Transfer devices and transport vehicles

Abstract

A transfer device that enables the correction of the posture of a transferred object. The transfer device (3) includes: a mounting plate (68) on which the transferred object is mounted; belts (74) of a pair of left and right belt conveyors (7) clamping the transferred object (200); a control unit that controls the movement of the pair of belts (74) respectively in a manner that the transferred object (200) is clamped and transferred from the transfer source toward the mounting plate (68); and a detection unit that detects the posture of the transferred object when the control is executed by the control unit. The control unit corrects the posture of the transferred object by controlling the movement of the pair of belts (74) to transfer the transferred object differently when the posture of the transferred object detected by the detection unit is tilted relative to a predetermined posture.

Description

[Technical Field]

[0001] This invention relates to a transfer device for transferring objects. [Previous Technology]

[0002] Forklifts, pallet trolleys, and similar systems are equipped with transfer devices for loading and unloading items from storage sheds. For example, Patent Document 1 discloses a transfer device that includes a lateral conveyor that moves items by moving them while they are clamped from both sides [Prior Art Document] [Patent Document]

[0003] [Patent Document 1] Japanese Patent Publication No. 2002-114317 [Summary of the Invention]

[0004] [The problem the invention aims to solve]

[0005] When an item is removed from the shelf using the aforementioned transfer device, if the item's position or orientation is incorrect, even if the lateral conveyor clamps the item from both sides, it cannot apply equal transport force to both sides of the item. Therefore, the item tilts in the transfer direction, causing problems that hinder the transfer of the item.

[0006] One aspect of the present invention aims to realize a transfer device or the like that can correct the posture of the transferred object. [Means for solving the problem]

[0007] To solve the above problems, a transfer device system according to one aspect of the present invention includes: a placement section on which a transferable object is placed; a pair of left and right retainers for clamping the transferable object; a control section for controlling the movement of the pair of retainers respectively, thereby transferring the transferable object from a transfer source toward the placement section by clamping; and a detection section for detecting the posture of the transferable object when the control is executed by the control section; the control section corrects the posture of the transferable object by controlling the movement of the pair of retainers to transfer the transferable object differently when the posture detected by the detection section is tilted relative to a predetermined posture. [Effects of the Invention]

[0008] According to one aspect of the present invention, a transfer device is available that can correct the posture of the transferred object.

Implementation Method

[0010] [Storage Warehouse and Transport Vehicle] The storage warehouse and transport vehicle common to Embodiments 1 to 3 of the present invention will be described based on Figures 1 to 3. Figure 1 is a top view showing the configuration of the storage warehouse 100. Figure 2 is a top view showing the configuration of the transport vehicle 1 traveling in the passageway 102 of the storage warehouse 100. Figure 3 is a front view showing the configuration of the transport vehicle 1.

[0011] As shown in Figure 1, the storage warehouse 100 system includes storage sheds 101 and passageways 102. The passageways 102 are arranged in a straight line so that the transport vehicle 1 can move back and forth. The storage sheds 101 are arranged on both sides of the passageways 102. The storage sheds 101 are divided into a plurality of storage sections 101a (transfer sources) arranged continuously side by side along the passageways 102. The storage sheds 101 and passageways 102 shown in Figure 1 are single-layered. In the storage sheds 101 system, as shown in Figure 1, the storage sheds 101 and passageways 102 are provided in multiple layers. Furthermore, the storage sheds 101 system also includes a lifting device (not shown) for moving the transport vehicle 1 up and down to each layer of the passageway 102.

[0012] The transport vehicle 1 system includes a base 2 and a transfer device 3. The base 2 system is configured to move back and forth along the length direction of the passage 102 in the X1 direction and in the X2 direction opposite to the X1 direction. Specifically, as shown in Figures 2 and 3, four wheels 21 are provided on the lower part of the base 2 system. Furthermore, the base 2 system is formed into a rectangle having short sides along the X1 and X2 directions and long sides along directions orthogonal to the X1 and X2 directions.

[0013] The transfer device 3 is mounted on the base 2 and has a clamping mechanism 5 for clamping the object to be transferred 200 (please refer to Figures 2 and 3). The transfer device 3 moves the clamping mechanism 5 forward and backward in the Y1 direction (transfer direction), which is orthogonal to the X1 and X2 directions, and in the Y2 direction (transfer direction), which is opposite to the Y1 direction. In this way, the transfer device 3 transfers the object to be transferred 200 between the storage part 101a and the mounting plate 68 (mounting part) which is provided on the transfer device 3 (described later).

[0014] Next, the transfer device 3 will be described in detail.

[0015] As shown in Figures 2 and 3, the transfer device 3 has an advancing / retreating mechanism 4 and a clamping mechanism 5.

[0016] The forward / backward mechanism 4 is configured to move the clamping mechanism 5 forward from the base 2 toward the storage portion 101a (in the Y1 or Y2 direction) and to move the clamping mechanism 5 backward from the storage portion 101a toward the base 2 (in the Y1 or Y2 direction). The forward / backward mechanism 4 includes a sliding plate 41, a guide mechanism 42, and a drive mechanism 43.

[0017] The sliding plate 41 system is a plate member that supports the clamping mechanism 5 and is disposed on the base 2. The sliding plate 41 system is formed into a rectangle having a long side that is slightly shorter than the width (short side) of the base 2 and a short side that is about 1 / 3 of the length (long side) of the base 2, and is disposed in such a way that its long side direction is orthogonal to the Y1 direction and the Y2 direction.

[0018] The guide mechanism 42 is a mechanism for guiding the sliding plate 41 in the Y1 and Y2 directions. As shown in Figure 3, the guide mechanism 42 has a pair of guide rails 421 and four rollers 422.

[0019] The guide rail 421 system is formed in a straight line extending in the Y1 and Y2 directions and is disposed near the two side edges of the base 2 on the upper surface of the base 2. The guide rail 421 system has recesses formed on the opposing sides.

[0020] The roller system 422 is rotatably supported under the sliding plate 41. Two rollers 422 are arranged in each recess of a guide rail 421, and rotate on the bottom surface of the recess in the Y1 and Y2 directions.

[0021] The drive mechanism 43 is a mechanism for driving the sliding plate 41 in the Y1 and Y2 directions on the base 2. The drive mechanism 43 is arranged in a straight line extending in the Y1 and Y2 directions and is arranged parallel to the guide rails 421 at the middle position of a pair of guide rails 421. The drive mechanism 43 uses, for example, a synchronous belt and a mechanism such as pulleys, racks and pinions to convert rotary motion into linear motion.

[0022] The clamping mechanism 5 has an expansion and contraction mechanism 6 and a pair of belt conveyors 7.

[0023] The expansion / contraction mechanism 6 is a mechanism for moving a pair of belt conveyors 7 along the X1 and X2 directions in the direction of narrowing the gap and the direction of widening the gap. The expansion / contraction mechanism 6 includes a pair of screw shafts 61, a pair of nuts 62, a common bearing 63, a pair of bearings 64, a sliding shaft 65, a pair of retainers 66, a pair of support members 67, and a pair of mounting plates 68.

[0024] A series of screw shafts 61 are disposed on a sliding plate 41, near the side edge of the long side of one of the sliding plates 41. The series of screw shafts 61 are arranged with their central axes aligned in the same way in the X1 and X2 directions. At the ends of the screw shafts 61, the end near the side edge of the short side of the sliding plate 41 is rotatably supported by a bearing 64, and the other end is rotatably supported by a common bearing 63.

[0025] The nut 62 has a through hole into which the screw shaft 61 is inserted. The nut 62 moves along the screw shaft 61 in the X1 or X2 direction in response to the rotation of the screw shaft 61 by rotating contact with the screw shaft 61 via a steel ball (not shown). Thus, the screw shaft 61 and the nut 62 constitute a ball screw.

[0026] A sliding shaft 65 is disposed on a sliding plate 41, near the side edge of the other long side of the sliding plate 41, and is arranged parallel to the screw shaft 61. Both ends of the sliding shaft 65 are fixed and supported on the sliding plate 41 by support members 67.

[0027] The retainer 66 has a through hole into which the sliding shaft 65 is inserted. The retainer 66 is configured such that the sliding shaft 65 can slide along both the X1 and X2 directions.

[0028] The mounting plates 68 are respectively disposed on nuts 62 and retainers 66 arranged side by side in the Y1 and Y2 directions. Furthermore, the mounting plates 68 are fixed to these nuts 62 and retainers 66.

[0029] The expansion mechanism 6 system configured as described above moves a pair of nuts 62 either towards or away from the common bearing 63 by rotating a pair of screw shafts 61 in opposite directions. This causes the mounting plate 68, fixed to the nuts 62, to move along with them. Furthermore, the retainer 66 system, to which the mounting plate 68 is fixed, moves along the sliding shaft 65 by the movement of the mounting plate 68. Thus, the pair of mounting plates 68 system moves in either a direction where the spacing narrows or widens.

[0030] The belt conveyor 7 system, as shown in Figure 3, moves the holding surface of the belt 74 (holding body) holding the transported item 200 in the Y1 and Y2 directions while the item 200 is clamped in the belt. The belt conveyor 7 system includes a support body 71, a pair of support plates 72, a pair of drive rollers 73, and a belt 74. Here, the transported item 200 is luggage or other items 202 placed on a tray 201. The tray 201 is rectangular, so the transported item 200 is also rectangular in shape. However, the shape of the tray 201 is not limited to rectangular; other shapes are also possible.

[0031] The support body 71 is a component that supports the belt conveyor 7 on the expansion mechanism 6. Specifically, the support body 71, like the mounting plate 68, is disposed on nuts 62 and retainers 66 arranged side by side in the Y1 and Y2 directions, and is fixed to these nuts 62 and retainers 66. In this way, the support body 71 moves together with the mounting plate 68.

[0032] A pair of support plates 72 are spaced apart on the support body 71. The lower support plate 72 is fixed to the support body 71. The upper support plate 72 is disposed on the lower support plate 72 between spacers (not shown).

[0033] A drive roller system 73 is disposed at each end of a pair of support plates 72. The drive shaft system of the drive roller 73 is rotatably supported on the pair of support plates 72. The drive roller system 73 rotates in the forward and reverse directions by a rotational driving force transmitted to the drive shaft.

[0034] The belt system 74 has a certain width and is formed in a loop (endless). The belt system 74 is formed of a material with a high coefficient of friction, such as rubber. The belt system 74 holds the transported object 200 on the opposing sides of a pair of belt conveyors 7.

[0035] The clamping mechanism 5 system configured as described above moves the pair of belt conveyors 7 in the direction where the spacing narrows or widens. Furthermore, the pair of belt conveyors 7 system moves the object 200 in the Y1 or Y2 direction by moving the side of the left and right pair of belts 74 that holds the object 200 in the Y1 or Y2 direction.

[0036] Furthermore, although the clamping mechanism 5 system includes a belt conveyor 7, other mechanisms may be used instead of the belt conveyor 7 if they have equivalent functions. For example, such a mechanism may be a mechanism equipped with a reciprocating movement mechanism that holds the object to be transferred 200 in the Y1 and Y2 directions, or a rubber roller feeding mechanism. The rubber roller feeding mechanism system includes a plurality of rubber rollers arranged side by side in the Y1 and Y2 directions, and the object to be transferred 200 is moved by the rotationally driven rubber rollers.

[0037] Next, the control system of the transfer device 3 will be described. Figure 4 is a block diagram showing the configuration of this control system.

[0038] As shown in Figure 4, the transfer device 3 includes a control unit 8. The control unit 8 controls the operation of the forward / backward mechanism 4, the expansion / contraction mechanism 6, and the belt conveyor 7 in the transfer device 3. To achieve the control function, the control unit 8 includes a forward / backward control unit 81, a clamping control unit 82, and a transfer control unit 83. Furthermore, the transfer device 3, as components constituting the control system, includes a transfer position sensor 11, a clamping position sensor 12, a forward / backward motor 44, an expansion / contraction motor 69, and a conveyor motor 75.

[0039] The transfer position sensor 11 is a sensor that detects the position of the sliding plate 41 in the Y1 and Y2 directions, and is disposed at a predetermined position on the base 2. Specifically, the transfer position sensor 11 detects the backward position, forward position and intermediate position of the sliding plate 41.

[0040] The retracted position is the position of the sliding plate 41 when it is in a predetermined position on the base 2 shown in Figure 2. The predetermined position of the sliding plate 41 is the position where the sliding plate 41 is positioned at the center of the base 2 when the transport vehicle 1 is transporting the transferred object 200. The forward position is the position of the sliding plate 41 when it is in its forwardmost position towards the storage section 101a. The intermediate position is the position closest to the forward position between the retracted position and the forward position.

[0041] The clamping position sensor 12 is a sensor for detecting the position of the belt conveyor 7, and is disposed at a predetermined position on the base 2. Specifically, the clamping position sensor 12 detects the clamping position and the clamping release position. The clamping position is the position of the belt conveyor 7 in the narrowest state when clamping the transported object 200. The clamping release position is the position of the belt conveyor 7 in the widest state when clamping the transported object 200.

[0042] The detection unit 13 detects the posture of the transferred object 200 when the control unit 8 performs the operation of the transfer device 3 when the object is transferred. The specific posture detection method of the detection unit 13 will be described in Embodiments 1 to 4 below.

[0043] The conveyor motor 75 is a motor included in the belt conveyor 7, which rotates and drives the drive roller 73. The forward / backward motor 44 is a motor included in the forward / backward mechanism 4, which drives the driven part of the forward / backward mechanism 4. The expansion / contraction motor 69 is a motor included in the expansion / contraction mechanism 6, which rotates and drives the screw shaft 61. The expansion / contraction motor 69 also drives a pair of screw shafts 61. Therefore, the expansion / contraction mechanism 6 has a drive force transmission mechanism (not shown) for transmitting the driving force of the expansion / contraction motor 69 to the pair of screw shafts 61.

[0044] The forward / backward control unit 81, in accordance with the position of the sliding plate 41 (forward / backward detection position) detected by the transfer position sensor 11, controls the rotation and stopping of the forward / backward motor 44 when the transfer device 3 performs the pulling action of transferring the object 200 from the storage section 101a to the mounting plate 68. Specifically, the forward / backward control unit 81 reverses the rotation of the forward / backward motor 44 during forward movement and backward movement. The forward movement period is the period during which the sliding plate 41 moves forward toward the storage section 101a until the forward / backward detection position changes from the backward position to the forward position. The backward movement period is the period during which the sliding plate 41 moves backward toward the base 2 until the forward / backward detection position changes from the forward position to the backward position.

[0045] The clamping control unit 82, in accordance with the position of the belt conveyor 7 (conveyor detection position) and the forward / backward detection position detected by the clamping position sensor 12, controls the rotation and stopping of the expansion motor 69 when the transfer device 3 performs the pulling action. Specifically, the clamping control unit 82 does not rotate the expansion motor 69 until the forward / backward detection position changes from the backward position to the intermediate position, and when the intermediate position is detected, it rotates the expansion motor 69 in the direction that reduces the distance between the pair of belt conveyors 7. Furthermore, the clamping control unit 82 stops the rotation of the expansion motor 69 when the clamping position is detected. Also, the clamping control unit 82 rotates the expansion motor 69 until the forward / backward detection position changes from the forward position to the backward position, and when the backward position is detected, it rotates the expansion motor 69 in the direction that increases the distance between the pair of belt conveyors 7.

[0046] The transfer control unit 83 controls the operation of the conveyor motor 75 in the pair of belt conveyors 7 when the transfer device 3 performs a pulling action, based on the advance / retreat detection position. Specifically, the transfer control unit 83 does not rotate the conveyor motor 75 when the device is in a backward position before the pulling action is detected. Furthermore, the transfer control unit 83 rotates the conveyor motor 75 when the advance / retreat detection position changes from a backward position to a middle position, when the advance / retreat detection position changes from a middle position to a forward position, and when the advance / retreat detection position changes from a forward position to a middle position. Also, the transfer control unit 83 stops the rotation of the conveyor motor 75 when the advance / retreat detection position changes from a middle position to a backward position.

[0047] The transfer control unit 83 controls the operation of the pair of belt conveyors 7 in response to the posture (detection posture) of the transferred object 200 detected by the detection unit 13. Specifically, when the detection posture is a predetermined posture, the transfer control unit 83 controls the two conveyor motors 75 synchronously. Furthermore, when the detection posture is tilted from the predetermined posture, the transfer control unit 83 individually controls the two conveyor motors 75 in a manner that the movements of the two belt conveyors 74 transferring the transferred object 200 are different for each other.

[0048] The prescribed posture system is the posture of the transferred object 200 when its centerline is aligned with the transfer direction (Y1 direction and Y2 direction). Furthermore, the prescribed posture system also includes the posture of the transferred object 200 when its centerline is tilted within a predetermined small angle range relative to the transfer direction.

[0049] Furthermore, the transfer device 3 is mounted on the transport vehicle 1, but it can also be applied to devices such as stacker cranes.

[0050] [Example 1] Example 1 of the present invention will be described based on Figure 5 as follows. Figure 5 is a diagram illustrating the transfer operation of the transferred object 200 by the transfer device 3 of Examples 1 to 3 of the present invention. Furthermore, for ease of explanation, constituent elements having the same functions as the aforementioned constituent elements are labeled with the same reference numerals, and their descriptions are omitted. This also applies to the embodiments described below.

[0051] In this embodiment, the pulling action of the transfer device 3 when the object 200 being transferred is tilted by the detection unit 13 will be described. First, in the top view of Figure 5, the belt conveyor 7 arranged on the left side of the base 2 is referred to as belt conveyor 7L, and the belt conveyor 7 arranged on the right side of the base 2 is referred to as belt conveyor 7R.

[0052] (1) Step 1 In the state before the pull-in action begins, as shown by the solid line in Figure 5, the belt conveyors 7L and 7R are in the clamp release position. Also, the transferred object 200 is positioned slightly to the left of the center in the self-collection section 101a.

[0053] When the pulling action begins, the aforementioned sliding plate 41 moves forward toward the receiving section 101a. In this state, the belt conveyors 7L and 7R have not yet moved. When the sliding plate 41 reaches the middle position, as shown by the two-point chain line in Figure 5, the belt conveyors 7L and 7R move in the direction of decreasing spacing by means of the aforementioned clamping mechanism 5, and the respective belts 74L and 74R of the belt conveyors 7L and 7R move in the direction of the arrow at the same speed. By making the forward movement and clamping action of the belt conveyors 7L and 7R occur simultaneously, the transfer can be performed efficiently.

[0054] (2) Step 2 When belt conveyors 7L and 7R move further in the direction of reducing the interval, belt conveyor 7L contacts the left side of the object being transferred 200. In this state, belt conveyor 7R does not contact the object being transferred 200.

[0055] (3) Step 3 In step 2, because the force of the belt conveyor 7L only acts on the left side of the transferred object 200, the posture of the transferred object 200 is tilted. Therefore, the belt conveyor 7R contacts the transferred object 200. Furthermore, in this state, the transfer control unit 83 determines that the detected posture detected by the detection unit 13 is tilted relative to the specified posture. Then, the transfer control unit 83 reduces the rotational speed of the conveyor motor 75 driving the belt conveyor 7L, or stops the rotation of the conveyor motor 75 while increasing the rotational speed of the conveyor motor 75 driving the belt conveyor 7R. Therefore, the conveying speed (operating speed) of the belt conveyor 7R becomes faster than the conveying speed of the belt conveyor 7L.

[0056] (4) Step 4 The transfer control unit 83 continues to control the conveying speed of belt conveyors 7L and 7R from the state of step 3. Herein, when the posture of the transferred object 200 is in the prescribed posture, the transfer control unit 83 determines that the detected posture detected by the detection unit 13 is the prescribed posture, and makes the rotation speed of the conveyor motors 75 driving belt conveyors 7L and 7R return to the same speed. Herein, the conveying speeds of belts 74L and 74R become equal.

[0057] The clamping control unit 82 stops the movement of the belt conveyors 7L and 7R in the direction of narrowing when the clamping position is detected. Then, the advance control unit 81 moves the sliding plate 41 (belt conveyors 7L and 7R) toward the base 2, and stops the movement of the sliding plate 41 when it reaches the retracted position.

[0058] Thus, according to this embodiment, by making the movements of the belts 74L and 74R of the pair of belt conveyors 7L and 7R different, the difference in the distance traveled by the portion of the transported object 200 held on the pair of belts 74L and 74R can be reduced. Therefore, even if the transported object 200 tilts, its posture is corrected. Thus, the transport of the transported object 200 can be performed smoothly.

[0059] Furthermore, in this embodiment, as shown in Figure 5, posture correction is described when the transfer device 3 is tilted due to contact between the transfer object 200 and one of the belts 74L. This embodiment is not limited to this case, and it can also be applied when the transfer object 200 is disposed in the storage section 101a in a tilted state. Specifically, when the belt conveyors 7L and 7R advance to the storage section 101a, as shown in step 3 of Figure 5, if a tilt is detected, the transfer control unit 83 performs the posture correction control performed in step 3. This is also the case for the embodiments described later.

[0060] [Example 2] Example 2 of the present invention will be described based on Figure 5 as follows. In this example, only actions that differ from those described in Example 1 will be described.

[0061] In this embodiment, the detection unit 13 detects the posture of the transferred object 200 based on the difference in load applied to the pair of belt conveyors 7L and 7R. Furthermore, the transfer control unit 83 controls the movement of the belt 74L or 74R of the belt conveyors 7L and 7R such that the belt with the lighter load moves faster than the belt with the heavier load. The load on the belts 74L and 74R is detected by measuring the current flowing through the conveyor motors 75 that drive the belts 74L and 74R, respectively. This control will be explained below.

[0062] In step 2, since the belt conveyor 7L comes into contact with the object being transferred 200, a load is applied to the belt 74L. However, since this load is very light, the difference between the loads applied to the belts 74L and 74R is smaller than the predetermined value D1. Therefore, the detection unit 13 does not detect the tilt of the object being transferred 200 in this state.

[0063] In step 3, when the orientation of the object to be transferred 200 is tilted, the belt 74R applies a load by contacting the object to be transferred 200. In this state, since the belt conveyor 7L attempts to move the object to be transferred 200 in the tilted state, it is unable to move the object to be transferred 200 correctly in the transfer direction, and the load applied to the belt 74L increases. Therefore, the difference in load applied to the belts 74L and 74R exceeds a predetermined value D1. As a result, the transfer control unit 83 makes the conveying speed of the belt 74R with the lighter load faster than the conveying speed of the belt 74L with the heavier load.

[0064] In this way, the portion of the transported object 200 held by the relatively lighter load side of the pair of belts 74L and 74R moves more than the portion held by the other belt. In this way, the posture of the transported object 200 is corrected.

[0065] Furthermore, the transfer control unit 83 continues the above control until the difference in load between the pair of belts 74L and 74R becomes a predetermined value D1.

[0066] If the load difference becomes below a predetermined value D1, and the posture of the transferred object 200 is considered to have been corrected to the prescribed posture, the posture of the transferred object 200 can be more accurately corrected by continuing to control the conveying speed until the load difference becomes below a predetermined value D1.

[0067] [Example 3] Example 3 of the present invention will be described based on Figure 5 as follows. In this example, only actions that differ from those described in Examples 1 and 2 will be described.

[0068] In this embodiment, the detection unit 13 detects the posture of the transferred object 200 based on an image captured by a photographic device (not shown). The photographic device may be disposed in the transfer device 3 or in the storage warehouse 100. Furthermore, the transfer control unit 83 controls the transport speed of one of the pair of belts 74L and 74R on the side where the transferred object 200 is tilted to be slower than the other. When the tilted posture is detected as in step 3, the transfer control unit 83 controls the transport speed of belt 74R to be faster than that of belt 74L, as performed in step 3 of embodiment 1.

[0069] The portion of the transported object 200 held by one of the pair of belts 74L and 74R on the side where the transported object 200 is tilted moves less than the portion held by the other belt. In this way, the posture of the transported object 200 is corrected.

[0070] Furthermore, the transfer control unit 83 continues the aforementioned control until the posture of the transferred object 200 detected by the detection unit 13 becomes the prescribed posture. Specifically, the transfer control unit 83 determines whether the posture of the transferred object 200 has become the prescribed posture by comparing the image of the transferred object 200 being photographed with the image of the transferred object 200 in the prescribed posture. In this way, the posture of the transferred object 200 can be correctly corrected to the prescribed posture.

[0071] [Example 4] Example 4 of the present invention will be described based on Figure 6 as follows. Figure 6 is a diagram showing the transfer operation of the transfer device 3 of Example 4 of the present invention for the transferred object 200. In this example, only the operation that differs from the operation described in Examples 1 to 3 will be described.

[0072] In this embodiment, as shown in Figure 6, the detection unit 13 has two distance sensors 11L and 11R. For example, the distance sensors 11L and 11R are disposed at two different measurement positions in the base 2 of the transfer device 3, spaced apart in the left-right direction from the end furthest from the storage portion 101a. Furthermore, the distance sensors 11L and 11R can also be disposed at the end of the base 2 opposite to the aforementioned position to measure the distance of the transferred object 200 disposed on the opposite side of the base 2 from the storage portion 101a shown in Figure 6. The detection unit 13 detects the posture of the transferred object 200 based on the difference between the straight-line distances measured by the distance sensors 11L and 11R and the transfer direction of the transferred object 200.

[0073] The transfer control unit 83 controls the conveying speed of one of the pair of belts 74L and 74R on the side of the measurement position where the linear distance to be measured is relatively longer, to be faster than that of the other belt. This control will be explained below.

[0074] (1) Steps 1 and 2 As shown in Figure 6, when the orientation of the object 200 is not tilted, the straight distances L1 and L2 between the distance sensors 11L and 11R and the object 200 are equal.

[0075] (2) Step 3 When the object being transferred 200 is tilted, the straight distance L1 becomes shorter than the straight distance L2. In this case, the transfer control unit 83 controls the conveying speed of the belt 74R to be faster than the conveying speed of the belt 74L, as performed in step 3 of embodiment 1.

[0076] (3) Step 4 When the posture of the transferred object 200 is in the prescribed posture, the straight distances L1 and L2 become equal. In this case, the transfer control unit 83 controls the conveying speeds of the belts 74L and 74R to be equal, as performed in step 4 of embodiment 1.

[0077] Thus, according to this embodiment, by causing the portion of the transported object 200 held by one of the measuring positions on which the relatively longer straight-line distance L1 or straight-line distance L2 is measured among the pair of belts 74L and 74R to move more than the portion of the transported object 200 held by the other belt, the posture of the transported object 200 is corrected.

[0078] Furthermore, the transfer control unit 83 continues the above control until the difference between the straight-line distances L1 and L2 becomes a predetermined value D2 or less. If the difference between the straight-line distances L1 and L2 becomes a predetermined value D2 or less, and considering that the posture of the transferred object 200 has been corrected to the prescribed posture, the transfer control unit 83 continues to control the transport speed until the difference between the straight-line distances L1 and L2 becomes a predetermined value D2 or less. In this way, the posture of the transferred object 200 can be corrected more accurately.

[0079] [Implementation example by software] The function system of the transfer device 3 (hereinafter referred to as "device") has a program that enables the computer to function as this device, which can be implemented by a program that enables the computer to function as each control block of this device (especially each part included in the control unit 8).

[0080] In this case, the aforementioned device is a computer, serving as hardware for executing the aforementioned program, including at least one control device (e.g., a processor) and at least one memory device (e.g., memory). By executing the aforementioned program using this control device and memory device, the various functions described in the above embodiments are realized.

[0081] The above-mentioned program may be recorded by one or more non-temporary, computer-readable recording media. The above-mentioned device may or may not include such recording media. In the latter case, the above-mentioned program may be supplied to the above-mentioned device via any wired or wireless transmission medium.

[0082] Furthermore, some or all of the functions of the aforementioned control blocks can be implemented by logic circuits. For example, integrated circuits formed into logic circuits that function as the aforementioned control blocks are also included within the scope of this invention. Alternatively, the functions of the aforementioned control blocks can also be implemented by a quantum computer.

[0083] [Summary] A transfer device system according to one aspect of the present invention includes: a placement section on which a transferable object is placed; a pair of left and right retainers that hold the transferable object; a control section that controls the movement of the pair of retainers respectively in such a way that the transferable object is transferred from a transfer source toward the placement section by being held in; and a detection section that detects the posture of the transferable object when the control is executed by the control section; the control section corrects the posture of the transferable object by controlling the movement of the pair of retainers to transfer the transferable object in such a way that the posture detected by the detection section is tilted relative to a predetermined posture.

[0084] According to the above configuration, by making the actions of the pair of retainers different, the difference in the distance the portion of the transported object held by the pair of retainers moves can be reduced. Therefore, even if the transported object tilts, its posture is corrected. Thus, the transport of the transported object can be performed smoothly.

[0085] In the aforementioned transfer device, the aforementioned detection system detects the aforementioned posture based on the difference in load applied to the aforementioned pair of holders respectively; the aforementioned control system controls the movement of the lighter-loaded holder in the aforementioned pair of holders in a manner that the movement speed of the lighter-loaded holder is faster than the movement speed of the heavier-loaded holder.

[0086] According to the above configuration, in the pair of holders, the portion of the transferred object held by the one with a relatively lighter load moves more than the portion of the transferred object held by the other. This corrects the posture of the transferred object.

[0087] In the aforementioned transfer device, the aforementioned control system continues the aforementioned control until the difference in load between the aforementioned pair of holders becomes below a predetermined value.

[0088] According to the above configuration, if the load difference becomes below a predetermined value, and the posture of the transferred object is considered to have been corrected to a predetermined posture, the posture of the transferred object can be corrected more accurately by continuing to control the operating speed until the load difference becomes below a predetermined value.

[0089] In the aforementioned transfer device, the aforementioned detection unit detects the aforementioned posture based on the difference between the straight-line distances measured at two different measurement positions separated in the left and right directions in the aforementioned transfer device and the transfer direction of the aforementioned object; the aforementioned control unit controls the movement of the one of the aforementioned pair of holders with the relatively longer straight-line distance being measured at the aforementioned measurement position at which the movement speed is faster than that of the other.

[0090] According to the above configuration, by causing the portion of the transported object held by one of the pair of holders, on the side of the measuring position where the relatively longer linear distance is measured, to move more than the portion of the transported object held by the other holder, the posture of the transported object is corrected.

[0091] In the aforementioned transfer device, the aforementioned control system continues the aforementioned control until the difference in the aforementioned straight distance becomes below a predetermined value.

[0092] According to the above configuration, if the difference in straight distance becomes a predetermined value or less, and the posture of the transferred object is considered to have been corrected to the prescribed posture, the control of the operating speed continues until the difference in straight distance becomes a predetermined value or less, thereby more accurately correcting the posture of the transferred object.

[0093] In the aforementioned transfer device, the aforementioned detection system detects the aforementioned posture based on an image of the aforementioned object being transferred being photographed; the aforementioned control system controls the movement of one of the aforementioned pair of holders on the side where the object being transferred is tilted at a slower speed than the other.

[0094] According to the above configuration, in the pair of holders, the portion of the transported object held by the holder on the side where the transported object is tilted moves less than the portion held by the holder on the other side. This corrects the posture of the transported object.

[0095] In the transfer device, the aforementioned control unit continues the aforementioned control until the aforementioned posture detected by the aforementioned detection unit becomes the aforementioned prescribed posture.

[0096] Based on the above configuration, the posture of the transferred object can be correctly corrected to the prescribed posture.

[0097] In the aforementioned transfer device, the aforementioned pair of retainers are belts of a belt conveyor.

[0098] Based on the above configuration, the belt system of the belt conveyor is suitable for transferring the object because it can ensure a larger contact area with the object being transferred.

[0099] In order to solve the above problems, a type of transport vehicle system of the present invention transports the aforementioned transferred object by moving along the continuous transfer source, including: a transfer device as described in any of the above; the aforementioned transfer device is used to transfer the aforementioned transferred object between the aforementioned transfer source and the aforementioned placement part.

[0100] According to the above configuration, similar to the above-described transfer device, the transfer of the object to be transferred can be performed smoothly.

[0101] [Notes] This invention is not limited to the embodiments described above, and various modifications are possible within the scope of the patent application. Furthermore, embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the scope of this invention. [Simplified Explanation of the Diagram]

[0009] Figure 1 is a top view showing the configuration of a common storage warehouse according to Embodiments 1 to 4 of the present invention. Figure 2 is a top view showing the configuration of a transport vehicle that travels through the passageway in the storage warehouse. Figure 3 is a front view showing the configuration of the transport vehicle. Figure 4 is a block diagram showing the configuration of the control system of the transfer device of the transport vehicle. Figure 5 is a diagram showing the transfer operation of the transferred object by the transfer device according to Embodiments 1 to 3 of the present invention. Figure 6 is a diagram showing the transfer operation of the transferred object by the transfer device according to Embodiment 4 of the present invention.

Claims

1. A transfer device, comprising: The loading section holds the object to be transferred; a pair of left and right retainers hold the object to be transferred. The control unit controls the movement of the pair of retainers respectively by transferring the object to be transferred from the transfer source to the placement unit through clamping; and the detection unit detects the posture of the object to be transferred when the control is executed by the control unit; the control unit corrects the posture of the object to be transferred by controlling the movement of the pair of retainers to transfer the object differently when the posture detected by the detection unit is tilted relative to a predetermined posture; wherein, the detection unit detects the posture based on the difference in the load applied to the pair of retainers respectively; the control unit controls the movement of the one with a relatively lighter load in the pair of retainers at a faster speed than the one with a heavier load.

2. The transfer device as claimed in claim 1, wherein, The control system continues to control until the difference in load between the pair of retainers becomes below a predetermined value.

3. The transfer device as claimed in claim 1, wherein, The retainer of this pair is the belt of a belt conveyor.

4. A transport vehicle for transporting a transferred object by moving along a continuous transfer source, comprising: The transfer device as described in claim 3; The transfer device is used to transfer the object between the transfer source and the loading part.

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