiment (FIGS. 1 and 2), a detector 13 and an alarm 16 are provided. The detector 13 includes a first sensor 13A and a second sensor 13B. The alarm 16 includes a sound generator 16A and a display 16B.

[0128] Next, the configuration of the transfer device 100 will be described. The transfer device 100 includes a drive unit 101, wheels 105, a plurality of forks 110, and a position detector 104. The drive unit 101, wheels 105, and a plurality of forks 110 have the same functions as the entrance unit 11 of the first embodiment. The drive unit 101 includes a fork lifting mechanism 102 that raises and lowers the forks 110, and a control unit 103. The forks 110 extend from the drive unit 101 toward the loading platform 501. The position detector 104 detects the positions of the rear opening, front wall, left and right side walls, ceiling, and floor of the loading platform 501. For example, a LiDAR can be used as the position detector 104. The detection results by the position detector 104 are input to the control unit 103. The control unit 103 controls the operation of the transfer device 100 based on commands from a higher-level system and the detection results by the position detector 104.

[0129] Support parts 111 are attached to the middle positions in the longitudinal direction of each of the forks 110. Note that the support parts 111 may also be attached to the tips of the forks 110. The structure and operation of the support parts 111 will be described later with reference to Figures 32A and 32B.

[0130] The driving unit 101 is self-propelled by wheels 105. The direction in which the driving unit 101 moves is referred to as a first direction Da (left-right direction in FIG. 29). The direction in which the multiple forks 110 extend from the driving unit 101 is referred to as the forward direction, and the opposite direction is defined as the backward direction.

[0131] Before the loads 131 are loaded, the multiple pallets 130 arranged in two rows in the first direction Da are held by the multiple forks 110. The multiple pallets 130 each have a load 131 placed on them.

[0132] Figure 31 is a diagram showing the planar positional relationship in a state in which multiple forks 110 are holding multiple pallets 130. In Figure 31, the forks 110 are hatched in an upward sloping pattern to the right, and the parts of the forks 110 that are hidden by the pallets 130 are indicated by dashed lines.

[0133] A plurality of pallets 130 are arranged in two rows in the first direction Da. Figure 31 shows an example in which one row contains three pallets 130. Each pallet 130 includes upper and lower deck boards and a plurality of blocks 130A, with fork insertion portions 130B defined between the blocks 130A. In Figure 31, the blocks 130A are indicated by relatively light hatching sloping downward to the right. Figure 31 shows an example of a four-way pallet, but a two-way pallet may also be used. Two forks 110 penetrate the fork insertion portions 130B of the plurality of pallets 130 in one row. Two adjacent pallets 130 in the first direction Da are held at a predetermined distance apart.

[0134] 32A and 32B are schematic side views of the fork 110, support portion 111, pallet 130, load 131, and output platform 120. FIG. 32A shows a state in which multiple pallets 130 are held by the fork 110 and are lifted off the top surface of the output platform 120, and FIG. 32B shows a state in which the pallets 130 are placed on the top surface of the output platform 120. When the transfer device 100 enters the loading platform 501, the top surface of the output platform 120 in FIGS. 32A and 32B can be considered to be the floor surface of the loading platform 501 (FIG. 29). The multiple pallets 130 lined up in the first direction Da are assigned serial numbers starting from 1, starting from the pallet 130 at the tip of the fork 110 toward the pallet 130 at the rear, to distinguish between the multiple pallets 130.

[0135] As shown in FIG. 32A , when the fork 110 holds a pallet 130, the support portion 111 passes between two adjacent pallets 130 in the first direction Da and protrudes downward to contact the upper surface of the discharge platform 120. At this time, the support portion 111 receives the load of the pallets 130 and the load 131. When the fork 110 holds multiple pallets 130 and loads 131 in the longitudinal direction, an excessive torque may be applied to the base of the fork 110 in a direction that causes the tip of the fork 110 to descend, relative to the rigidity of the fork 110. The support portion 111 serves to reduce this torque. A wheel is attached to the tip of the support portion 111 to facilitate movement of the fork 110 in the first direction Da. When the drive unit 101 moves in the first direction Da, the wheel at the tip of the support portion 111 rotates, causing the support portion 111 to move in the first direction Da.

[0136] As shown in FIG. 32B, when the forks 110 are lowered, the tips of the support portions 111 are raised. For example, by swinging the support portions 111 around a fulcrum provided on the forks 110, a state in which the tips of the support portions 111 protrude downward from the underside of the pallet 130 (hereinafter referred to as a supported state) and a state in which the tips of the support portions 111 are raised (hereinafter referred to as a retracted state) are realized. In this way, the support portions 111 can change the height of the forks 110 from the upper surface of the discharge platform 120 or the floor surface of the loading platform 501. A sufficient gap is secured between two pallets 130 lined up in the first direction Da to allow the support portions 111 to swing. For example, a parallel link mechanism can be used as a mechanism for swinging the support portions 111.

[0137] When the support parts 111 are in the retracted state (FIG. 32B), the height dimension of the forks 110 and the support parts 111 is smaller than the height dimension of the fork insertion parts 130B (FIG. 31) of the pallet 130. This makes it easy to insert and remove the forks 110 from the pallet 130.

[0138] 33 to 41, a procedure for loading the pallet 130 and the load 131 onto the loading platform 501 will be described. Figures 33 to 41 are schematic side views of the transfer device 100 and the truck 500 for explaining the procedure for loading the pallet 130 and the load 131 onto the loading platform 501.

[0139] First, as shown in Figure 33, the support parts 111 are placed in a supporting state, and the forks 110 are raised to hold a plurality of pallets 130 lined up in the longitudinal direction of the forks 110. In this state, the transfer device 100 moves forward and enters the loading platform 501. Before the transfer device 100 moves forward, it is confirmed that the deviation of the current position of the loading platform 501 from the reference position does not exceed the standard range, as in step S3 (Figure 4) of the first embodiment. If the deviation exceeds the standard range, the position of at least one of the loading platform 501 and the carrying-out platform 120 is adjusted, as in steps S7 and S8 of the first embodiment.

[0140] As the transfer device 100 moves forward, the position detector 104 detects the positions of the side walls and front walls of the loading platform 501, and the control unit 103 controls the travel so that the pallets 130 and loads 131 do not come into contact with the side walls or front walls of the loading platform 501. When the distance between the tips of the forks 110 and the front wall of the loading platform 501 reaches a predetermined distance, the transfer device 100 stops moving forward. At this time, the multiple pallets 130 are raised above the floor surface of the loading platform 501 (the entire underside of the pallets 130 and the floor surface of the loading platform 501 face each other with a gap between them, and there is no obstacle between them).

[0141] 34, the forks 110 are lowered and the support parts 111 are retracted, whereby the plurality of pallets 130 are placed on the floor of the loading platform 501.

[0142] As shown in FIG. 35, the transfer device 100 moves backward until the forks 110 are completely withdrawn from the first pallet 130 and the second pallet 130 can be held by the tips of the forks 110.

[0143] As shown in Figure 36, the forks 110 are raised and the support parts 111 are placed in a supporting state, thereby lifting the second and third pallets 130 off the floor surface of the loading platform 501. The first pallet 130 is transferred from the transfer device 100 to the loading platform 501 by the procedure shown in Figures 34 to 36.

[0144] 37, the transfer device 100 moves forward while holding the second and third pallets 130. When the distance between the second pallet 130 and the first pallet 130 already placed on the loading platform 501 reaches a predetermined distance, the transfer device 100 stops moving forward.

[0145] 38, the forks 110 are lowered and the support parts 111 are retracted, thereby placing the second and third pallets 130 on the floor of the loading platform 501. Through the steps up to this point, the distance between the first pallet 130 and the second pallet 130 in the first direction Da is set to a predetermined distance, and the first and second pallets 130 are transferred from the transfer device 100 to the loading platform 501.

[0146] As shown in FIG. 39, the transfer device 100 moves backward until the forks 110 are completely withdrawn from the second pallet 130 and the third pallet 130 can be held by the tips of the forks 110.

[0147] As shown in Figure 40, the forks 110 are raised and the support parts 111 are placed in a supporting state, thereby lifting the third pallet 130 off the floor surface of the loading platform 501. Thereafter, as shown in Figure 41, the transfer device 100 is moved forward, the forks 110 are lowered, and the forks 110 are pulled out from the third pallet 130.

[0148] By following the procedure up to this point, the first to third pallets 130 can be transferred from the transfer device 100 to the loading platform 501. By withdrawing the transfer device 100 from the loading platform 501 and having the transfer device 100 hold new pallets 130, and repeating the same procedure, the fourth and subsequent pallets 130 can be loaded onto the loading platform 501.

[0149] In the fourth embodiment, the forks 110, the support units 111, the drive unit 101, and the wheels 105 function as an entrance unit that enters the loading platform 501 of the truck 500 while carrying a plurality of pallets 130 lined up in the first direction Da. In addition, the function of a transfer device that transfers the plurality of pallets 130 loaded on the entrance unit onto the loading platform 501 in order from the front pallet 130 in the first direction to the rear pallet 130 is realized by the cooperation of the travel functions of the forks 110, the support units 111, the fork lifting mechanism 102, and the drive unit 101.

[0150] Next, the excellent effects of the fourth embodiment will be described. In the fourth embodiment, as in the first embodiment, when the truck 500 is stopped on the vehicle bed 15, if the position of the loading platform 501 is misaligned with the position of the discharge platform 120, the two can be aligned without manual intervention. This improves the efficiency of the work of loading cargo onto the loading platform 501.

[0151] In the fourth embodiment, a plurality of pallets 130 lined up in the first direction Da are loaded into the loading platform 501 of the truck 500 at one time from the rear of the loading platform 501. This allows the pallets 130 to be loaded into the loading platform 501 more efficiently than if they were loaded one by one.

[0152] Furthermore, in the fourth embodiment, the transfer device, which is realized by the cooperation of the travel functions of the forks 110, the support unit 111, the fork lifting mechanism 102, and the drive unit 101, lifts the pallet 130 so that the underside of the pallet 130 is raised above the floor of the loading platform 501, and then lowers the pallet 130 from this state. This provides the excellent effect of preventing the load 131 from tilting and minimizing the impact on the load 131. Furthermore, in the procedure shown in Figures 36 and 37, before placing the pallet 130 on the floor of the loading platform 501, the forks 110 are moved forward while holding the pallet 130 at their tips, making it easy to adjust the spacing between the pallets 130 lined up in the first direction Da within the loading platform 501.

[0153] Furthermore, in the fourth embodiment, similar to steps S7 and S8 (FIG. 4) of the first embodiment, the positions of the loading platform 501 and the output platform 20 are adjusted even while the transfer device 100 is entering the loading platform 501. For example, when the support parts 111 (FIG. 29, etc.) of the forks 110 enter the floor surface of the loading platform 501, the position of the loading platform 501 may be shifted due to the load received from the load 131. If the loading platform 501 continues moving straight with the wheels 105 (FIG. 29) remaining on the output platform 120, the pallet 130, the load 131, etc. may come into contact with the side wall of the loading platform 501. In the fourth embodiment, the position of the output platform 120 is adjusted to absorb any positional shift of the loading platform 501, so that the pallet 130, the load 131, etc. are less likely to come into contact with the side wall of the loading platform 501.

[0154] Furthermore, in the fourth embodiment, when the transfer device 100 moves forward, the position detector 104 detects the positions of the side walls and front wall of the loading platform 501, and the control unit 103 controls the travel so that the pallet 130, load 131, etc. do not come into contact with the side walls or front wall of the loading platform 501. This control can further reduce the risk of the pallet 130, load 131, etc. coming into contact with the side walls or front wall of the loading platform 501.

[0155] The above-described embodiments are merely examples, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects resulting from similar configurations of multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the above-described embodiments. For example, it will be obvious to those skilled in the art that various modifications, improvements, combinations, etc. are possible. [Explanation of symbols]

[0156] 10 Loading platform 11 Entrance section 11A wheels 12 Adjustment device 12A Cargo bed adjustment device 12B Unloading platform adjustment device 13 Detector 13A First sensor 13B Second sensor 14 Transfer device 15 Vehicle base 16 Alarm 16A Sounder 16B display 17 Palettes 18 Load 19 Control device 19A Input section 19B Position determination section 19C Communication Department 19D Loading platform position control unit 19E Delivery table position control unit 19F Information Department 20 Loading platform 20A Floor 20B side wall 21 Roller 21C First conveying path 30 Entrance section 30A connection part 30B Roller support 31 Roller 31C Second transport path 32 wheels 33 Guide roller 34 Stretching section 40 Transfer device 41 Fork 42 wheels 43 Drive shaft 44 Power source (motor) 45 Guide roller 46 Parallel link mechanism 47 Support lifting mechanism 47A Fixed Length Link 47B Variable Length Link 47C Fulcrum Joint 48 Support Plate 49A Hydraulic Cylinder 49B Chain 40C sprocket 49D Rod 50 frames 51 Traverse cart 52 Traverse rail 60 pallets 61 Load 70 Control device 80 Unloading conveyor route 80A Sorting area 80R transport roller 81 Variable position sorting mechanism 81R Sorting Roller 82 Rail 83 Sorting cart 84 Roller 100 Transfer equipment 101 Drive unit 102 Fork lifting mechanism 103 Control Unit 104 Position detector 105 Wheels 110 Fork 111 Support part 120 Loading platform 130 pallets Block 130A 130B Fork insertion part 131 Load 150 control device 160 pedestal 161 Hydraulic cylinder 170 Support part 171 Hydraulic cylinder 500 Trucks 501 Cargo bed Da 1st direction Db 2nd direction

Claims

1. A loading platform and an entrance section that holds a load and moves in a first direction on the discharge platform and enters a loading platform of a vehicle; a detector for detecting the position of the loading platform; an adjustment device for adjusting the position of at least one of the discharge platform and the loading platform; a control device that drives the adjustment device based on the detection result by the detector; A transfer system equipped with

2. Further, a first conveying path is provided on the delivery table and conveys the load in the first direction, The transfer system described in claim 1, wherein the entry section includes a second conveying path that conveys cargo in the first direction, and the first conveying path and the second conveying path are configured so that cargo can be transferred from the first conveying path to the second conveying path.

3. The transfer system according to claim 2, further comprising a transfer device that, when the entry section has entered the loading platform, receives a load placed on the second transport path from the second transport path and lowers it onto the floor of the loading platform.

4. moreover, an output conveying path that conveys the load in a direction intersecting the first direction; a position-variable sorting mechanism that delivers the load from the discharge conveying path to a rear end of the first conveying path on the opposite side to the loading platform; Equipped with The transfer system described in claim 2 or 3, wherein the position-variable sorting mechanism has the function of transferring cargo to the rear end of the first conveying path after the position of the rear end of the first conveying path changes when the position of the output platform is adjusted.

5. When the moving direction when the approaching section approaches the loading platform is defined as the forward direction, The detector comprises: A transfer system as described in claim 1 or 2, including at least one of a first sensor arranged opposite the side of the loading platform and measuring distances to multiple points on the side of the loading platform, and a second sensor facing forward and measuring distances to multiple points on the rear end of the loading platform, the floor surface, and the inner surface of the side wall.

6. The transfer system described in claim 1 or 2, wherein when the control device detects a change in the position of the loading platform based on the detection results by the detector before the loading platform enters the entry section and during the period when the loading platform is being moved after entering the loading platform, the control device controls the adjustment device to adjust the position of at least one of the loading platform and the loading platform.

7. 3. The transfer system according to claim 1, wherein the position adjusted by the adjustment device is a position in a height direction, a position in a direction intersecting the first direction in a horizontal plane, and a position in a rotational direction in a horizontal plane.

8. Furthermore, it is equipped with an alarm that outputs warning information. The transfer system according to claim 1 or 2, wherein the control device activates the alarm and outputs warning information when the deviation of the position of the loading platform detected by the detector from a reference position exceeds a predetermined limit range.

9. The adjustment device is a plurality of pairs of rails extending in a direction intersecting the first direction within a horizontal plane on the discharge table and disposed at different positions with respect to the first direction; a traverse carriage that moves while being supported by the plurality of pairs of rails; Including, the carrying-out platform is supported by the traversing carriage, The transfer system according to claim 1 or 2, wherein the control device adjusts the position of the output platform by moving the traverse carriage along the rail.

10. The approach section holding the load is moved on the delivery platform, and the load is advanced from the delivery platform to the loading platform of the vehicle; A transfer method for transferring a load held in the approach section onto the loading platform after the approach section has entered the loading platform, comprising: Before the access section is moved into the loading platform, A control device detects the position of the loading platform, A transfer method in which the control device drives an adjustment device to adjust the position of at least one of the discharge platform and the loading platform based on the detection result of the position of the loading platform.

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