Transfer System

Abstract

To prevent a picking device from erroneously starting to move, when an operator performs a transfer operation of an article.SOLUTION: A transfer system (101) comprises: a transfer part (12) for holding and transferring an article conveyed to a transfer position; a mobile type display part (51) for displaying transfer information for an operator during manually operating transfer of transferring the article conveyed to the transfer position by the operator; and a control part (15) for controlling a transfer part (12), based on arrangement of the display part (51).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a system for transferring goods in logistics. [Background technology]

[0002] Conventionally, in logistics warehouses and the like, a transfer system equipped with a picking device (transfer unit) such as a robot arm has been used to efficiently sort and separate a large variety of items into shipping containers according to their destinations. With regard to this type of transfer system, Patent Document 1 discloses a configuration that can perform automatic transfer in which items are transferred by the picking device, and manual transfer in which items are transferred by an operator. In the case of manual transfer, an operator usually performs the transfer work based on picking information (transfer information) displayed on a display unit such as a liquid crystal panel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-38052 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when both automatic and manual transfers are performed within the same transfer system, the following problems arise: For example, during manual transfers, the transfer unit may accidentally start operating, potentially jeopardizing the safety of the operator. Furthermore, the display unit must be positioned so that it does not interfere with the movement of the transfer unit and can be seen by the operator while performing manual transfers, which limits the location where the display unit can be installed.

[0005] An object of one aspect of the present invention is to provide a transfer system that can improve the degree of freedom in the layout of a display unit while ensuring the safety of a worker. [Means for solving the problem]

[0006] In order to solve the above problems, a transfer system according to one embodiment of the present invention comprises a transport unit that transports items to a transfer position, a transfer unit that holds and transfers the items transported to the transfer position, a mobile display unit that displays transfer information to a worker when the worker manually transfers the items transported to the transfer position, and a control unit that controls the transfer unit based on the position of the display unit. [Effects of the Invention]

[0007] According to one aspect of the present invention, it is possible to improve the degree of freedom in the layout of the display unit while ensuring the safety of the worker. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view showing an overview of a transfer system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a plan view showing an outline of the transfer system shown in FIG. [Figure 3] 1. FIG. 4 is a perspective view showing the installation position of a display unit when automatic transfer is performed in the transfer system shown in FIG. [Figure 4] 1. FIG. 4 is a perspective view showing the installation position of a display unit when manual transfer is performed in the transfer system shown in FIG. [Figure 5] 2 is a control block diagram of the transfer system shown in FIG. 1. [Figure 6] FIG. 10 is a perspective view showing the installation position of a display unit when automatic transfer is performed in a transfer system according to a second embodiment of the present invention. [Figure 7] 7 is a perspective view showing the installation position of a display unit when manual transfer is performed in the transfer system shown in FIG. 6. FIG. [Figure 8] 8 is a schematic diagram illustrating the change of the installation position of the display unit by the support arm shown in FIG. 7.

[0033] FIG. [Figure 9] 7 is a control block diagram of the transfer system shown in FIG. 6. [Figure 10] FIG. 11 is a perspective view showing the installation position of a display unit when manual transfer is performed in a transfer system according to a third embodiment of the present invention. [Figure 11] 11A to 11C are three-view diagrams showing a moving mechanism for a display unit provided in the transfer system shown in FIG. [Figure 12] 11 is a control block diagram of the transfer system shown in FIG. 10. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Embodiment 1] Hereinafter, one embodiment of the present invention will be described in detail.

[0010] (Overview of the transfer system) FIG. 1 is a perspective view showing an overview of a transfer system 101 according to this embodiment. FIG. 2 is a plan view showing an overview of the transfer system 101. The transfer system 101 transfers an item 2 in a logistics warehouse or the like. As shown in FIGS. 1 and 2, the transfer system 101 according to this embodiment includes a conveying unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, a terminal unit 16, and a display unit 51.

[0011] In the following description, the direction in which the conveying section 11 conveys the item 2 may be referred to as the Y direction (front-to-back direction), the direction perpendicular to the Y direction in a planar view may be referred to as the X direction (left-to-right direction), and the direction perpendicular to the X and Y directions may be referred to as the Z direction (up-down direction).

[0012] (Transportation section) The conveying section 11 conveys a first container 17 and a second container 18 containing items 2 in the Y direction. Specifically, the conveying section 11 has a two-tiered structure, with upper and lower conveyors 11a and 11b provided on the lower side in the Z direction and unloading conveyors 11c and 11d provided on the upper side in the Z direction. The first container 17 and the second container 18 are conveyed forward in the Y direction by the conveyors 11a and 11b. The first container 17 and the second container 18 are conveyed backward in the Y direction by the unloading conveyors 11c and 11d.

[0013] Furthermore, the transport unit 11 includes a moving mechanism 11e and a housing 11f. The moving mechanism 11e sequentially moves the first containers 17 from the loading conveyor 11a to the first transfer position P1, and sequentially moves the second containers 18 from the loading conveyor 11b to the second transfer position P2. As a result, the first containers 17 and the second containers 18 are positioned adjacent to each other in the X direction. The moving mechanism 11e also sequentially moves the first containers 17 positioned at the first transfer position P1 to the unloading conveyor 11c, and sequentially moves the second containers 18 positioned at the second transfer position P2 to the unloading conveyor 11d. The housing 11f houses the moving mechanism 11e.

[0014] (Transfer section) The transfer unit 12 is installed at the front end (one end) of the conveying unit 11 in the Y direction, and holds the articles 2 stored in the first container 17 arranged at the first transfer position P1, and transfers them to the second container 18 arranged at the second transfer position P2. The transfer unit 12 is installed above the movement mechanism 11e and housing 11f of the conveying unit 11 in the Z direction by a stand or the like (not shown).

[0015] The transfer unit 12 includes a picking head (holding unit) 12a that holds the item 2, and a drive unit 12b that raises and lowers the picking head 12a in the Z direction and moves the picking head 12a in two directions, the X direction and the Y direction, in a plan view. The picking head 12a is composed of, for example, one or more suction pads that adsorb the item 2. The picking head 12a adsorbs the item 2 contained in the first container 17 from above and holds the item 2 in a suspended state.

[0016] The drive unit 12b includes a fixed rail 12c, a first movable rail 12d, a second movable rail 12e, and a support arm 12f. The fixed rail 12c is installed along the X direction. The first movable rail 12d is installed along the Z direction and moves back and forth in the X direction along the fixed rail 12c. The second movable rail 12e is installed along the Y direction and moves back and forth in the Z direction along the first movable rail 12d.

[0017] The support arm 12f is installed along the Z direction and moves back and forth in the Y direction along the second movable rail 12e. A picking head 12a is attached to the support arm 12f on its lower side in the Z direction. This allows the transfer unit 12 to move the picking head 12a back and forth in the three directions of X, Y, and Z by controlling the operation of the drive unit 12b.

[0018] The transfer unit 12 has a simpler structure than a transfer unit such as a six-axis robot, and is easily adaptable to a multi-row conveyor layout. Therefore, by using the transfer unit 12, the degree of freedom in layout design of the transfer system 101 is improved.

[0019] (Camera section) The camera unit 13 is disposed above the transfer unit 12 and photographs the articles 2 to create photographed images. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a photographs the first container 17 disposed at the first transfer position P1, thereby photographing one or more articles 2 contained in the first container 17. The second camera 13b photographs the second container 18 disposed at the second transfer position P2, thereby photographing one or more articles 2 contained in the second container 18. The camera unit 13 may include a light or the like, and the first camera 13a and the second camera 13b may each photograph the articles 2 under illumination by a light or the like at a predetermined illuminance.

[0020] (support frame) The support frame 14 is a frame body that supports the camera unit 13. The support frame 14 includes pillar members 14a and 14b, which are respectively installed adjacent to the transfer unit 12 in the X direction perpendicular to the Y direction in a plan view, a beam member 14g installed between the pillar members 14a and 14a, and a beam member 14h installed between the pillar members 14b and 14b. The first camera 13a and the second camera 13b are installed at appropriate positions on the beam member 14g on the front side in the Y direction. Note that there may be one beam member 14g and one beam member 14h, or two or more beam members each.

[0021] The pillar members 14a and 14b are arranged in the Y direction and are fixed by fixing members 14e and 14f to the installation location of the transfer system 101. The beam member 14c and the reinforcing member 14d are installed between the pillar members 14a and 14b.

[0022] Beam members 14g and 14h may be installed on girder member 14c or on pillar members 14a and 14b. Reinforcing member 14d may be two or more, or may be omitted. When four or more pillar members are used, i.e., when four pillar members 14a and 14a and four pillar members 14b are used as described above, or when more than four pillar members are used, beam members 14g and 14h may be omitted. In this case, first camera 13a and second camera 13b may be installed in appropriate positions on support frame 14.

[0023] (Control unit and terminal unit) The control unit 15 controls each unit in the transfer system 101, and is configured by, for example, a computer including a CPU (Central Processing Unit) and a memory. The operation control of each unit is performed by causing the computer to execute a control program. The control unit 15 will be described in detail later.

[0024] The terminal unit 16 is used by an operator to operate the transfer system 101. The terminal unit 16 has an input unit 16a such as a keyboard, touch panel, joystick, etc., and a display unit 16b that displays predetermined information. The control unit 15 and the terminal unit 16 are an example of control equipment for the transfer system 101, and are installed outside a front guard unit 24 described below, on the opposite side of the work area 25 from the side where the transfer unit 12 is provided (the front side in the Y direction).

[0025] Specifically, the control unit 15 is connected to the transport unit 11, the transfer unit 12, the camera unit 13, the terminal unit 16, and the display unit 51 via electrical wiring (not shown). The control unit 15 acquires predetermined information, such as the operating status, from the transport unit 11 and the transfer unit 12, and outputs predetermined command signals, such as instruction signals, to the transport unit 11 and the transfer unit 12. The control unit 15 outputs predetermined instruction signals, such as on / off signals, to the first camera 13a and the second camera 13b of the camera unit 13, and acquires image data from the first camera 13a and the second camera 13b. The control unit 15 receives instruction signals and the like in response to operations by the worker S from the terminal unit 16, and transmits information acquired from the transport unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16. Furthermore, the control unit 15 transmits picking information, necessary for the worker S to perform the transfer work in the work area 25 during manual transfer, to the display unit 51 via wired or wireless communication. The display unit 51 will be described in detail later.

[0026] (guard) In the transfer system 101 of this embodiment, the transfer unit 12 performs an operation of moving the picking head 12a back and forth in three directions, X, Y, and Z. For this reason, as shown in Figures 1 and 2, a guard is provided around the transfer unit 12 from the viewpoint of safety to significantly reduce the possibility of a worker S or the like coming into contact with the transfer unit 12. Specifically, in this embodiment, a side guard unit 21, a front guard unit 24, and a rear guard unit 41 are provided as guards in this order from the control device side toward the rear in the Y direction.

[0027] (Side guard part) 1 and 2, a lateral guard section 21 that separates the transfer section 12 from the outside in the X direction is provided between pillar members 14a and 14b of the support frame 14. The lateral guard section 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. This prevents people, including a worker S, from entering from the X direction and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 101.

[0028] Furthermore, since the support frame 14 is provided with the lateral guard section 21, there is no need to provide a new guard section on the outer side in the X direction of the support frame 14 to separate the transfer section 12 from the outside in the X direction. As a result, the transfer system 101 can be made more space-saving.

[0029] Incidentally, since the support frame 14 is installed adjacent to the transfer unit 12 in the X direction, it is also adjacent to the housing 11f of the transport unit 11, which is located below the transfer unit 12 in the Z direction. Therefore, in this embodiment, the side guards 21 are omitted from the lower region of the support frame 14, i.e., the region facing the housing 11f. This makes it possible to reduce the region in which the side guards 21 are provided. On the other hand, the housing 11f prevents the worker S from entering from the lower part of the support frame 14 and coming into contact with the transfer unit 12. In other words, in the lower region of the support frame 14, the housing 11f serves as a partition between the transfer unit 12 and the outside in the X direction.

[0030] (Front guard) 1 and 2, in the transfer system 101, a front guard unit 24 is provided to separate a work area 25, which is set on the opposite side of the transfer unit 12 from the transport unit 11 in a plan view, from the outside. The front guard unit 24 is connected to the support frame 14.

[0031] The work area 25 is a space for manual transfer in which a worker S holds and transfers an item 2. In other words, the transfer system 101 of this embodiment is capable of both automatic transfer (automatic operation mode) in which the transfer unit 12 holds and automatically transfers the item 2, and manual transfer (manual operation mode) in which the worker S enters the work area 25 and holds and transfers the item 2. In addition, the front guard unit 24 is provided adjacent to the work area 25 around the periphery of the work area 25.

[0032] Specifically, the front guard section 24 includes a plurality of fixed guard sections 26 and movable guard sections 27 connected together. The fixed guard sections 26 include a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The lower corners of the frame member 32 in the Z direction are fixed to the installation location of the transfer system 101 by fixing members 26a. Furthermore, the fixed guard sections 26, 26 on the rear side in the Y direction are each connected to the front side in the Y direction of the support frame 14.

[0033] The movable guard portion 27 constitutes an entrance door for the worker S to enter the work area 25, and includes a fixing frame member 33 and a movable member 34 provided within the fixing frame member 33. A lower corner of the fixing frame member 33 in the Z direction is fixed to the installation location of the transfer system 101 by a fixing member 33a. The movable member 34 is provided rotatably relative to the fixing frame member 33 via a hinge member (not shown) or the like. The movable member 34 includes a transparent plate 35 and a frame member 36 that holds the transparent plate 35.

[0034] As a result, it is possible to prevent people, including the worker S, from inadvertently entering the work area 25 and coming into contact with the transfer unit 12, thereby improving the safety of the transfer system 101. Furthermore, since the front guard unit 24 is provided adjacent to the work area 25, it is possible to prevent an increase in the installation space of the transfer system 101 due to the provision of the front guard unit 24.

[0035] In addition, when the transfer system 101 is capable of only automatic transfer, the work area 25 may be set as a monitoring area for an observer to monitor the transfer unit 12. Alternatively, the work area 25 may be omitted. In this case, the front guard unit 24 may be provided adjacent to the transfer unit 12 on the front side of the transfer unit 12 in the Y direction.

[0036] (rear guard) 1 and 2, the transfer system 101 is provided with rear guard sections 41, 41 that are adjacent in the X direction to the front end of the transport section 11 in the Y direction and that separate the front end from the outside in the X direction. The rear guard section 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front sides of the rear guard sections 41 in the Y direction are respectively linked (connected) to the rear sides of the support frame 14 in the Y direction. Furthermore, the lower corners of the frame member 43 in the Z direction are fixed to the installation location of the transfer system 101 by fixing members 43a. Furthermore, reinforcing members 44, 45 are provided between the rear guard sections 41, 41.

[0037] This makes it possible to prevent people, including the worker S, from entering through the conveying section 11 and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 101. Furthermore, since the rear guard section 41 is provided adjacent to the conveying section 11, it is possible to prevent an increase in the installation space of the transfer system 101 due to the provision of the rear guard section 41.

[0038] Furthermore, in this embodiment, the front guard section 24, the side guard section 21, and the rear guard section 41 are provided with transparent plates 22, 31, 35, and 42 as substantial guards. As a result, in this embodiment, the worker S of the transfer system 101 can monitor the conveying section 11 and the transfer section 12 from outside the transfer system 101. Note that instead of the transparent plates 22, 31, 35, and 42, fences, nets, or other types of guards may be used.

[0039] (Operation of transfer unit and transport unit) In the transfer system 101 configured as described above, the control unit 15 first instructs the loading conveyors 11a and 11b of the transfer unit 11 to load the first container 17 and the second container 18 from the rear in the Y direction to the front end in the Y direction, and continues this process. The control unit 15 also instructs the unloading conveyors 11c and 11d of the transfer unit 11 to unload the first container 17 and the second container 18 from the front end in the Y direction to the rear in the Y direction, and continues this process.

[0040] Next, the control unit 15 instructs the movement mechanism 11e of the conveying unit 11 to move the first container 17 and the second container 18. As a result, the movement mechanism 11e moves the carried-in first container 17 and second container 18 to the first transfer position P1 and the second transfer position P2, respectively. Next, the control unit 15 instructs the transfer unit 12 to transfer the items 2 based on the images of the first container 17 and the second container 18 taken by the camera unit 13. As a result, the transfer unit 12 holds the items 2 contained in the first container 17 at the first transfer position P1 and transfers them to the second container 18 at the second transfer position P2.

[0041] Next, control unit 15 instructs movement mechanism 11e of transport unit 11 to move first container 17. As a result, movement mechanism 11e moves first container 17 from first transfer position P1 to unloading conveyor 11c, and also moves the next first container 17 that has been loaded to first transfer position P1. The first container 17 moved to unloading conveyor 11c is then loaded backward in the Y direction.

[0042] The control unit 15 repeatedly issues the movement instruction and the transfer instruction for the first container 17, so that the required items 2 are stored in the second container 18. Then, the control unit 15 issues an instruction to the movement mechanism 11e of the transport unit 11 to move the first container 17 and the second container 18. As a result, the first container 17 at the first transfer position P1 is moved to the carry-out conveyor 11c, and the second container 18 at the second transfer position P2 is moved to the carry-out conveyor 11d. The first container 17 moved to the carry-out conveyor 11c and the second container 18 moved to the carry-out conveyor 11d are carried backward in the Y direction.

[0043] (Display) Fig. 3 is a perspective view showing the installation position of the display unit 51 when performing automatic transfer in the transfer system 101 shown in Fig. 1. Fig. 4 is a perspective view showing the installation position of the display unit 51 when performing manual transfer in the transfer system 101 shown in Fig. 1.

[0044] The display unit 51 is, for example, a liquid crystal panel, and displays picking information during manual transfer. The display unit 51 is detachably attached to the aluminum frame 24a of the front guard unit 24 and is installed in a predetermined position (the position where the display unit 51 is placed during manual transfer). For example, during automatic transfer, as shown in FIG. 3, the display unit 51 is installed on the aluminum frame 24a of the front guard unit 24 to the left of the operator S so as not to interfere with the transfer operation by the picking head 12a of the transfer unit 12. On the other hand, during manual transfer, as shown in FIG. 4, the display unit 51 is installed in a position where the display unit 51 is placed during manual transfer, i.e., on an installation unit 53 provided on the support arm 12f of the transfer unit 12 in front of the operator S. Note that the installation position of the display unit 51 during manual transfer is not limited to on the support arm 12f of the transfer unit 12, and may be any position where the operator S can easily visually check the picking information during manual transfer.

[0045] 4, the aluminum frame 24a of the front guard portion 24 is provided with a first detection unit 52 that detects whether the display unit 51 has been removed from the installation position (attached position) of the aluminum frame 24a. The first detection unit 52 may be, for example, a sensor that continuously transmits a signal to the control unit 15 when the display unit 51 is installed in the attached position of the aluminum frame 24a, and does not transmit a signal to the control unit 15 when the display unit 51 is removed from the attached position of the aluminum frame 24a. In this case, while the control unit 15 is receiving a signal from the first detection unit 52, the control unit 15 determines that the display unit 51 is installed in the attached position of the aluminum frame 24a, and determines that the display unit 51 has been removed from the attached position of the aluminum frame 24a when the signal from the first detection unit 52 is discontinued. The first detection unit 52 may be a sensor that does not send a signal to the control unit 15 when the display unit 51 is installed in the mounting position on the aluminum frame 24a, but continues to send a signal to the control unit 15 when the display unit 51 is removed from the mounting position on the aluminum frame 24a. In this case, when the control unit 15 receives a signal from the first detection unit 52, it determines that the display unit 51 has been removed from the mounting position on the aluminum frame 24a.

[0046] 3, the installation unit 53 is provided with a second detection unit 54 that detects whether the display unit 51 is installed at a predetermined position (manual transfer position) within the installation unit 53. Here, the manual transfer position of the installation unit 53 is a position where the picking information displayed on the display unit 51 is easy to see and where the display unit 51 is stable when installed.

[0047] The second detection unit 54 may be, for example, a sensor configured to continuously transmit a signal to the control unit 15 when the display unit 51 is installed at the manual transfer position on the installation unit 53, and not transmit a signal to the control unit 15 when the display unit 51 is removed from the installation unit 53. In this case, the control unit 15 determines that the display unit 51 is installed at the manual transfer position on the installation unit 53 while receiving a signal from the second detection unit 54, and determines that the display unit 51 has been removed from the installation unit 53 when the signal from the second detection unit 54 is discontinued. Note that the second detection unit 54 may be a sensor configured not to transmit a signal to the control unit 15 when the display unit 51 is installed at the manual transfer position on the installation unit 53, but to continue transmitting a signal to the control unit 15 when the display unit 51 is removed from the installation unit 53. In this case, the control unit 15 determines that the display unit 51 has been removed from the installation unit 53 when it receives a signal from the second detection unit 54.

[0048] The first detection unit 52 is not limited to the sensor having the above-described configuration, but may be any sensor that can detect whether the display unit 51 has been removed from the mounting position on the aluminum frame 24a. Similarly, the second detection unit 54 is not limited to the sensor having the above-described configuration, but may be any sensor that can detect whether the display unit 51 has been removed from the manual transfer position on the installation unit 53.

[0049] The display unit 51 displays the picking information transmitted from the control unit 15. The worker S performs manual transfer while viewing the picking information displayed on the display unit 51. Here, the transmission of the picking information from the control unit 15 to the display unit 51 is basically performed wirelessly. Therefore, the picking information from the control unit 15 is transmitted to the display unit 51 at the timing when the display unit 51 is removed from its mounting position on the aluminum frame 24a. Specifically, the picking information from the control unit 15 is transmitted to the display unit 51 at the timing when the first detection unit 52 detects that the display unit 51 has been removed from its mounting position on the aluminum frame 24a. In this case, while the display unit 51 is mounted on the aluminum frame 24a, the control unit 15 basically does not transmit the picking information to the display unit 51, but may transmit it. While the display unit 51 is mounted on the aluminum frame 24a, the transmission of the picking information from the control unit 15 to the display unit 51 may be wired rather than wireless. For example, if wiring from the control unit 15 is pulled into the aluminum frame 24a so that the display unit 51 can be connected to the wiring when the aluminum frame 24a is installed in the mounting position, picking information can be sent from the control unit 15 to the display unit 51 when the display unit 51 is installed in the mounting position of the aluminum frame 24a.

[0050] Furthermore, the start and stop of transmission of picking information from the control unit 15 to the display unit 51 may be performed based on, for example, the detection result of the second detection unit 54. In this case, when the second detection unit 54 detects that the display unit 51 is installed in the installation unit 53, the control unit 15 starts transmitting the picking information to the display unit 51. On the other hand, when the second detection unit 54 detects that the display unit 51 has been removed from the installation unit 53, the control unit 15 stops transmitting the picking information to the display unit 51. Furthermore, the start and stop of transmission of picking information from the control unit 15 to the display unit 51 may be performed by the worker S operating the terminal unit 16.

[0051] (Manual transfer) When performing manual transfer, worker S enters work area 25 (FIG. 1) and grabs handles 51a on both sides of display unit 51, which is installed in the installation position on aluminum frame 24a (FIG. 3), to remove it from the aluminum frame 24a. Next, display unit 51 is installed on installation unit 53 provided on support arm 12f of transfer unit 12 so that the picking information displayed on display unit 51 can be easily viewed (FIG. 4). Here, by installing display unit 51 in the manual transfer position on installation unit 53, the display screen faces directly in front of worker S.

[0052] The worker S then performs the transfer operation based on the picking information (transfer information) displayed on the display unit 51 on the front. The work area where the worker S performs the transfer operation during manual transfer is included within the movable area Q within which the transfer unit 12 can move during automatic transfer. As shown in FIGS. 1 and 2, the movable area Q is the range within which the transfer unit 12 can move. It is not a planar area, but a three-dimensional area that includes the space in the Z direction. Therefore, if the transfer unit 12 accidentally starts operating while the worker S is performing manual transfer, the picking head 12a of the transfer unit 12 may hit the worker S working within the movable area Q, which is dangerous. On the other hand, if the display unit 51 were located within the movable area Q, it would interfere with the movement of the picking head 12a of the transfer unit 12. The movable area Q does not include the display unit 51 when it is installed in the mounting position of the aluminum frame 24a. Therefore, by controlling the transfer unit 12 based on the position of the display unit 51, the control unit 15 can prevent the transfer unit 12 from accidentally starting operation during manual transfer, while also preventing the display unit 51 from interfering with the movement of the transfer unit 12 during automatic transfer. As will be described later, the control unit 15 performs control (interlock control) such that the transfer unit 12 cannot operate when the worker S has moved the display unit 51 to a position where it is easy to see during manual transfer. This makes it possible to prevent the transfer unit 12 from accidentally starting operation during manual transfer.

[0053] (Transfer control) 5 is a control block diagram of the transfer system 101. As described above, the control unit 15 controls the loading conveyors 11a and 11b of the transport unit 11, the unloading conveyors 11c and 11d of the transport unit 11, the transfer unit 12, the camera unit 13, and the display unit 51. The control unit 15 switches between automatic transfer by the transfer unit 12 and manual transfer in response to an instruction from the terminal unit 16. Here, the transfer control performed by the control unit 15 when an instruction for manual transfer is received from the terminal unit 16 will be described.

[0054] The control unit 15 is connected to a first detection unit 52 that detects whether the display unit 51 has been removed from its mounting position on the aluminum frame 24a and a second detection unit 54 that detects whether the display unit 51 has been installed at a transfer operation position within the installation unit 53. The control unit 15 controls the transfer unit 12 based on the detection result by the first detection unit 52. Here, when the state in which the display unit 51 has been removed from its mounting position on the aluminum frame 24a and the state in which the display unit 51 has been installed at its mounting position on the aluminum frame 24a are respectively defined as specific arrangements, the control unit 15 performs specific control on the transfer unit 12 when the first detection unit 52 detects that the display unit 51 is in the specific arrangement. In this case, if the state in which the display unit 51 has been removed from its mounting position on the aluminum frame 24a is defined as the specific arrangement, the control unit 15 performs specific control, such as disabling the transfer unit 12 from operating, when the display unit 51 is in the specific arrangement. On the other hand, if the state in which the display unit 51 is installed at the mounting position of the aluminum frame 24a is considered to be a specific arrangement, the control unit 15 performs specific control such as enabling the transfer unit 12 to operate when the display unit 51 is in the specific arrangement.

[0055] Specifically, when the first detection unit 52 detects that the display unit 51 is removed from the mounting position of the aluminum frame 24a (specific placement), the control unit 15 performs control (specific control: for example, interlock control) such as disabling the transfer unit 12 from operating. Furthermore, when the first detection unit 52 detects that the display unit 51 is removed from the mounting position of the aluminum frame 24a (specific placement), the control unit 15 transmits picking information for manual transfer to the display unit 51. The timing at which the control unit 15 transmits the picking information for manual transfer to the display unit 51 may be the timing when the first detection unit 52 detects that the display unit 51 is removed from the aluminum frame 24a, as described above, or the timing when the second detection unit 54 detects that the display unit 51 is installed at the transfer operation position within the installation unit 53.

[0056] Therefore, when the state in which the display unit 51 is removed from its mounting position on the aluminum frame 24a is determined to be the specific arrangement, the control unit 15 performs the following specific control on the transfer unit 12. That is, the specific control may be, for example, stopping the transfer unit 12, or changing the transfer unit 12 to a predetermined retracted state and then stopping it. As a result, when the display unit 51 is in the specific arrangement, that is, when the display unit 51 is removed from the aluminum frame 24a, the transfer unit 12 can be automatically stopped, or changed to a predetermined retracted state and then automatically stopped.

[0057] Furthermore, the specific control may be, for example, interruption of the automatic operation mode during automatic transfer, i.e., when the transfer unit 12 is in an automatic operation mode in which the item 2 is automatically transferred. As a result, when the display unit 51 is in a specific position, i.e., when the display unit 51 is detached from the aluminum frame 24a, the automatic operation mode of the transfer unit 12 can be interrupted and the transfer unit 12 can be automatically stopped.

[0058] Furthermore, the specific control may be, for example, switching from an automatic operation mode during automatic transfer, in which the transfer unit 12 automatically transfers the item 2, to a manual operation mode that allows the worker S to manually transfer the item 2. As a result, when the display unit 51 is in a specific position, in other words, when the display unit 51 is detached from the aluminum frame 24a, the mode of the transfer unit 12 can be automatically switched from the automatic operation mode to the manual operation mode.

[0059] After executing the above-described specific control, the control unit 15 may return the transfer unit 12 to the automatic operation mode when the arrangement of the display unit 51 deviates from the specific arrangement. This allows the mode of the transfer unit 12 to be automatically returned from the manual operation mode to the automatic operation mode when the display unit 51 deviates from the specific arrangement.

[0060] When the transfer unit 12 is caused to execute each of the specific controls described above, the specific placement of the display unit 51 may be within the movable area Q of the transfer unit 12.

[0061] On the other hand, if the state in which the display unit 51 is attached to the mounting position of the aluminum frame 24a is considered a specific arrangement, the movable area Q is not included in the specific arrangement in this case. Therefore, when the first detection unit 52 detects that the display unit 51 is attached to the mounting position of the aluminum frame 24a (specific arrangement), the control unit 15 performs control (specific control) such as enabling the transfer unit 12 to operate because the display unit 51 is not located within the movable area Q. For example, the specific control may be, for example, starting the operation of the transfer unit 12. As a result, when the display unit 51 is in the specific arrangement, i.e., when the display unit 51 is installed at the mounting position of the aluminum frame 24a, the operation of the transfer unit 12 can be started, allowing automatic transfer to be performed without being hindered by the display unit 51. In other words, the display unit 51 being in the specific arrangement indicates that the display unit 51 is located outside the movable area Q of the transfer unit 12, and therefore the picking head 12a of the transfer unit 12 can be moved without being hindered by the display unit 51.

[0062] Furthermore, the specific control may be a restart of the automatic operation mode when the automatic operation mode in which the transfer unit 12 automatically transfers the article 2 is interrupted. As a result, when the display unit 51 is in the specific position, that is, when the display unit 51 is installed in the mounting position of the aluminum frame 24a, the automatic operation mode that was temporarily stopped is restarted, and the transfer unit 12 can be operated automatically without being hindered by the display unit 51.

[0063] Furthermore, the specific control may be a switch from a manual operation mode that allows the worker S to manually transfer the item 2 to an automatic operation mode in which the transfer unit 12 automatically transfers the item 2. As a result, when the display unit 51 is in a specific position, that is, when the display unit 51 is installed in the mounting position of the aluminum frame 24a, the mode of the transfer unit 12 can be automatically switched from the manual operation mode to the automatic operation mode. In other words, there is no need to operate the terminal unit 16 to switch the operation mode.

[0064] After executing the above-described specific control, the control unit 15 may return the transfer unit 12 to the manual operation mode if the display unit 51 is displaced from the specific operation mode. This allows the transfer unit 12 to automatically return from the automatic operation mode to the manual operation mode if the display unit 51 is displaced from the specific operation mode, i.e., if the display unit 51 is displaced from the installation position of the aluminum frame 24a. In this case, there is also no need to operate the terminal unit 16 to switch the operation mode.

[0065] In this embodiment, by using the display unit 51 like a tablet terminal, it can be freely placed in a position that is easily visible to the worker S. This has the effect of improving the degree of freedom in the layout of the display unit 51 while ensuring the safety of the worker S.

[0066] In this embodiment, an example has been described in which, during manual transfer, the display unit 51 is removed from the aluminum frame 24a and installed in front of the worker S on the installation section 53 provided on the support arm 12f of the transfer section 12. However, in the following embodiment, an example will be described in which, during manual transfer, the display unit 51 is installed in front of the worker S without being removed from the aluminum frame 24a using an extendable support arm.

[0067] [Embodiment 2] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0068] (Display) Fig. 6 is a perspective view showing the installation position of the display unit 51 when performing automatic transfer in the transfer system 102 according to this embodiment. Fig. 7 is a perspective view showing the installation position of the display unit 51 when performing manual transfer in the transfer system 102. Fig. 8 is a schematic configuration diagram illustrating how the placement position of the display unit 51 is changed by the support arm 61.

[0069] The display unit 51 is supported by a support arm 61 so as to transition from the state in which it is positioned when performing automatic transfer shown in Figure 6 to the state in which it is positioned when performing manual transfer shown in Figure 7.

[0070] The support arm 61 is composed of two support rods (a first support rod 61a and a second support rod 61b) that can expand and contract in a direction perpendicular to the aluminum frame 24a. One end of the first support rod 61a is rotatably supported by the aluminum frame 24a, and the other end is connected to the second support rod 61b via a rotation shaft 61c. One end of the second support rod 61b is connected to the first support rod 61a via the rotation shaft 61c, and the other end is fixed to the display unit 51. The first support rod 61a is rotatably supported by a support part 62 that is fixed to the aluminum frame 24a at a predetermined height.

[0071] The display unit 51 is attached to a support arm 61 rotatably supported by a support portion 62 fixed to the aluminum frame 24a. The worker S holds the display unit 51 in his / her hand and moves it from a state in which the support arm 61 is contracted, indicated by reference numeral 1081 in FIG. 8, i.e., the standby position of the display unit 51, to a state in which the support arm 61 is extended, indicated by reference numeral 1082 in FIG. 8, i.e., the manual transfer position of the display unit 51. This state allows the worker S to easily visually check the picking information displayed on the display unit 51, and can be said to be a state in which the display unit 51 is positioned appropriately during manual transfer. Therefore, the support arm 61 is a support portion that can change the position of the display unit 51 while supporting the display unit 51.

[0072] (Transfer control) Fig. 9 is a control block diagram of the transfer system 102. The control block diagram shown in Fig. 9 is almost the same as the control block diagram of the transfer system 101 shown in Fig. 5, except that a third detection unit 55 is connected instead of the first detection unit 52 and the second detection unit 54.

[0073] The third detection unit 55 is a detection unit, such as a rotation angle sensor, that detects the angle θ formed between the first support rod 61a and the second support rod 61b. The rotation angle sensor is provided inside the rotation shaft 61c and detects the angle formed between the first support rod 61a and the second support rod 61b. For example, as shown by reference numeral 1081 in FIG. 8, if the angle formed between the first support rod 61a and the second support rod 61b when the display unit 51 is in the standby position is θ1, the control unit 15 determines that the display unit 51 has moved from the standby position if the angle detected by the rotation angle sensor exceeds θ1. On the other hand, if the angle detected by the rotation angle sensor is equal to or less than θ1, the control unit 15 determines that the display unit 51 is in the standby position. Here, when the state in which the display unit 51 has moved from the standby position and the state in which the display unit 51 is at the standby position are respectively defined as specific arrangements, the control unit 15 performs specific control on the transfer unit 12 if the third detection unit 55 detects that the arrangement of the display unit 51 by the support arm 61 has reached the specific arrangement. This allows the transfer unit 12 to perform an operation according to the specific control when the display unit 51 reaches the specific arrangement. Specifically, the control unit 15 performs specific control such as disabling the transfer unit 12 from operating when the display unit 51 has moved from the standby position. On the other hand, the control unit 15 performs specific control such as enabling the transfer unit 12 to operate when the display unit 51 is at the standby position.

[0074] In this case, the specific control is the same as that described in the first embodiment, i.e., the specific control to prevent the transfer unit 12 from operating is performed in the same manner as when the specific arrangement is a state in which the display unit 51 is removed from its mounting position on the aluminum frame 24a, and the specific control to enable the transfer unit 12 to operate is performed in the same manner as when the specific arrangement is a state in which the display unit 51 is installed in its mounting position on the aluminum frame 24a.

[0075] Here, as indicated by reference numeral 1082 in FIG. 8 , when the angle detected by the rotation angle sensor becomes θ2, the display unit 51 is set to the manual transfer position. In this case, the control unit 15 starts and stops transmitting picking information to the display unit 51 as follows. First, the control unit 15 starts transmitting picking information to the display unit 51 when the angle detected by the rotation angle sensor exceeds θ1. Then, the control unit 15 continues transmitting picking information to the display unit 51 when the angle detected by the rotation angle sensor becomes θ2. Thereafter, the control unit 15 determines that the display unit 51 is in the standby position when the angle detected by the rotation angle sensor becomes θ1. Note that when the control unit 15 detects that the angle detected by the rotation angle sensor has become smaller than θ2, the control unit 15 stops transmitting picking information to the display unit 51.

[0076] As described above, the third detection unit 55 uses a rotation angle sensor that detects the angle formed by the first support rod 61a and the second support rod 61b that constitute the support arm 61. However, the present invention is not limited to this. For example, whether the display unit 51 is disposed in a specific position may be determined by identifying the position of the display unit 51 due to the extension and contraction of the support arm 61. One method for determining the position of the display unit 51 is to photograph the position of the display unit 51 with a camera and determine whether the position is a desired position, thereby determining whether the display unit 51 is disposed in a specific position. For example, a camera photographs the state (standby state) of the display unit 51 and the support arm 61 shown by reference numeral 1081 in FIG. 8 , and the photographed data is used as a basic position. The basic position is compared with the position of the photographed data next photographed by the camera, thereby determining whether the display unit 51 has moved from the standby position, i.e., whether the display unit 51 is disposed in a specific position.

[0077] In addition, in this embodiment, an example in which the support arm 61 is attached to the aluminum frame 24a has been described, but the present invention is not limited to this. For example, the support arm 61 may be attached to a position where the standby position of the display unit 51 is outside the movable range Q and the display unit 51 can be moved to a position where it is easily visible to the worker S during manual transfer.

[0078] In the above-mentioned embodiments 1 and 2, examples were described in which the display unit 51 was placed in front of or close to the front of the worker S during manual transfer, but in the following embodiments, examples will be described in which the display unit 51 is placed at a predetermined position above or below the side of the worker S rather than in front of the worker S during manual transfer.

[0079] [Embodiment 3] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0080] (Display) Fig. 10 is a perspective view showing the installation position of the display unit 51 when manual transfer is performed in the transfer system 103 according to this embodiment. Fig. 11 is a three-sided view showing the movement mechanism of the display unit.

[0081] As shown in FIG. 10 , the display unit 51 is mounted to the pillar members 14a of the support frame 14 and the aluminum frame 24a of the front guard portion 24, which is disposed parallel to the pillar members 14a, so as to be movable in the vertical direction. In other words, the display unit 51 is a movable display unit that is movable in the vertical direction along the aluminum frame 24a. Specifically, the display unit 51 is mounted to a movable mounting plate 73 that is movably mounted on the aluminum frame 24a of the front guard portion 24, which is connected to the fixed guard portion 26. The movable mounting plate 73 is provided with a protruding reversing bracket 72 on the aluminum frame 24a side and a guide portion 76 on the pillar member 14a side. The protruding reversing bracket 72 is provided with protruding portions 72a that sandwich the aluminum frame 24a from both sides. The protruding portions 72a are disposed along the aluminum frame 24a. These protruding portions 72a support the movable mounting plate 73 so as to be movable in the vertical direction on the aluminum frame 24a. Meanwhile, the guide portion 76 is provided so as to move up and down along a groove (not shown) formed in the pillar member 14a in the vertical direction. Therefore, the movable mounting plate 73 can move up and down along the aluminum frame 24a and the pillar member 14a, and therefore the display unit 51 attached to the movable mounting plate 73 can also move up and down. The movable mounting plate 73, the protruding inversion bracket 72, and the guide portion 76 constitute a support portion that supports the display unit 51 in a position that can be changed.

[0082] A plate-like member 77 is further attached to the movable mounting plate 73, and is formed to protrude downward from the movable mounting plate 73 along the aluminum frame 24a. A free slide lock 74 is provided at the lower end of the plate-like member 77. The free slide lock 74 is structured so that it can be fixed at any position on the aluminum frame 24a. By using this free slide lock 74, the movable mounting plate 73 can be fixed at any position on the aluminum frame 24a. In other words, by using the free slide lock 74, the display unit 51 attached to the movable mounting plate 73 can be fixed at any position on the aluminum frame 24a.

[0083] Stoppers 75 are provided at the upper and lower ends of the aluminum frame 24a. The stoppers 75 are structured to abut against the upper and lower ends (free slide locks 74) of plate-like members 77 attached to the movable mounting plate 73. This prevents the display unit 51 from moving too far upward or downward along the aluminum frame 24a.

[0084] (Transfer control) Fig. 12 is a control block diagram of the transfer system 103. The control block diagram shown in Fig. 12 is almost the same as the control block diagram of the transfer system 102 shown in Fig. 9, except that a fourth detection unit 56 is connected instead of the third detection unit 55.

[0085] The fourth detection unit 56 is a detection unit that detects whether the display unit 51 is stopped at a preset position on the aluminum frame 24a. Here, the preset position is a position where the display unit 51 is installed at a height that allows the worker S to easily see the display unit 51 while facing left during manual transfer. The preset position is not limited to one location, but is a position within a predetermined range that is slightly moved up or down depending on the height of the worker S, etc. Therefore, the fourth detection unit 56 detects that the display unit 51 is stopped at the preset position if the display unit 51 is stopped at a position within the predetermined range that is set as the preset position.

[0086] When the state in which the display unit 51 is stopped at the set position and the state in which the display unit 51 is not stopped at the set position are respectively defined as specific arrangements, the control unit 15 performs specific control on the transfer unit 12 if the fourth detection unit 56 detects that the display unit 51 is in the specific arrangement. Specifically, when the display unit 51 is stopped at the set position, the control unit 15 performs specific control (interlock control, etc.) such as disabling the transfer unit 12 from operating. On the other hand, when the display unit 51 is not stopped at the set position, the control unit 15 performs specific control such as enabling the transfer unit 12 to operate.

[0087] In this case, the specific control is the same as that described in the first embodiment, i.e., the specific control to prevent the transfer unit 12 from operating is performed in the same manner as when the specific arrangement is a state in which the display unit 51 is removed from its mounting position on the aluminum frame 24a, and the specific control to enable the transfer unit 12 to operate is performed in the same manner as when the specific arrangement is a state in which the display unit 51 is installed in its mounting position on the aluminum frame 24a.

[0088] 〔summary〕 As described above, the transfer system according to aspect 1 of the present invention comprises a transport unit that transports items to a transfer position, a transfer unit that holds and transfers the items transported to the transfer position, a mobile display unit that displays transfer information to a worker when the worker manually transfers the items transported to the transfer position, and a control unit that controls the transfer unit based on the position of the display unit.

[0089] According to the above configuration, the operation of the transfer unit is controlled based on the position of the movable display unit, which enables control (interlock control) such as preventing the transfer unit from operating when the operator moves the display unit to a position where it is easily visible during manual transfer. This makes it possible to prevent the transfer unit from accidentally starting operation during manual transfer. Therefore, the above configuration allows for increased flexibility in the layout of the display unit while ensuring the safety of the operator.

[0090] A transfer system according to a second aspect of the present invention is the same as that of the first aspect, and further includes a detection unit that detects whether the display unit has been placed in a specific position, and the control unit controls the transfer unit based on the detection result of the detection unit. This makes it possible to control the transfer unit based on the detection result of whether the display unit has been placed in a specific position.

[0091] In a transfer system according to a third aspect of the present invention, in the second aspect, the control unit may perform specific control on the transfer unit when the detection unit detects the specific arrangement. This allows the transfer unit to perform an operation corresponding to the specific control when the display unit is in the specific arrangement.

[0092] A transfer system according to a fourth aspect of the present invention is any of the above first to third aspects, further comprising a support unit capable of changing the position of the display unit while supporting the display unit, and the control unit may perform specific control on the transfer unit when the position of the display unit by the support unit becomes a specific position. This allows the transfer unit to perform an operation corresponding to the specific control when the display unit becomes the specific position.

[0093] A transfer system according to a fifth aspect of the present invention is the transfer system according to the third and fourth aspects, wherein the specific control may be to stop the transfer unit or to change the transfer unit to a predetermined retracted state and then stop the transfer unit. In this way, when the display unit is in the specific position, the transfer unit can be automatically stopped or changed to a predetermined retracted state and then automatically stopped.

[0094] A transfer system according to aspect 6 of the present invention is a transfer system as described in claim 3 or 4, wherein in aspects 3 and 4 above, the specific control is interruption of the automatic operation mode when the transfer section is in an automatic operation mode in which the item is automatically transferred.

[0095] A transfer system according to a seventh aspect of the present invention is the transfer system according to the third or fourth aspect, wherein the specific control is switching the transfer unit from an automatic operation mode in which the items are automatically transferred to a manual operation mode in which the worker is allowed to manually transfer the items. This allows the mode of the transfer unit to be automatically switched from the automatic operation mode to the manual operation mode when the display unit is in the specific position.

[0096] A transfer system according to an eighth aspect of the present invention is any of the sixth and seventh aspects, wherein the control unit returns the transfer unit to the automatic operation mode when the display unit deviates from the specific arrangement after executing the specific control. This allows the mode of the transfer unit to be automatically returned from the manual operation mode to the automatic operation mode when the display unit deviates from the specific arrangement.

[0097] A transfer system according to a ninth aspect of the present invention is the transfer system according to the third and fourth aspects, wherein the specific control may be the start of operation of the transfer unit. This allows the operation of the transfer unit to be started when the display unit is in the specific position, thereby enabling automatic transfer to be performed.

[0098] In a transfer system according to Aspect 10 of the present invention, in Aspects 3 and 4, the specific control may be to resume the automatic operation mode when the automatic operation mode in which the transfer unit automatically transfers the article is interrupted. As a result, when the display unit is in the specific configuration, the automatic operation mode that was temporarily stopped can be resumed from the manual operation mode, and the transfer unit can be operated automatically.

[0099] In a transfer system according to an eleventh aspect of the present invention, in the above-mentioned aspects 3 and 4, the specific control may be switching from a manual operation mode that allows the worker to manually transfer the items to an automatic operation mode that causes the transfer unit to automatically transfer the items. This allows the mode of the transfer unit to be automatically switched from the manual operation mode to the automatic operation mode when the display unit is in the specific position.

[0100] A transfer system according to a twelfth aspect of the present invention is the above-mentioned eleventh aspect, wherein the control unit may return the transfer unit to the manual operation mode when the arrangement of the display unit deviates from the specific arrangement after executing the specific control. This allows the mode of the transfer unit 12 to be automatically returned from the automatic operation mode to the manual operation mode when the display unit 51 deviates from the specific arrangement.

[0101] A transfer system according to Aspect 12 of the present invention is any of Aspects 2 to 12 above, wherein the specific placement may be such that the display unit is placed within a movable area of ​​the transfer unit, thereby allowing the transfer unit to perform an operation according to specific control when the display unit is placed within the movable area.

[0102] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0103] 2 Goods 11 Conveying section 11a·11b Intake conveyor 11c·11d Unloading conveyor 11e Moving mechanism 11f Cabinet 12 Transfer section 12a Picking head (holding part) 12b Drive unit 12c fixed rail 12d First moving rail 12e Second moving rail 12f Support arm 13 Camera Department 13a Camera 1 13b Second Camera 14 Support frame 14a Column member 14b Column member 14c Girder member 14d Reinforcement member 14e Fixing member 14f Fixing member 14g Beam member 14h Beam member 15 Control Unit 16 Terminal 16a Input section 16b Display section 17 1st container 18 Second container 21 Side guard 22 Transparent plate 23 Frame members 24 Front guard 24a aluminum frame 25 work area 26 Fixed guard part 26a Fixing member 27 Movable guard part 31 Transparent plate 32 Frame members 33 Fixing frame member 33a Fixing member 34 Movable parts 35 Transparent plate 36 Frame members 41 Rear guard 42 Transparent plate 43 Frame members 43a Fixing member 44·45 Reinforcement members 51 Display section 51a handle 52 First detection unit 53 Installation part 54 Second detection unit 55 Third detection unit 56 Fourth detection unit 61 Support arm 61a 1st support rod 61b 2nd support rod 61c Rotating shaft 62 Support part 72 Reversed bracket with protrusion 72a Protrusion 73 Movable mounting plate 74 Free Slide Lock 75 Stopper 76 Guide part 77 Plate-shaped members 101 Transfer System 102 Transfer System 103 Transfer System P1 1st transfer position P2 2nd transfer position Q movable area S Worker

Claims

1. a conveying unit that conveys the article to a transfer position; a transfer unit that holds and transfers the item transported to the transfer position; a mobile display unit that displays transfer information to a worker when the worker manually transfers the item transported to the transfer position; a control unit that controls the transfer unit based on the arrangement of the display unit; A transfer system comprising:

2. a detection unit that detects that the display unit has been placed in a specific position; The transfer system according to claim 1 , wherein the control unit controls the transfer unit based on a detection result by the detection unit.

3. The transfer system according to claim 2 , wherein the control unit performs specific control on the transfer unit when the detection unit detects the specific arrangement.

4. a support part that supports the display part and is capable of changing the position of the display part, The transfer system according to claim 1 , wherein the control unit performs specific control on the transfer unit when the support unit causes the display unit to assume a specific position.

5. 5. The transfer system according to claim 3, wherein the specific control is to stop the transfer unit, or to stop the transfer unit after changing it to a predetermined retracted state.

6. 5. The transfer system according to claim 3, wherein the specific control is, when the transfer unit is in an automatic operation mode in which the object is automatically transferred, interrupting the automatic operation mode.

7. The transfer system according to claim 3 or 4, wherein the specific control is switching of the transfer section from an automatic operation mode in which the item is automatically transferred to a manual operation mode in which the worker is allowed to manually transfer the item.

8. The transfer system according to claim 7 , wherein the control unit returns the transfer unit to the automatic operation mode when the position of the display unit deviates from the specific position after executing the specific control.

9. The transfer system according to claim 3 or 4, wherein the specific control is a start of an operation of the transfer unit.

10. 5. The transfer system according to claim 3, wherein the specific control is a restart of the automatic operation mode when the automatic operation mode in which the transfer unit automatically transfers the article is interrupted.

11. 5. The transfer system according to claim 3, wherein the specific control is a switch from a manual operation mode that allows the worker to manually transfer the item to an automatic operation mode in which the transfer unit automatically transfers the item.

12. The transfer system according to claim 11 , wherein the control unit returns the transfer unit to the manual operation mode when the display unit is moved out of the specific position after the specific control is executed.

13. 5. The transfer system according to claim 3, wherein the specific arrangement is such that the display unit is arranged within a movable area of ​​the transfer unit.

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