CN104619613B - Transfer device - Google Patents

Abstract

The present invention relates to a transfer device. A transfer device (100) is provided with a conveyor (121), a slide arm (110), hooks (114, 115), and a control unit (400). The conveyor (121) can convey the load (200) placed on the upper surface in parallel to the load conveying direction. The slide arm (110) is capable of sliding movement parallel to the direction of conveyance of the load. The hooks (114, 115) are attached to the slide arm (110) and can move between an operating posture in which the hooks protrude toward the load (200) placed on the conveyor (121) in a direction intersecting the sliding direction of the slide arm (110) and a retracted posture in which the hooks are prevented from abutting against the load (200) placed on the conveyor (121). The control unit (400) conveys the load (200) by the conveyor (121) in the direction opposite to the load conveying direction so that the end position in the direction opposite to the load conveying direction reaches the vicinity of the hook (115), and then moves the slide arm (110) in the load conveying direction.

Description

Transfer device

technical field

The present invention relates to a transfer device for transferring goods in stacking cranes, workstations of unmanned conveyor systems and the like.

Background technique

The stacking crane is equipped with a transfer device for loading and unloading goods from the racks installed in the automatic warehouse. In addition, in the workstation of the unmanned conveying system, a transfer device for transferring goods between the conveying vehicle and the conveying vehicle is provided.

As the configuration of the transfer device, there are sliding fork method in which goods are scooped up and transferred by forks, suction method in which goods are sucked and held by suction and transferred, and pick-up belt method in which goods are slid and transferred by pick-up belts , The clamp method of clamping the two sides of the cargo for holding and transferring, hooking the end of the cargo with the hook set at the front end of the sliding arm, and pushing the cargo out or pulling the cargo through the advance and retreat of the sliding arm to transfer the cargo Hook method etc.

For example, a transfer device including a hook rotatably supported at the tip of a slide arm has been proposed (for example, refer to Patent Document 1).

In Patent Document 1, the hook provided at the front end of the slide arm is pivoted relative to the slide arm so that it can move between an operating posture in contact with the end of the cargo and a retreat posture in which it does not contact the cargo.

In the operation of transferring the goods from the side of the transfer device to the rack, the transfer device puts the hook in an operating posture so that it abuts against the end of the goods, and advances the slide arm to the side of the rack to move the The goods are pushed to the shelf.

When the hook in the operating posture comes into contact with the end position of the cargo, if the hook contacts at a high speed, the cargo may be damaged. Accordingly, an optical sensor is provided near the hook attachment position of the slide arm, and the arm is moved at a low speed until the end position of the load is detected by the optical sensor.

Patent Document 1: International Publication No. 2011/158422 Pamphlet

In the transfer device as described above, since the movement speed of the slide arm is kept low until the hook reaches the contact position, there is a problem that the transfer process takes time.

Contents of the invention

The object of the present invention is to shorten the time for transfer processing in transfer devices used in stacking cranes, workstations of unmanned conveyance systems, and the like.

Hereinafter, a plurality of aspects will be described as means for solving the problems. These methods can be combined arbitrarily as needed.

A transfer device according to an aspect of the present invention includes a conveyor, a slide arm, a hook, and a control unit. The conveyor can convey the cargo placed on the upper surface parallel to the conveying direction of the cargo. The sliding arm can slide and move parallel to the conveying direction of the goods. The hook is attached to the slide arm, and in the direction intersecting with the sliding movement direction of the slide arm, it can be moved toward the side of the goods placed on the conveyor in a protruding posture and retracted to avoid contact with the goods placed on the conveyor. Move between poses. The control unit conveys the goods to the opposite side of the goods conveying direction through the conveyor so that the end position on the opposite side of the goods conveying direction reaches the vicinity of the hook, and then moves the slide arm in the goods conveying direction.

In this transfer device, when transporting the goods, the goods are transported in advance by the conveyor in the direction opposite to the direction in which the goods are transported, so that the ends of the goods come into contact with the hooks. Accordingly, the movement of the cargo by the slide arm can be performed at high speed from the beginning, and the time for the transfer process can be shortened.

Here, the control unit can start conveyance of the cargo in the cargo conveying direction by the conveyor at the same time as or after starting the movement of the slide arm after the hook has come into contact with the end of the cargo.

In this case, the cargo can be quickly and smoothly conveyed by the slide arm and the conveyor.

In addition, the transfer device further includes an end detection sensor installed near the hook of the slide arm, and the control unit can determine whether the end position in the direction opposite to the conveying direction of the cargo has been reached based on the detection signal of the end detection sensor. near the hook.

In this case, it is possible to reliably detect whether or not the end position of the cargo has reached the vicinity of the hook. As a result, damage to the cargo can be prevented, and the transfer process can be quickly performed.

A transfer device according to another aspect of the present invention includes a first conveyor and a second conveyor, a slide arm, a first hook and a second hook, a first end detection sensor, a second end detection sensor, and a control unit. The first conveyor and the second conveyor are arranged continuously in the cargo conveying direction, and can convey the cargo placed on the upper surface parallel to the cargo conveying direction. The sliding arm can slide and move parallel to the conveying direction of the goods. The first hook and the second hook are attached to the slide arm, and can be respectively protruding toward the side of the goods placed on the first conveyor and the second conveyor in a direction intersecting with the sliding movement direction of the slide arm and Movement between retracting postures to avoid contact with loads placed on the first conveyor and the second conveyor. The first end detection sensor and the second end detection sensor are installed on the sliding arm, and respectively detect the end positions of the goods loaded on the first conveyor and the second conveyor in the moving direction of the sliding arm. The control unit judges the states of the goods placed on the first conveyor and the second conveyor based on the detection results of the first end detection sensor and the second end detection sensor, and passes through the first conveyor and/or the second conveyor based on the judgment result. The second conveyor transports the cargo to the opposite side of the cargo conveying direction so that the end position of the cargo on the first conveyor and/or the second conveyor on the opposite side of the conveying direction reaches the first hook and/or Or the vicinity of the second hook, and then make the sliding arm move to the direction of cargo delivery.

Here, based on the detection results of the first end detection sensor and the second end detection sensor, the control unit discriminates whether there is no cargo placed on the first conveyor or the second conveyor, or whether the load is placed on the first conveyor or the second conveyor. A state where goods are placed on either of the two conveyors, a state in which goods are placed on the first and second conveyors, or a large-sized goods is placed across the first and second conveyors Which of the status.

In addition, when it is determined that no cargo is placed on the first conveyor and the second conveyor, the control unit ends the conveyance process of the cargo, and when it is determined that the cargo is placed on the first conveyor and the second conveyor When the goods are placed on either side of the conveyor, the hook corresponding to the conveyor on which the goods are placed among the first conveyor and the second conveyor is set to the action posture, and the goods are moved to the opposite direction to the direction of goods conveyance by the conveyor. Convey in the side direction so that the end position of the cargo loaded on the conveyor in the direction opposite to the conveying direction reaches the vicinity of the hook, and when it is judged that the cargo is loaded on the first conveyor and the second conveyor state, make the first hook and the second hook the action posture, and the goods are transported to the opposite side of the goods conveying direction through the first conveyor and the second conveyor until the goods are loaded on the first conveyor and the second conveyor. When the position of the upper end of the placed cargo on the opposite side of the conveying direction reaches the vicinity of the first hook and the second hook, it is determined that a large cargo is placed across the first conveyor and the second conveyor. In this case, make the hook on the opposite side of the cargo conveying direction out of the first hook and the second hook be in the action posture, and the cargo is conveyed to the opposite side of the cargo conveying direction by the first conveyor and the second conveyor so that the cargo The end position in the direction opposite to the conveying direction reaches the vicinity of the hook.

Furthermore, the first end detection sensor and the second end detection sensor are attached to the vicinity of the first hook and the second hook of the slide arm, respectively, and the control unit signal, it can be determined whether the end position of the goods loaded on the first conveyor and/or the second conveyor in the direction opposite to the conveying direction has abutted against the first hook and/or the second hook.

In the present invention, it is possible to shorten the time for transfer processing in transfer devices used in stacking cranes, workstations of unmanned conveyance systems, and the like.

Description of drawings

FIG. 1 is a perspective view showing a part of an automatic warehouse provided with a stacking crane having a transfer device.

Fig. 2 is a side view schematically showing the automated warehouse.

Fig. 3 is an explanatory diagram of the transfer device 100 according to the first embodiment, Fig. 3(A) is a plan view when the hook is in a withdrawn posture, and Fig. 3(B) is a side view thereof.

FIG. 4(A) is a top view of the hook in an operating posture, and FIG. 4(B) is a side view thereof.

FIG. 5 is a control block diagram of the first embodiment.

FIG. 6 is a control flowchart of the first embodiment.

FIG. 7 is an explanatory diagram of a transfer device 100 according to the second embodiment.

FIG. 8 is a control block diagram in the second embodiment.

FIG. 9 is a control flowchart of the second embodiment.

FIG. 10 is an explanatory diagram in the case of simultaneously transferring two loads 200A and 200B placed on the lift table 316 .

FIG. 11 is an explanatory diagram of the operation of transferring the goods 200 straddled on the first conveyor 121 and the second conveyor 122 provided on the lift table 316 to the rack 302 .

detailed description

(1) Composition of automatic warehouse

Embodiments of the transfer device according to the present invention will be described by exemplifying a case where it is installed in a stacker crane.

FIG. 1 is a perspective view showing a part of an automatic warehouse provided with a stacking crane having a transfer device.

As shown in FIG. 1 , the automated warehouse 300 includes a stacking crane 301 that can travel to convey goods 200 , and shelves 302 arranged on both sides in the traveling direction of the stacking crane 301 .

The automated warehouse 300 includes a workstation 303 for loading and unloading goods 200 . The transfer device 100 is installed in the stacker crane 301 . The stacking crane 301 transfers the cargo 200 loaded into the workstation 303 to the stacking crane 301 through the transfer device 100 . And the stacker crane 301 conveys the goods 200 to the storage position of the rack 302, and transfers to the appropriate rack 302 using the transfer apparatus 100.

Similarly, the stacking crane 301 transfers the goods 200 stored in the rack 302 to the stacking crane 301 through the transfer device 100 , and transports them to the workstation 303 .

Fig. 2 is a side view schematically showing the automated warehouse.

The stacking crane 301 is configured such that a lower carriage 311 and an upper carriage 312 are connected by a column 313 , and an elevating platform 316 moves up and down along the column 313 .

The transfer device 100 is installed on the lift table 316 .

(2) First Embodiment

(2－1) Composition

Fig. 3 is an explanatory diagram of the transfer device 100 according to the first embodiment, Fig. 3(A) is a plan view when the hook is in a withdrawn posture, and Fig. 3(B) is a side view thereof. Fig. 4 is an explanatory view of the transfer device 100 according to the first embodiment, Fig. 4(A) is a plan view when the hook is in an operating posture, and Fig. 4(B) is a side view thereof. In addition, in FIG. 3(A) and FIG. 4(A), let the left-right direction of a drawing be a 1st horizontal direction, and let the up-down direction of a drawing be a 2nd horizontal direction.

The transfer device 100 (an example of the transfer device) is a device for transferring the goods 200 (an example of the goods) between the lift table 316 and the shelf 302, and is provided with a pair of sliding arms 110 (an example of the sliding arms). ).

The pair of slide arms 110 are arranged at intervals in the second horizontal direction. Each sliding arm 110 includes a base arm 111 , an intermediate arm 112 , a top arm 113 , a first hook 114 , and a second hook 115 .

The base arm 111 is fixed to the lift table 316 . The intermediate arm 112 is supported by the base arm 111 in a slidable manner in the first horizontal direction, and supports the top arm 113 in a slidable manner in the first horizontal direction. By sliding the middle arm 112 and the top arm 113 relative to the base arm 111 , the top arm 113 can be inserted into the shelf 302 on both sides.

The first hook 114 is mounted on the end of the top arm 113, and can be in an action posture (an example of an action posture) protruding toward the cargo 200 side as shown in Figure 4 (A), (B) and as shown in Figure 3 ( A) and (B) show the movement between the retreat postures (an example of the retreat posture) that do not come into contact with the cargo 200 .

For example, the first hook 114 can be attached to a rotation shaft provided along the longitudinal direction of the top arm 113 and rotated by a drive unit (not shown) to move between an operating posture and a retreat posture.

The first hook 114 is not limited to the configuration shown in the figure as long as it can move between an operating posture protruding toward the cargo 200 and engaging with an end of the cargo 200 and a retracting posture not in contact with the cargo 200 .

The second hook 115 is attached to the end of the top arm 113 and is movable between an operating posture protruding toward the cargo 200 and a retracting posture not in contact with the cargo 200 .

For example, like the first hook 114, the second hook 115 can be configured to be attached to a rotation shaft provided along the longitudinal direction of the top arm 113, and can be rotated by a driving unit (not shown) to move between the operating posture and the retreating posture. to move between. Common components can be used for the rotation shafts and drive means of the first hook 114 and the second hook 115 .

The second hook 115 is not limited to the configuration shown in the figure as long as it can move between an operating posture protruding toward the cargo 200 and engaging with an end of the cargo 200 and a retracting posture in which it does not come into contact with the cargo 200 .

The pair of slide arms 110 can slide and move integrally or synchronously with the loaded cargo 200 by a drive unit not shown.

On the top arm 113 , in the vicinity of the first hook 114 , first end detection sensors 116A, 116B for detecting the end of the cargo 200 are provided. The first end detection sensors 116A and 116B are sensors for detecting whether or not the end position of the cargo 200 has reached a position where the first hook 114 can engage in the sliding movement direction of the slide arm 110 . More specifically, if the position in the sliding movement direction coincides with or is in the vicinity of the end position of the cargo 200, the first end detection sensors 116A, 116B detect the end position of the cargo 200. The location where the first hook 114 adjoins.

When using transmissive optical sensors as the first end detection sensors 116A and 116B, one of them is a light projecting element and the other is a light receiving element. Furthermore, a diffuse reflection type optical sensor can also be used as the first end portion detection sensor.

In the case of using a transmissive optical sensor, when the sliding arm 110 is slid, the first end detection sensors 116A and 116B detect the position of the light receiving element from the light receiving state to the non-light receiving state and the position from the non-light receiving state to the light receiving state. The position of the goods 200 is used as the end portion on the elevator table 316 side or the end portion on the shelf 302 side of the cargo 200 .

The top arm 113 is provided with second end detection sensors 117A, 117B located near the second hook 115 for detecting the end of the cargo 200 .

The second end detection sensors 117A and 117B are sensors for detecting whether or not the end position of the cargo 200 has reached a position where the second hook 115 can engage in the sliding movement direction of the slide arm 110 . More specifically, if the position in the sliding movement direction coincides with or is in the vicinity of the end position of the cargo 200, the second end detection sensors 117A, 117B detect the end position of the cargo 200, so they are installed at the same position as the cargo 200. The position adjacent to the second hook 115 .

The second end detection sensors 117A and 117B can use transmissive optical sensors similarly to the first end detection sensors 116A and 116B. In addition, a diffuse reflection type optical sensor can also be used as the second end portion detection sensor.

In the case of using a transmissive optical sensor, when the sliding arm 110 is slid, the second end detection sensors 117A and 117B detect the position of the light receiving element from the light receiving state to the non-light receiving state and the position from the non-light receiving state to the light receiving state. The position of the cargo 200 is defined as the end portion of the cargo 200 on the elevator table 316 side or the end portion on the shelf 302 side.

The lift table 316 includes a conveyor 121 capable of conveying the loaded cargo 200 parallel to the moving direction of the slide arm 110 . The conveyor 121 can support the goods 200 placed on the upper surface, and is driven by a conveyor drive unit (not shown), parallel to the moving direction of the sliding arm 110, in the direction of pushing out to the side of the shelf 302 or from the shelf. The goods 200 are transported in the direction of pulling in from the side 302.

(2－2) Control module

FIG. 5 is a control block diagram of the first embodiment.

The transfer device 100 includes a control unit 400 for controlling each unit. The control unit 400 can be constituted by a microprocessor including a CPU, ROM, RAM, and the like.

The control unit 400 is connected to a slide arm drive unit 402 for slidingly moving the slide arm 110 relative to the shelf 302 .

In addition, the control unit 400 is connected to a hook driving unit 403 that moves the first hook 114 and the second hook 115 attached to the slide arm 110 between an operating posture and a retreat posture.

Furthermore, the control unit 400 is connected to a conveyor drive unit 404 that drives the conveyor 121 according to the direction in which the goods 200 are transferred.

Moreover, the control part 400 is connected to the 1st edge detection sensor 116 and the 2nd edge detection sensor 117, and receives the detection signal from both sensors.

When the transfer device 100 is configured as a part of the stacker crane 301 , the control unit 400 is a member that also controls each unit of the stacker crane 301 . In this case, for example, the traveling and lifting driving unit 401 is connected to the control unit 400, and the traveling and raising and lowering driving unit 401 drives the main body part connecting the lower trolley 311 and the upper trolley 312 with the column 313 along the traveling guide rail, so that The elevating table 316 moves up and down to the position of the rack 302 formed in multiple layers to be transferred.

(2－3) Control action

FIG. 6 is a control flowchart of the first embodiment.

Here, the operation at the time of transferring the goods 200 placed on the elevating table 316 of the transfer device 100 to the rack 302 will be described.

In step S601 , the control unit 400 transmits a control signal to the hook drive unit 403 so that the hook for pushing out the goods 200 toward the rack 302 is in an operating position. As shown in FIG. 3 , when transferring the goods 200 from the elevator table 316 to the shelf 302 located on the left side, the second hook 115 located at the rear in the transfer direction is in an operating posture. Thereby, the second hook 115 can abut against the end position of the cargo 200 .

In step S602 , the control unit 400 sends a control signal to the conveyor driving unit 404 to drive the conveyor 121 to transport the goods 200 to the opposite side of the transport direction. Here, in order to transport the goods 200 placed on the lifting table 316 of the transfer device 100 to the rack 302, the direction from right to left in FIG. 3(A) and FIG. As for the transport direction, the direction from left to right in FIG. 3(A) and FIG.

For example, the conveyor 121 is driven from the state where the goods 200 are placed on the position shown by the dotted line in FIG. The position where the second hook 115 abuts (the position of the cargo 200 based on the solid line in the figure).

In step S603 , the control unit 400 determines whether or not the end position of the cargo 200 in the direction opposite to the conveyance direction has reached the installation position of the second hook 115 .

For example, it is assumed that the second end detection sensors 117A and 117B are composed of transmissive optical sensors and are provided near the second hook 115 . When the light-receiving elements of the second end detection sensors 117A and 117B change from the light-receiving state to the non-light-receiving state, it can be judged that the end position in the direction opposite to the transport direction of the cargo 200 has reached the second end detection sensors 117A and 117B. s position. Thereafter, the cargo 200 is further moved by the conveyor 121 by the amount of the gap between the installation positions of the second end detection sensors 117A, 117B and the second hook 115, so that the position of the end of the cargo 200 can be aligned with the second hook 115. The two hooks 115 abut against each other.

Also, the position where the cargo 200 is placed may be detected in advance, and the conveyor 121 may be driven for a predetermined time so that the end position of the cargo 200 in the direction opposite to the conveying direction reaches the second hook 115 .

The control unit 400 maintains the driving state of the conveyor 121 until the end position of the cargo 200 touches the hook, and when it is determined that the end position of the cargo 200 touches the hook, the process proceeds to step S604.

In step S604, the control part 400 stops the drive of the conveyor 121, and starts the movement of the slide arm 110.

The control unit 400 transmits a control signal to the conveyor driving unit 404 to stop conveying the goods 200 in the direction opposite to the conveying direction. In addition, the control unit 400 sends a control signal to the slide arm drive unit 402 to start the movement of the slide arm 110 toward the shelf 302 in a state where the second hook 115 is in contact with the end position of the cargo 200 .

In addition, the control unit 400 can start the movement of the conveyor 121 in the conveyance direction at the same time as the movement of the slide arm 110 is started, or with a slight delay.

In step S605, the control part 400 judges whether the transfer of the goods 200 by the slide arm 110 has been completed. When the slide arm driving unit 402 is constituted by a stepping motor equipped with a servo mechanism, the control unit 400 determines that the transfer of the goods 200 to the rack 302 has been completed based on the number of driving pulses. In addition, a sensor for detecting the position of the tip of the slide arm 110 is provided in advance, and the control unit 400 determines whether the slide arm 110 has reached a predetermined position of the shelf 302 based on a detection signal from the sensor.

The control unit 400 maintains the moving state of the slide arm 110 until the transfer of the cargo 200 is completed, and when it is determined that the transfer of the cargo 200 is completed, the process proceeds to step S606.

In step S606, the control unit 400 stops the slide arm 110. The control unit 400 sends a control signal to the sliding arm driving unit 402 to end the sliding movement of the sliding arm 110 . When the conveyor 121 is simultaneously driven, the control unit 400 sends a control signal to the conveyor drive unit 404 to stop the drive of the conveyor 121 .

In step S607 , the control unit 400 sends a control signal to the hook driving unit 403 to move the second hook 115 to the withdrawn posture, and sends a control signal to the sliding arm driving unit 402 to return the sliding arm 110 to the initial position.

In such a transfer device 100 according to the first embodiment, when transferring the cargo 200 placed on the elevating table 316 to the rack 302, the conveyor 121 moves the cargo 200 to the opposite side of the conveying direction in advance. After the end position of the cargo 200 is brought into contact with the second hook 115, the movement of the sliding arm 110 in the conveying direction is started. Thus, when the movement of the slider arm 110 starts, the second hook 115 abuts against the end position of the cargo 200 in the direction opposite to the conveying direction, and the slider arm drive unit 402 can drive the slider arm 110 at high speed from the initial movement. Thereby, it is possible to shorten the time for the transfer process of transferring the goods 200 from the elevator 316 to the rack 302 .

(3) Second Embodiment

(3－1) Composition

FIG. 7 is an explanatory diagram of a transfer device 100 according to the second embodiment.

In the second embodiment, a transfer device 100 capable of simultaneously transferring two loads 200A and 200B placed continuously in the moving direction of the slide arm 110 is shown, and the same parts as those in the first embodiment are denoted by the same drawings. mark.

The transfer device 100 is a device for transferring the goods 200 between the elevating table 316 and the rack 302 , and includes a pair of slide arms 110 .

The pair of slide arms 110 are arranged at intervals in the second horizontal direction. Each sliding arm 110 includes a base arm 111 , an intermediate arm 112 , a top arm 113 , a first hook 114 , a second hook 115 , and a third hook 118 .

The base arm 111 is fixed to the lift table 316 . The intermediate arm 112 is supported by the base arm 111 in a slidable manner in the first horizontal direction, and supports the top arm 113 in a slidable manner in the first horizontal direction. By sliding the middle arm 112 and the top arm 113 relative to the base arm 111 , the top arm 113 can be inserted into the shelf 302 on both sides.

The first hook 114 is attached to an end of the top arm 113 and is movable between an operating posture protruding toward the cargo 200 and a retracting posture not in contact with the cargo 200 .

For example, the first hook 114 can be attached to a rotation shaft provided along the longitudinal direction of the top arm 113, and can be configured to move between an operating posture and a retreat posture by being rotated by a driving unit (not shown).

As long as the first hook 114 is configured to be movable between an operating posture protruding toward the cargo 200 and engaging with an end of the cargo 200 and a retracting posture not in contact with the cargo 200, it is not limited to the configuration shown in the figure. .

The second hook 115 is attached to a first horizontal middle portion of the top arm 113 and is movable between an operating posture protruding toward the cargo 200 and a retracting posture not in contact with the cargo 200 .

For example, like the first hook 114, the second hook 115 can be configured to be attached to a rotation shaft provided along the longitudinal direction of the top arm 113, and to be rotated by a driving unit (not shown) between the operating posture and the retreating posture. move. Common components can be used for the rotation shafts and drive means of the first hook 114 and the second hook 115 .

As long as the second hook 115 is configured to be movable between an operating posture protruding toward the cargo 200 and engaging with an end of the cargo 200 and a retracting posture in which it does not come into contact with the cargo 200, it is not limited to the configuration shown in the figure. .

The third hook 118 is attached to the end of the top arm 113 and is movable between an operating posture protruding toward the cargo 200 and a retracting posture not in contact with the cargo 200 .

For example, like the first hook 114, the second hook 115 can be configured to be attached to a rotation shaft provided along the longitudinal direction of the top arm 113, and to be rotated by a driving unit (not shown) to move between an operating posture and a retreat posture. . Common components can be used for the rotation shafts and driving means of the first hook 114 , the second hook 115 , and the third hook 118 .

As long as the third hook 118 is configured to be movable between an operating posture protruding toward the cargo 200 and engaging with an end of the cargo 200 and a retracting posture not in contact with the cargo 200, it is not limited to the configuration shown in the figure. .

The pair of sliding arms 110 can slide and move integrally or synchronously with the loaded cargo 200 by a drive unit (not shown).

The top arm 113 has first end detection sensors 116A, 116B (an example of an end detection sensor) for detecting the end of the cargo 200 in the vicinity of the first hook 114 . The first end detection sensors 116A and 116B are sensors for detecting whether or not the end position of the cargo 200 has reached a position where the first hook 114 can be engaged with in the sliding movement direction of the slide arm 110 . More specifically, if the position in the sliding movement direction coincides with or is in the vicinity of the end position of the cargo 200, the first end detection sensors 116A, 116B detect the end position of the cargo 200. The position adjacent to the first hook 114 .

When a transmissive optical sensor is used as the first end detection sensors 116A and 116B, one of them is a light projecting element, and the other is a light receiving element. Furthermore, a diffuse reflection type optical sensor can also be used as the first end portion detection sensor.

In the case of using a transmissive optical sensor, when the sliding arm 110 is slid, the first end detection sensors 116A and 116B detect the position of the light receiving element from the light receiving state to the non-light receiving state and the position of the light receiving element from the non-light receiving state to the light receiving state. positions, respectively as the end positions of the goods 200.

In the top arm 113 , in the vicinity of the second hook 115 , second end detection sensors 117A, 117B and third end detection sensors 119A, 119B for detecting the ends of the cargo 200 are provided.

The second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B detect whether the end position of the cargo 200 has reached the position where the second hook 115 can be engaged in the sliding movement direction of the sliding arm 110 sensor. More specifically, if the position in the sliding movement direction is consistent with or near the end position of the cargo 200, the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B detect the position of the cargo 200. The end position, therefore, is mounted adjacent to the second hook 115 .

In FIG. 7 , second end detection sensors 117A, 117B are installed near first end detection sensors 116A, 116B to detect the end position of cargo 200 on the left side of second hook 115 . In addition, in FIG. 7 , the third end detection sensors 119A, 119B are installed on a side far from the first end detection sensors 116A, 116B in order to detect the end position of the goods 200 on the right side of the second hook 115 . side.

For the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B, similarly to the first end detection sensors 116A, 116B, transmission type optical sensors can be used. In addition, diffuse reflection type optical sensors can also be used as the second end detection sensor and the third end detection sensor.

In the case of using a transmissive optical sensor, when the slide arm 110 is slid, the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B detect when the light receiving element changes from the light receiving state to the non-light receiving state. The position and the position from the non-light-receiving state to the light-receiving state are respectively defined as the end positions of the cargo 200 .

On the top arm 113 , in the vicinity of the third hook 118 , fourth end detection sensors 120A, 120B for detecting the end of the cargo 200 are provided.

The fourth end detection sensors 120A and 120B are sensors for detecting whether the end position of the cargo 200 has reached a position where the third hook 118 can engage with the sliding movement direction of the sliding arm 110 . More specifically, the fourth end detection sensors 120A, 120B detect the end position of the cargo 200 if the position in the sliding movement direction coincides with or is in the vicinity of the end position of the cargo 200, so they are installed in A position adjacent to the third hook 118 .

Similar to the first end detection sensors 116A and 116B, the fourth end detection sensors 120A and 120B can use transmissive optical sensors. In addition, a diffuse reflection type optical sensor can also be used as the fourth end portion detection sensor.

In the case of using a transmissive optical sensor, when the sliding arm 110 is slid, the fourth end detection sensors 120A, 120B detect the position of the light receiving element from the light receiving state to the non-light receiving state and the position of the light receiving element from the non-light receiving state to the light receiving state. positions, respectively as the end positions of the goods 200.

Two first conveyors 121 and two second conveyors 122 are provided in series on the lift table 316 in the moving direction of the slide arm 110 . Each of the first conveyor 121 and the second conveyor 122 can place the cargo 200 , and can deliver the cargo 200 to each other by being driven by a drive unit (not shown).

(3-2) Control module

FIG. 8 is a control block diagram in the second embodiment.

The transfer device 100 includes a control unit 400 for controlling each unit. The control unit 400 can be constituted by a microprocessor including a CPU, ROM, RAM, and the like.

The control unit 400 is connected to a slide arm drive unit 402 for slidingly moving the slide arm 110 relative to the shelf 302 .

In addition, the control unit 400 is connected to a hook drive unit 403 that moves the first hook 114 , the second hook 115 , and the third hook 118 attached to the slide arm 110 between the operating posture and the retracting posture.

Furthermore, the control unit 400 is connected to a conveyor driving unit 404 that drives the first conveyor 121 and the second conveyor 122 according to the direction in which the goods 200 are transferred.

In addition, the control unit 400 is connected to the first end detection sensor 116 , the second end detection sensor 117 , the third end detection sensor 119 , and the fourth end detection sensor 120 , and receives detection signals from the sensors.

When the transfer device 100 is configured as a part of the stacker crane 301 , the control unit 400 is a member that also controls each unit of the stacker crane 301 . In this case, for example, the traveling and lifting driving unit 401 is connected to the control unit 400, and the traveling and raising and lowering driving unit 401 drives the main body part connecting the lower trolley 311 and the upper trolley 312 with the column 313 along the traveling guide rail to make the lifting The stage 316 is raised and lowered to a position to be transferred in the rack 302 formed in multiple layers.

(3－3) Control action

FIG. 9 is a control flowchart of the second embodiment.

Here, it is assumed that the case where the cargo 200 is transferred to the shelf 302 located on the left side of the elevator platform 316 is described, and the direction from right to left in FIG. The rightward direction is set as the direction opposite to the conveyance direction of the cargo.

In step S901 , the control unit 400 ascertains the loading state of the cargo on the elevator table 316 . When the sensors for detecting the loading states on the first conveyor 121 and the second conveyor 122 are provided on the lifting table 316, the control unit 400 acquires information related to the first conveyor 121 based on the detection signals of the corresponding sensors. And data related to the loading state on the second conveyor 122 .

The loading state of the goods on the elevator table 316 is, for example, a state where no goods 200 are placed on either the first conveyor 121 or the second conveyor 122 , and only the first conveyor 121 or the second conveyor 122 The state where the goods 200 are placed on one of them, and the state where the goods 200A and 200B are placed on the first conveyor 121 and the second conveyor 122 respectively, are placed across the first conveyor 121 and the second conveyor 122 There is a state of large cargo.

A plurality of light-transmitting or diffuse-reflecting optical sensors are provided on the side of the lifting platform 316 to detect whether or not goods are placed on the first conveyor 121 and the second conveyor 122 .

In this case, the control unit 400 can determine any one of the above-mentioned placement states based on the detection signal of the sensor provided on the lift table 316 .

In addition, the control unit 400 stores the data of the conventional transfer processing in a predetermined storage area in advance, and based on the data of the transfer processing, it is possible to grasp the loading state on the elevating table 316 . For example, if the transfer process of transferring two goods 200A and 200B from the workstation 303 or the shelf 302 is the latest, the control unit 400 can determine that the goods are placed on the first conveyor 121 and the second conveyor 122 respectively. 200A, 200B.

In step S902 , the control unit 400 determines whether or not the cargo 200 is a large cargo placed across the first conveyor 121 and the second conveyor 122 .

FIG. 11 is an explanatory diagram of the lift table 316 on which the goods 200 are placed astride the first conveyor 121 and the second conveyor 122 .

The control unit 400 determines whether or not the cargo 200 is placed across the first conveyor 121 and the second conveyor 122 based on a detection signal from a sensor (not shown) provided on the elevator 316 .

In addition, the distance between the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B is set to be smaller than the minimum distance between the goods 200A on the first conveyor 121 and the goods 200B on the second conveyor 122 . In a small case, if a large cargo 200 is placed across the first conveyor 121 and the second conveyor 122, the detection signals of the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B are both non-light-receiving state.

Therefore, in this case, for the control unit 400, when both the second end detection sensors 117A, 117B and the third end detection sensors 119A, 119B are in the non-light-receiving state, the control unit 400 can judge that The load 200 is a large load placed across the first conveyor 121 and the second conveyor 122 .

The control unit 400 proceeds to step S903 when judging that a large cargo 200 is placed on the elevator platform 316 , and proceeds to step S904 when judging that no large cargo 200 is placed on the elevator platform 316 .

In step S903 , the control unit 400 transmits a control signal to the hook driving unit 403 so that the third hook 118 located behind with respect to the transport direction of the cargo 200 is in an operating posture. At this time, in order to prevent the cargo 200 from falling, the first hook 114 can also be brought into an operating posture.

In step S904 , the control unit 400 determines whether or not the cargoes 200A and 200B are placed on both the first conveyor 121 and the second conveyor 122 .

The control unit 400 determines that the cargo 200 is placed on only one of the first conveyor 121 and the second conveyor 122 based on the detection signal of the sensor provided on the elevator 316 or the data of the conventional transfer process. It moves down to step S905, and moves to step S912 when it judges that the goods 200A, 200B are placed on both the 1st conveyor 121 and the 2nd conveyor 122.

In step S905, the control unit 400 sends a control signal to the hook drive unit 403 to make one of the second hook 115 located in the center and the third hook 118 located on the opposite side of the transport direction of the cargo 200 be in an operating posture.

For example, when the cargo 200 is placed on the first conveyor 121 , the control unit 400 sends a control signal so that the hook driving unit 403 makes the second hook 115 located in the center an operating posture. In addition, when the cargo 200 is placed on the second conveyor 122, the control unit 400 sends a control signal so that the hook driving unit 403 makes the third hook 118 located on the opposite side of the conveying direction take an operating position. At this time, in order to prevent the cargo 200 from falling, the first hook 114 and/or the second hook 115 located in front of the cargo 200 may be in an operating posture.

In step S906, the control unit 400 sends a control signal to the conveyor driving unit 404 to drive the first conveyor 121 and the second conveyor 122 so as to transport the goods 200 to the opposite side of the transport direction. When the cargo 200 is a large cargo placed across the first conveyor 121 and the second conveyor 122, the control unit 400 sends a control signal to the conveyor driving unit 404 to drive the first conveyor 121 and the second conveyor 122. Conveyor 122 on both sides. In addition, when the goods 200 are placed on any one of the first conveyor 121 and the second conveyor 122, the control unit 400 sends a control signal to the conveyor driving unit 404 so as to drive the corresponding first conveyor 121 or the second conveyor 122. Two conveyors 122.

Thereafter, the process of steps S907 to S911 is the same as the process of steps S603 to S607 in the first embodiment, and a detailed description thereof will be omitted here.

In step S912, the control unit 400 sends a control signal to the hook drive unit 403 so that the second hook 115 (central hook) located on the opposite side of the transport direction of the cargo 200A and the second hook 115 located on the opposite side of the transport direction of the cargo 200B are connected to each other. The three hooks 118 (rear hook) are in the action posture. At this time, in order to prevent the cargo 200A from falling, the first hook 114 may be in an operating posture.

In step S913 , the control unit 400 sends a control signal to the conveyor driving unit 404 to drive the first conveyor 121 and the second conveyor 122 so as to convey the goods 200A and 200B to the opposite side of the conveying direction.

In step S914 , control unit 400 determines whether the end position of one of cargo 200A, 200B in the direction opposite to the conveying direction has reached second hook 115 or third hook 118 .

FIG. 10 is an explanatory diagram of a case where two cargoes 200A and 200B placed on the elevating platform 316 are simultaneously transferred.

When the first conveyor 121 and the second conveyor 122 installed on the elevator table 316 respectively load the cargo 200A and the cargo 200B, the time from the loading position to the hook depends on the loading position and the position of the cargo 200A, 200B. Its size varies.

For example, in the example shown in FIG. 10 , the distance from the loading position of the cargo 200A to the second hook 115 is shorter than the distance from the loading position of the cargo 200B to the third hook 118 . Therefore, if the conveying speeds of the first conveyor 121 and the second conveyor 122 are the same, the rear position of the cargo 200A reaches the second hook 115 first.

In the vicinity of the second hook 115 of the sliding arm 110, and in front of the second hook 115 in the conveying direction of the goods, second end detection sensors 117A, 117B (in FIG. 8 the second end detection sensor 117), if the detection signal of the light receiving part of the second end detection sensors 117A, 117B changes from the light receiving state to the non-light receiving state, the control part 400 can determine that the end position in the direction opposite to the conveying direction of the cargo 200A has been reached. The position of the second end detection sensor 117A, 117B is reached. Thereafter, by moving the cargo 200A by the first conveyor 121 by the amount of the gap between the installation positions of the second end detection sensors 117A, 117B and the second hook 115, the end position of the cargo 200A can reach the second hook 115. Two hooks 115.

It is also possible to detect in advance the position where the cargo 200A is placed, and drive the first conveyor 121 for a predetermined time so that the end position of the cargo 200A in the direction opposite to the conveying direction reaches the second hook 115 .

The control unit 400 maintains the driving state of the first conveyor 121 and the second conveyor 122 until the end position of the cargo 200A reaches the hook, and when it is determined that the end position of the cargo 200A has reached the second hook 115, it moves to Step S915.

In step S915 , the control unit 400 transmits a control signal to the conveyor driving unit 404 to stop the conveyor on which the cargo whose end position has reached the hook is placed, among the first conveyor 121 and the second conveyor 122 .

In the example shown in FIG. 10 , when the end position of the cargo 200A on the first conveyor 121 reaches the second hook 115, the control unit 400 sends a control to stop the first conveyor 121 to the conveyor driving unit 404. Signal.

In step S916 , the control unit 400 determines whether or not the end position in the direction opposite to the transport direction of the other of the cargo 200A, 200B has reached the second hook 115 or the third hook 118 .

In the example shown in FIG. 10 , the goods 200B on the second conveyor 122 arrive at the third hook 118 after the goods 200A on the first conveyor 121 have reached the second hook 115 . Near the third hook 118 of the slide arm 110 are provided fourth end detection sensors 120A, 120B (in FIG. 8 , fourth end detection sensors 120 ). The control unit 400 can determine that the end position of the cargo 200B in the direction opposite to the conveying direction has reached the position of the fourth end detection sensors 120A and 120B. Thereafter, the cargo 200B is further moved by the second conveyor 122 by the amount of the gap between the installation positions of the fourth end detection sensors 120A, 120B and the third hook 118, so that the end position of the cargo 200B can reach the third hook 118. Hook 118.

Alternatively, the position where the cargo 200B is placed may be detected in advance, and the second conveyor 122 may be driven for a predetermined time so that the end position of the cargo 200B in the direction opposite to the conveying direction reaches the third hook 118 .

The control unit 400 maintains the driving state of the second conveyor 122 until the end position of the cargo 200B reaches the third hook 118 , and when it is determined that the end position of the cargo 200B has reached the third hook 118 , the process proceeds to step S917 .

In step S917 , the control unit 400 sends a control signal to the conveyor driving unit 404 to stop the driven conveyor among the first conveyor 121 and the second conveyor 122 .

In the example shown in FIG. 10, when the end position of the cargo 200B on the second conveyor 122 has reached the third hook 118, the control unit 400 sends a command to stop the second conveyor 122 to the conveyor driving unit 404. control signal. Thereafter, move to step 908 .

In step S908 , the control unit 400 starts moving the sliding arm 110 .

The control unit 400 sends a control signal to the sliding arm driving unit 402, so that the sliding arm 110 in the state where the second hook 115 is in contact with the end position of the cargo 200 and the third hook 118 is in contact with the end position of the cargo 200B moves toward the shelf. The frame 302 moves sideways.

In addition, the control unit 400 can start the movement of the first conveyor 121 and the second conveyor 122 in the conveying direction simultaneously with the start of the movement of the slide arm 110 or with a slight delay.

In step S909 , the control unit 400 determines whether the transfer of the cargo 200 by the slide arm 110 has been completed. When the slide arm driving unit 402 is constituted by a stepping motor equipped with a servo mechanism, the control unit 400 determines that the transfer of the goods 200A, 200B to the rack 302 has been completed based on the number of driving pulses. In addition, a sensor for detecting the position of the tip of the sliding arm 110 is provided in advance, and the control unit 400 can be configured to determine whether the sliding arm 110 has reached a predetermined position of the shelf 302 based on a detection signal from the sensor.

The control unit 400 maintains the moving state of the slide arm 110 until it determines that the transfer of the goods 200A and 200B is completed, and when it determines that the transfer of the goods 200A and 200B is completed, the process proceeds to step S910 .

In step S910 , the control unit 400 stops the slide arm 110 . The control unit 400 sends a control signal to the sliding arm driving unit 402 to end the sliding movement of the sliding arm 110 . When the first conveyor 121 and the second conveyor 122 are simultaneously driven, the control unit 400 sends a control signal to the conveyor drive unit 404 to stop the driving of the first conveyor 121 .

In step S911, the control unit 400 sends a control signal to the hook drive unit 403 to move the first hook 114, the second hook 115, and the third hook 118 to the retreat posture, and sends a control signal to the sliding arm driving unit 402 to make the sliding arm 110 returns to the initial position.

In such a transfer device according to the second embodiment, using the first conveyor 121 and the second conveyor 122 provided on the lift table 316, the ends of the cargo 200, 200A, and 200B in the direction opposite to the conveying direction are The position is in contact with the second hook 115 and the third hook 118 in advance, and the movement of the slide arm 110 can be driven at high speed from the initial movement. Thereby, the time for transfer processing can be shortened.

In addition, the first end detection sensors 116A and 116B, the second end detection sensors 117A and 117B, and the third end detection sensor 119A provided in the vicinity of the first hook 114 , the second hook 115 , and the third hook 118 , 119B, the detection signals of the fourth end detection sensors 120A, 120B can detect the loading state of the goods 200A, 200B on the first conveyor 121 and the second conveyor 122 . Thereby, based on the number and shape of the goods loaded on the 1st conveyor 121 and the 2nd conveyor 122, a quick transfer process can be performed.

(4) Other implementations

As mentioned above, although one embodiment of this invention was described, this invention is not limited to the said embodiment, Various changes are possible in the range which does not deviate from the summary of invention. In particular, a plurality of embodiments and modifications described in this specification can be combined arbitrarily as necessary.

As shown in FIGS. 1 and 2 , the configuration of the above-described embodiment can also be applied to an automated warehouse 300 having racks 302 on both sides with respect to the traveling direction of a stacking crane 301 .

For example, in the example shown in FIG. 3 and FIG. 4 , when there is a shelf 302 located on the right side of the figure, the transfer device 100 makes the first hook 114 abut against the end position of the cargo 200 and moves toward the shelf side. roll out. At this time, the first conveyor 121 is driven to move the goods 200 to the left in the figure, and the end position is in contact with the first hook 114 .

(5) Items common to each embodiment

In any of the embodiments described above, the control unit (for example, the control unit 400 ) also commonly executes the following control operations.

(A) Transport the goods to the opposite side of the conveying direction (for example, step S602, step S902) by the conveyor (for example, the first conveyor 121, the second conveyor 122) until the hook (for example, the second hook 115, The third hook 118) abuts against the end position of the cargo (for example, the cargo 200).

(B) Move the slide arm (for example, the slide arm 110 ) in the conveyance direction of the cargo (for example, toward the rack 302 side).

In this transfer device, when the cargo is transferred to the rack side by the hook provided on the sliding arm, the hook is brought into contact with the end position of the opposite side of the conveying direction of the cargo by the conveyor in advance, and the load is transferred based on the sliding arm. During the transfer process, it is possible to drive at high speed from the initial movement of the slide arm (for example, step S604, step S904). Thereby, the time of the transfer process in a transfer apparatus can be shortened.

Industrial availability

The transfer device of the present invention can transfer goods in a stacking crane in an automatic warehouse or the like, a workstation of an unmanned conveyance system, or the like.

Explanation of reference signs

100...transfer device; 110...sliding arm; 111...base arm; 112...middle arm; 113...top arm; 114...first hook; 115...second hook; 116A...first end detection sensor; 116B...first One end detection sensor; 117A...second end detection sensor; 117B...second end detection sensor; 118...third hook; 119A...third end detection sensor; 119B...third end detection sensor; 120A... 4th end detection sensor; 120B...fourth end detection sensor; 121...first conveyor; 122...second conveyor; 200...goods; 200A...goods; 200B...goods; 300...automatic warehouse; 301...stack Stacking crane; 302...shelf; 303...workstation; 311...lower trolley; 312...upper trolley; 316...lifting platform; 400...control department; 401...traveling and lifting driving department; ...hook drive; 404...conveyor drive.

Claims (8)

1. A transfer device, wherein: a conveyor capable of conveying the goods placed on the upper surface in a direction parallel to the conveying direction of the goods; a sliding arm capable of slidingly moving in a direction parallel to the conveying direction of the goods; a hook mounted on the slide arm and capable of moving in a direction intersecting with a slide movement direction of the slide arm and between an operating posture directed toward the The posture in which the side of the cargo is protruding, the avoidance posture refers to a posture to avoid contact with the cargo loaded on the conveyor; The control unit conveys the goods in a direction opposite to the direction in which the goods are conveyed by the conveyor so that the end position in the direction opposite to the direction of conveyance of the goods reaches the vicinity of the hook, and then makes the The sliding arm moves to the conveying direction of the goods. 2. The transfer device according to claim 1, wherein: After the hook abuts against the end position of the cargo, the control unit causes the conveyor to start conveying the cargo to the cargo at the same time as or after the movement of the sliding arm starts. direction of transport. 3. The transfer device according to claim 1, wherein: further comprising an end detection sensor installed in the vicinity of the hook of the sliding arm, The control unit may determine whether or not an end position of the cargo in a direction opposite to the conveyance direction has reached the vicinity of the hook based on a detection signal of the end detection sensor. 4. The transfer device according to claim 2, wherein: further comprising an end detection sensor installed in the vicinity of the hook of the sliding arm, The control unit determines whether or not the hook has come into contact with the end of the cargo based on a detection signal from the end detection sensor. 5. A transfer device, wherein: The first conveyor and the second conveyor are arranged continuously in the cargo conveying direction, and can convey the cargo placed on the upper surface in a direction parallel to the cargo conveying direction; a sliding arm capable of slidingly moving in a direction parallel to the conveying direction of the goods; The first hook and the second hook, which are installed on the sliding arm, can respectively move between an action posture and a retreat posture in a direction intersecting with the sliding movement direction of the sliding arm; A posture in which the sides of the goods placed on the first conveyor and the second conveyor protrude, and the avoidance posture refers to avoiding contact with the goods placed on the first conveyor and the second conveyor. abutting posture, The first end detection sensor and the second end detection sensor are installed on the slide arm and respectively detect the loads on the first conveyor and the second conveyor in the moving direction of the slide arm. the end position of the cargo; A control unit that determines the state of the cargo placed on the first conveyor and the second conveyor based on the detection results of the first end detection sensor and the second end detection sensor, based on As a result of the discrimination, the first conveyor and/or the second conveyor moves the goods to the opposite direction of the conveying direction of the goods so that the first conveyor and/or the second conveyor The end position of the goods loaded on the second conveyor in the direction opposite to the conveying direction reaches the vicinity of the first hook and/or the second hook, and then the sliding arm is moved to the conveying direction of the goods . 6. The transfer device according to claim 5, wherein: The control unit judges that neither the first conveyor nor the second conveyor is loaded on the state based on the detection results of the first end detection sensor and the second end detection sensor. Either one of the first conveyor and the second conveyor is loaded with goods, the first conveyor and the second conveyor are respectively loaded with goods, or across all Which of the states in which the large cargo is placed on the first conveyor and the second conveyor. 7. The transfer device according to claim 6, wherein: The control unit performs the following processing: When it is determined that no cargo is placed on the first conveyor and the second conveyor, the conveyance process of the cargo is terminated, When it is determined that the goods are placed on any one of the first conveyor and the second conveyor, the goods placed on the first conveyor and the second conveyor The hook corresponding to the conveyor with the goods is in an operating posture, and the goods are transported by the conveyor to the opposite side of the direction of conveyance of the goods so that the side opposite to the direction of conveyance of the goods placed on the one conveyor is direction on which the end position reaches the vicinity of the hook, When it is determined that the goods are placed on the first conveyor and the second conveyor, the first hook and the second hook are put into an operating posture, and the first hook and the second hook The conveyor and the second conveyor convey the cargo to the opposite side of the cargo conveying direction until the cargo placed on the first conveyor and the second conveyor is opposite to the conveying direction. The end positions in the direction respectively reach the vicinity of the first hook and the second hook, When it is determined that a large-sized cargo is placed across the first conveyor and the second conveyor, the cargo located in the first hook and the second hook is conveyed. The hook in the direction of the end side of the direction is an action posture, and the goods are transported to the opposite side of the goods conveying direction by the first conveyor and the second conveyor so that the goods are transported on the opposite side of the goods conveying direction. The end position in the direction reaches the vicinity of the hook. 8. The transfer device according to claim 7, wherein: The first end detection sensor and the second end detection sensor are respectively installed near the first hook and the second hook of the sliding arm, The control unit determines the conveying direction of the goods loaded on the first conveyor and/or the second conveyor based on the detection signals of the first end detection sensor and the second end detection sensor. Whether the end position in the direction opposite to the first hook has abutted against the first hook and/or the second hook.