JP5569748B2 - Article transfer device - Google Patents

Description

  The present invention relates to an article transfer device for transferring an article by moving a pair of article holders to and from a reference position and a protruding position where the article holding body protrudes toward a transfer target location.

  Such an article transfer device, for example, is provided with a pair of article holders so as to be able to move toward and away from each other, and grips an article by bringing the pair of article holders close to each other, or can be moved back and forth in each of the pair of article holders. The pair of article holders protrudes from the reference position in a state where the articles are held by the pair of article holders in a state where the positions in the withdrawal and retreat directions are aligned by, for example, providing claws and hooking the articles on the articles. By moving to and from the position, the article is transferred between itself and the transfer target location.

  And, such an article transfer device includes an interlock mechanism that mechanically interlocks and connects a pair of article holders, a single drive unit that operates the interlock mechanism to move the pair of article holders back and forth, And a control means for controlling the operation of the drive means, and the control means controls the operation of the single drive means so that a pair of article holders mechanically interlocked by the interlocking mechanism can be withdrawn / retracted. It is configured to move in and out synchronously in a state where the positions in the movement direction are aligned (see, for example, Patent Document 1).

  Incidentally, in the case of such an article transfer device, generally, position detection means for detecting the position of the pair of article holders in the moving direction of the article is provided, and the control means is detected by the position detection means. Based on the information, it is configured to control the operation of a single driving means to move the pair of article holders to the reference position or the protruding position.

JP 2005-272107 A

  However, in the conventional article transfer device described above, since it is necessary to provide an interlocking mechanism for interlockingly connecting a pair of article holders, it takes time and effort to assemble the interlocking mechanism to synchronize the pair of article holders, Providing this linkage mechanism increases the manufacturing cost of the article transfer device.

  The present invention has been made in view of the above circumstances, and its purpose is to move a pair of article holders in and out in a synchronized manner with the positions in the withdrawing and moving directions being aligned while suppressing manufacturing costs. The object is to provide an article transfer apparatus that can perform the above process.

An article transfer device according to the present invention is configured to transfer an article by moving a pair of article holders to and from a reference position and a protruding position that protrudes toward a transfer target location. And
The first characteristic configuration includes a first driving means for moving the first article holding body in the pair of article holding bodies, and a second driving means for moving the second article holding body in the pair of article holding bodies. Whether a pair of driving means of the driving means, an exit / retreat position detection means for detecting the position of the first article holder in the direction of withdrawal and withdrawal, and whether the second article holder is located at a preset detection position A setting position detecting means for detecting whether or not, and an operation of the pair of driving means for moving the pair of article holders to the reference position or the protruding position based on the detection information of the withdrawal position detection means. A normal exit / exit process for controlling the first drive means and the detection information of the set position detection means for controlling the operation of the first drive means to move the first article holder to a position set corresponding to the detection position. Based on said second article Lies in that a control means for performing position correction processing for controlling the operation of said second drive means to move to the detection position bearing member is provided.

  That is, the pair of driving means is moved by the pair of driving means so that the first driving means moves the first article holding body with the first driving means and the second driving means moves with the second driving means. It is configured to move in and out separately. Then, the position in the exit / retreat movement direction can be detected by the exit / retreat position detection means only for the first article retainer of the pair of article retainers. By controlling the operation of both of the pair of driving means based on the information, the pair of article holders can be moved out and back in a state of being synchronized with the reference position and the protruding position.

That is, in the state where the first article holding body and the second article holding body are aligned at the same position in the withdrawal / retreat movement direction, the control means controls the first article holder based on the detection information of the withdrawal position detection means. By controlling the operation of the first driving means to move the second article moving in and out, and controlling the operation of the second driving means to move the second article holding body in the same manner as the first article holding body. The article holders can be moved in and out in synchronization in a state where they are aligned at the same position in the moving direction.
When the first drive means and the second drive means are configured in the same manner, the control means controls the first drive means and the second drive means in the same manner to synchronize the pair of article holders. It is possible to move in and out in the state where

  Further, the second article holder is not mechanically linked to the first article holder, and there is provided exit / retreat position detecting means for detecting the position of the second article holder in the withdrawal / retreat movement direction. Therefore, even if the second article holder is moved out and out in the same manner as the first article holder based on the detection information of the first exit / exit position detecting means, the second article holder is the first There is a possibility that the article holder is displaced in the moving direction. Therefore, by executing the position correction process, it is possible to correct the displacement of the second article holder relative to the first article holder relative to the first and second movement directions. Although it is conceivable to provide a detection means for detecting the position of the second article holder in the moving direction of the second article and to control the operation of the second article holder based on the detection information of the detection means, Cost becomes high.

  That is, since the setting position detecting means for detecting whether or not the second article holding body is located at a preset detection position is provided, the control means performs the second operation based on the detection information of the setting position detecting means. The second article holder can be moved to the detection position by controlling the operation of the second drive means to move the article holder back and forth. In addition, since the exit / retreat position detection means for detecting the position of the first article holder in the exit / retreat movement direction is provided, the control means is based on the detection information of the exit / retreat position detection means. Can be moved to a position set corresponding to the detection position.

  Therefore, the position correction process is executed, the first article holder is moved to the position set corresponding to the detection position based on the detection information of the exit / exit position detection means, and the detection information of the set position detection means By moving the second article holding body to the detection position based on the first article holding body, the first article holding body and the second article holding body can be aligned in the moving direction of the first article of the second article holding body. It is possible to correct the shift in the moving direction of the holder relative to the holding body.

  Therefore, it has become possible to provide an article transfer device that can move a pair of article holders in a state where they are aligned in the exit / retreat movement direction in a synchronized manner while suppressing manufacturing costs.

  The second feature configuration of the article transfer device according to the present invention is the first feature configuration, wherein the set position detection means determines whether the second article holder is located at the reference position as the detection position. It exists in the point provided so that it may detect.

  That is, the position correction process is executed, the first article holder is moved to the reference position based on the detection information of the exit / exit position detecting means, and the second article holding is performed based on the detection information of the set position detecting means. By moving the body to the detection position, it is possible to correct the displacement of the second article holder relative to the first article holder relative to the first and second movement directions.

  Therefore, since the position corresponding to the detection position of the first article holder is set as the reference position when the retraction movement is performed by the normal retreat process, the normal retreat process is performed after the position correction process is performed. In addition, it is not necessary to move the first article holder or the second article holder to the reference position, and the normal exit / exit process can be executed quickly.

  The third feature configuration of the article transfer device according to the present invention is the first or second feature configuration, wherein the set position detection means is configured such that the second article holder is on the one side in the retracting / moving direction from the detection position. A one-side detection body that detects the presence of the second article holding body and a second-side detection body that detects that the second article holding body is present on the other side in the retracting and moving direction from the detection position. And the control means is configured to hold the second article by the one side detection body in a state in which the presence of the second article holding body is detected by the one side detection body in the position correction process. In the state where the second article holding body is moved to the other side in the retracting movement direction until no body is detected, and the presence of the second article holding body is detected by the other side detecting body, The second article holder is detected by the side detector. To move the second article holding member on one side of the exit-retraction movement direction until no lies in being configured to control the operation of the second driving means.

  That is, when the second article holding body is located at the detection position, the presence of the second article holding body is not detected by either the one side detection body or the other side detection body. When the second article holding body is located on one side of the moving direction from the detection position, the presence of the second article holding body is detected by the one side detecting body, and the second article holding body is detected. In the case where it is located on the other side in the moving-out / moving direction from the position, the presence of the second article holder is detected by the other-side detector.

  Therefore, in the state in which the presence of the second article holding body is detected by the one-side detection body, the second article holding body is moved in the retracting and moving direction until the second article holding body is no longer detected by the one-side detection body. By moving to the other side, the second article holder can be moved to the detection position, and when the presence of the second article holder is detected by the other side detector, the other side detection is performed. The second article holding body can be moved to the detection position by moving the second article holding body to one side in the retracting / moving direction until the second article holding body is no longer detected by the body.

  Therefore, when the second article holder is displaced in the retracting direction with respect to the first article holder, the second article holder is not reciprocated in the retracting direction and moved to the detection position. Since the second article holder can be moved to the detection position simply by moving the second article holder to one side of the exit / retreat direction or the other side, the second article holder can be quickly moved to the detection position. .

According to a fourth feature configuration of the article transfer device of the present invention, in any one of the first to third feature configurations, a first electric motor is provided as the first drive unit, and the second drive unit is configured as the second drive unit. A second electric motor identical to the first electric motor is provided, and a single drive control inverter for supplying driving power to the pair of electric motors is provided. In the middle of the path for supplying electric power to the electric motor, there is power switching means capable of switching between a both-supply state in which electric power is supplied to both of the pair of electric motors and a one-supply state in which electric power is supplied only to the second electric motor. And the control means commands the drive instruction to the inverter in a state in which the power switching means is switched to the both supply state in the normal exit / exit process, and the pair of articles The operation of the pair of electric motors is controlled based on the detection information of the retracted / retracted position detecting means so as to retreat the holder to the reference position or to project and move to the projecting position. In the state where the power switching means is switched to the both supply state, the drive command is issued to the inverter, and the exit / retreat is performed to move the first article holding body to a position set corresponding to the detection position. After controlling the operation of the pair of electric motors based on the detection information of the position detection means, the power switching means is instructed to switch the power switching means to the one-side supply state, and the power switching is performed. means instructs the drive command to the inverter in a state of being switched to the one supply state, wherein in order to move the second article holding member to the detection position In that it is configured to control the operation of the second electric motor on the basis of the detection information of the position detecting means.

  That is, in the normal exit / exit processing, the control means commands the drive command to the inverter in a state where both of the power switching means are switched to the supply state, so that the electric power from the inverter is the first electric motor and the second electric motor. Since both the first electric motor and the second electric motor operate by being supplied to both of the motors, the pair of article holding bodies can be moved back and forth to the reference position or the protruding position.

  Further, in the position correction process, the control means commands the drive command to the inverter in a state where both the power switching means are switched to the supply state, so that the power from the inverter is the first electric motor and the second electric motor. Since both the first electric motor and the second electric motor are operated, the first article holder can be moved back and forth to a position set corresponding to the detection position. Thereafter, the control means instructs the power switching means to switch the power switching means to the one-side supply state and also issues a drive command to the inverter, so that the power from the inverter is only for the second electric motor. Since only the second electric motor is operated, the second article holder can be moved back and forth to the detection position while the first article holder is stopped at the position set corresponding to the detection position. .

  And since it is only necessary to provide a single inverter for the pair of electric motors, the number of inverters can be reduced as compared with the case where an inverter is provided for each of the pair of electric motors, thereby reducing manufacturing costs. Can be achieved.

  According to a fifth characteristic configuration of the article transfer device according to the present invention, in the first or second characteristic configuration, the control unit is configured such that, in the normal withdrawal process, the pair of articles is directed toward the reference position or the protruding position. When the holding body is moved and the first article holding body moves to the reference position or the protruding position, the pair of article holding bodies is stopped, and the position correction process corresponds to the detection position. The first article holder is moved toward the set position and the second article holder is moved toward the detection position, before the second article holder moves to the detection position. When the first article holder moves to a position set corresponding to the detection position, the second article is stopped in a state where the first article holder is stopped at a position set corresponding to the detection position. Move the holder to the detection position. And when the second article holder has moved to the detection position before the first article holder has moved to the position set corresponding to the detection position, the second article holder The operation of the pair of drive means is controlled to move the first article holder to a position set corresponding to the detection position in a state where the first article holding body is stopped at the detection position. .

  That is, in the normal exit / exit process, the control means moves the pair of article holders toward the reference position or the protruding position, and the pair of articles is moved when the first article holder moves to the reference position or the protruding position. In order to stop the holding body, the pair of article holding bodies are moved in and out synchronously in a state where they are aligned at the same position in the moving-out / moving direction, and the moving-out position detecting means has moved to the reference position or the protruding position. By stopping the pair of article holders as they are detected, the pair of article holders can be moved back and forth to the reference position or the protruding position.

In the position correction process, the control unit first moves the first article holder toward the position set corresponding to the detection position and moves the second article holder toward the detection position. The article holder is moved in and out in synchronization.
When the first article holder and the second article holder are displaced in the moving direction, and the first article holder is ahead of the second article holder, the second article holder is detected. Prior to moving to the position, the first article holder moves to the position set corresponding to the detection position. In such a case, the first article holding body is first stopped at the position set corresponding to the detection position, and only the second article holding body is continuously moved toward the detection position to hold the second article holding body. The body is moved to the detection position.
Further, when the first article holder and the second article holder are displaced in the moving direction, and the second article holder precedes the first article holder, the first article holder is detected. The second article holding body moves to the detection position before moving to the position set corresponding to the position. In such a case, the second article holding body is stopped first at the detection position, and only the first article holding body is continuously moved toward the position set corresponding to the detection position to hold the first article holding body. The body is moved to a position set corresponding to the detection position.

As described above, even when the first article holder and the second article holder are displaced in the moving direction, the first article holder is stopped at the position corresponding to the detection position and the second article holder is moved. Since it can be made to stop at a detection position, the shift | offset | difference of the withdrawing / moving direction of a 1st article holding body and a 2nd article holding body can be corrected.
Further, as in the fourth feature configuration, the pair of article holders are moved back and forth to move the first article holder to the position set in advance corresponding to the detection position, and then only the second article holder When the second article holder is ahead of the first article holder, the second article holder once exceeds the detection position, and then the second article is moved to the detection position. Since the holding body is reciprocated to return to the detection position, it takes time to correct the position, but according to the fifth feature configuration, the position of the second article holding body is corrected without reciprocating. Therefore, the position correction process can be performed in a short time.

  A sixth feature configuration of the article transfer device according to the present invention is the fifth feature configuration, wherein the first drive means is provided with a first electric motor, and the second drive means is the same as the first electric motor. The second electric motor is provided, a single drive control inverter for supplying driving power to the pair of electric motors is provided, and a path for supplying power from the inverter to the pair of electric motors In the middle, both supply states for supplying power to both of the pair of electric motors, a first one supply state for supplying power only to the first electric motor, and a second one for supplying power only to the second electric motor Power switching means that can be switched to a supply state is provided, and in the normal exit / exit process, the control means controls the inverter in a state where the power switching means is switched to the both supply state. The drive command is then commanded to control the operation of the pair of electric motors based on the detection information of the retracted / retracted position detecting means to move the pair of article holders to the reference position or the projecting position. In the position correction process, a drive command is issued to the inverter in a state where the power switching means is switched to the both supply state, and the position is set toward the position set corresponding to the detection position. The first article holder is moved and the second article holder is moved to the detection position after controlling the operation of the pair of electric motors to move the second article holder toward the detection position. When the first article holder has moved to the position set corresponding to the detection position, the power switching means is switched to the second one-side supply state. In order to move the second article holder to the detection position by instructing a drive command to the inverter in a state where the power switching means is switched to the second one-side supply state. The operation of the second electric motor is controlled based on the detection information of the set position detection means, and the second article is moved before the first article holder moves to a position set corresponding to the detection position. When the holding body has moved to the detection position, the power switching means is instructed to switch the power switching means to the first one-side supply state, and the power switching means supplies the first one-side supply. In the state switched to the state, the drive command is issued to the inverter, and the first and second position detection means detects the first article holder so as to move to the position set corresponding to the detection position. The configuration is such that the operation of the first electric motor is controlled based on the information.

  That is, in the normal exit / exit process, the control means commands the power switching means to switch both power switching means to the supply state, and also issues a drive command to the inverter. Is supplied to both the first electric motor and the second electric motor, and each of the first electric motor and the second electric motor operates, so that the pair of article holders are moved back and forth to the reference position or the protruding position. be able to.

In the position correction process, the control means commands the inverter to drive the power while the power switching means is switched to the supply state, so that the power from the inverter is changed between the first electric motor and the second electric motor. Since both the first electric motor and the second electric motor are operated by being supplied to both, the pair of article holders can be moved toward the detection position or a position set corresponding thereto.
When the first article holder precedes the second article holder, the first article holder moves to a position set corresponding to the detection position, and then the power switching means is switched to the second one-side supply state. Therefore, by instructing a switching command to the power switching means and instructing a drive command to the inverter, power from the inverter is supplied only to the second electric motor and only the second electric motor is operated. The second article holder can be moved back and forth to the detection position while the one article holder is stopped at the position set corresponding to the detection position.
Further, when the second article holder precedes the first article holder, after the second article holder moves to the detection position, the power switching means is switched to the first one-side supply state. By instructing a switching command and instructing a drive command to the inverter, the electric power from the inverter is supplied only to the first electric motor and only the first electric motor operates, so the second article holding body is detected. The first article holder can be moved back and forth to a position set corresponding to the detection position.

  And since it is only necessary to provide a single inverter for the pair of electric motors, the number of inverters can be reduced as compared with the case where an inverter is provided for each of the pair of electric motors, thereby reducing manufacturing costs. Can be achieved.

  According to a seventh characteristic configuration of the article transfer device according to the present invention, in the fifth or sixth characteristic configuration, the setting position detection unit is configured to move the second article holder from the reference position as the detection position. A protrusion detector for detecting the presence of the second article holder in the position correction process in the position correction process. In the detected state, the operation of the second drive means is controlled to move the second article holder to the reference position side until the second article holder is no longer detected by the protrusion detector. It is in the point comprised as follows.

That is, when the second article holder is located at the detection position, the protrusion detector does not detect the presence of the second article holder. Then, when the second article holder is located on the protruding side in the retracting movement direction from the detection position, the presence of the second article holder is detected by the protrusion detector.
Therefore, in the state where the presence of the second article holding body is detected by the protrusion detection body, the second article holding body is retracted in the withdrawing and moving direction until the second article holding body is no longer detected by the protrusion detection body. By moving the second article holder, the second article holder can be moved to the detection position.

  Therefore, when the second article holder is displaced in the retracting direction with respect to the first article holder, the second article holder is not reciprocated in the retracting direction and moved to the detection position. Since the second article holder can be moved to the detection position simply by moving the second article holder to the retraction side in the exit / retreat movement direction, the second article holder can be quickly moved to the detection position.

  The eighth feature configuration of the article transfer device according to the present invention is the position correction process performed each time the control unit executes the normal exit / exit process a plurality of times in any one of the first to seventh feature configurations. Is configured to perform.

  In other words, since the position correction process is performed every time the normal exit / exit process is performed a plurality of times, the second article holder is withdrawn from the first article holder while avoiding unnecessary position correction processing. When a deviation occurs in the moving direction, the deviation can be corrected at an early stage.

  A ninth feature configuration of the article transfer device according to the present invention is the product according to any one of the first to eighth feature configurations, in which the pair of article holders are moved closer to each other by the driving means for moving near and far. It is configured to be switchable between a holding state in which the object is gripped and held, and a holding release state in which the object is released from being held away from each other by the driving means for moving near and far.

  That is, a pair of articles can be gripped by switching the pair of article holders to the holding state, and a pair of article holders can be released from the holding release state to release the grip on the pair of articles. The article can be transferred between the article transfer device and the transfer target location by moving the pair of article holders to the reference position and the protruding position while holding the article. Then, by executing the position correction process, it is possible to correct the positional deviation in the moving direction of the second article holder relative to the first article holder, so that the pair of positions in the moving direction is aligned. The article can be accurately held by the article holder.

The perspective view of the article storage facility in the first embodiment The top view of the article transfer apparatus in 1st Embodiment The front view of the article transfer apparatus in 1st Embodiment Control block diagram of stacker crane in first embodiment Article transfer operation diagram in the first embodiment Block diagram of exit / exit control of article holder in the first embodiment FIG. 3 is a diagram illustrating an action of moving the article holder in the first embodiment. FIG. 3 is a diagram illustrating an action of moving the article holder in the first embodiment. Flow chart of transfer control in the first embodiment Fig. 4 is a diagram illustrating an action of moving the article holder in the second embodiment.

[First Embodiment]
Hereinafter, an example in which the first embodiment of the article transfer apparatus according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIG. 1, in an article storage facility, a pair of storage shelves 1 installed at an interval so that the direction of putting in and out the articles are opposed to each other, and a travel route 2 formed between the storage shelves 1. A stacker crane 3 that travels automatically is provided, and each storage shelf 1 is configured by arranging a large number of article storage units 4 vertically and horizontally.

  A travel rail 5 is installed in the travel path 2 along the longitudinal direction of the storage shelf 1. On one end side of the travel path 2, a ground-side controller 7 that inputs a loading / unloading command to the stacker crane 3, and the travel rail 5 A pair of loading platforms 8 are provided with a gap therebetween.

  The stacker crane 3 includes a traveling carriage 10 that can travel along the traveling rail 5, and a lifting platform 12 that includes an article transfer device 11 that can transfer articles between the loading platform 8 or the article storage unit 4 and itself. The article is transported between the loading table 8 and the article storage unit 4 by the traveling of the traveling carriage 10, the raising and lowering of the elevator board 12, and the operation of the article transfer device 11. Note that the loading table 8 and the article storage unit 4 correspond to a transfer target location where an article is transferred by the article transfer device 11.

  The article transfer device 11 is configured to transfer an article by moving a pair of article holders 15 to and from a reference position and a protruding position where the article holding body 15 protrudes toward the transfer target location. In addition, the pair of article holders 15 are configured to be able to protrude on both sides in the article transfer direction, and the article transfer device 11 is configured to receive an article between any of the pair of storage shelves 1 and the pair of loading platforms 8. It is comprised so that it can transfer. 5 (a), 5 (d), and 5 (e) show a state in which the pair of article holders 15 are retracted to the reference position, and FIG. 5 (b) and FIG. 5 (c). These show a state where the pair of article holders 15 are moved to the protruding position.

Next, although the article transfer device 11 will be described, the direction along the traveling direction of the traveling carriage 10 will be described as a lateral width direction, and the article transfer direction orthogonal to the traveling direction of the traveling carriage 10 will be described as an exit / retreat movement direction. .
As shown in FIGS. 2 and 3, the article transfer device 11 is distributed and arranged on both sides of the roller-type conveyor 13 that conveys the article along the moving direction and the width direction of the article transfer device 11. And a pair of movable bodies 14 that can be moved to and away from each other, and a pair of article holders 15 that are supported by each of the pair of movable bodies 14 so as to be movable along the retracting movement direction. .

  Each of the pair of moving bodies 14 is guided and supported so as to be movable along the lateral width direction by guide rails 17 for moving in the distance direction supported by the apparatus main body 16. Further, a perspective movement rack 18 is connected to each of the pair of moving bodies 14 so as to extend inward in the lateral width direction, and the pair of perspective movement racks 18 are connected to an electric motor 20 for perspective movement. A single perspective movement output gear 19 provided on the output shaft (corresponding to the perspective movement driving means) is engaged. That is, the forward / reverse drive of the electric motor 20 for near / far movement activates the transmission mechanism constituted by the rack 18 for near / far movement and the output gear 19 for near / far movement so that the pair of moving bodies 14 are synchronized along the lateral width direction. In this state, they are configured to move toward and away from each other.

  In addition, each of the pair of article holding bodies 15 is guided and supported so as to be movable along the retracting / moving direction by the retracting / moving guide rails 21 supported by the pair of moving bodies 14. In addition, each of the pair of article holders 15 is connected to an exit / retreat rack 22 in a posture along the exit / retreat direction, and each of the pair of exit / retreat racks 22 has a pair of exit / retreat racks 22. The retreat-moving relay gear 23 is meshed, and the retreat-moving output gear 24 provided on the output shaft of the pair of retreat-moving electric motors 25 is meshed with each of the pair of retreat-moving relay gears 23. ing. In other words, the forward / reverse driving of the pair of electric motors 25 for moving in / out moves the transmission mechanism including the rack 22 for moving out / out, the relay gear 23 for moving out / out, and the output gear 24 for moving in / out. The pair of article holders 15 are configured to move along the moving direction.

A description of the pair of article holding bodies 15 will be given below. As the electric motors 25 for moving in and out, first electric motors 25a for moving in and out that move the first article holding bodies 15a in the pair of article holding bodies 15; A pair of electric motors 25 for moving in and out of the pair of article holding bodies 15 is provided. Further, as shown in FIG. 6, a single drive control inverter 26 that supplies drive power to the pair of electric motors 25 for moving in and out is provided. Then, the first exit / retreat electric motor 25a is driven forward / reversely by the electric power from the inverter 26, and the first article holder 15a is moved forward / backward along the direction of the withdrawal / retraction, and the electric power from the same inverter 26 is used. The second article moving motor 25b is driven forward and backward to move the second article holder 15b in and out along the moving direction. Electric power is supplied to the retracting electric motor 25, and the pair of article moving electric motors 25 are configured to move the pair of article holders 15 out and out separately.
The electric motor 25 for moving in and out corresponds to the driving means, the electric motor 25a for moving in and out corresponding to the first driving means and the first electric motor, and the second electric motor for moving in and out. The electric motor 25b corresponds to a second drive unit and a second electric motor.

  The same electric motor is used for the first electric motor for advancing / retreating 25a and the second electric motor for advancing / retreating movement 25b. Further, a transmission mechanism that transmits the power of the first retracting / moving electric motor 25a to the first article holding body 15a and a transmission mechanism that transmits the power of the second retracting / moving electric motor 25b to the second article holding body 15b. Is the same configuration except that it is configured symmetrically in the lateral width direction.

  Further, in the course of supplying electric power from the inverter 26 to the pair of electric motors 25 for moving in and out, the both supply state for supplying electric power to both the electric motors 25 for moving in and out and the second electric motor for moving in and out. There is provided a power switching means 27 that can be switched to a one-side supply state in which power is supplied only to the motor 25b. Therefore, since the power from the inverter 26 is supplied to both the first moving motor 25a and the second moving electric motor 25b by switching both the power switching means 27 to the supply state, Both the first retracting / moving electric motor 25a and the second retracting / moving electric motor 25b operate to move both the first article holding body 15a and the second article holding body 15b, and the power switching means 27 Since the electric power from the inverter 26 is supplied only to the second egress / retreat movement electric motor 25b by switching to the one-side supply state, only the second egress / retraction movement electric motor 25b operates and the second article holder Only 15b moves in and out.

  Next, the distance movement of the pair of article holding bodies 15 will be described. As shown in FIGS. 2 and 3, the distance movement electric motor 20 is driven forward and backward to move each of the pair of movement bodies 14 along the lateral width direction. The pair of moving bodies 14 and the pair of article holders 15 supported by the pair of moving bodies 14 are configured to move toward and away from each other. In this way, the pair of article holders 15 are moved to and away from each other by the electric motor 20 for moving near and far from each other, and are moved away from each other by the electric motor 20 for moving and moved away from each other. It is configured to be switchable to a holding release state for releasing the holding.

  Although the detailed description is omitted, the conveyor 13 is provided with a plurality of rotating rollers 26 arranged in the transfer direction. By driving the electric motor 29 for conveyors in the forward and reverse directions, the plurality of rotating rollers 26 are provided. Are configured to rotate in the forward and reverse directions, and are configured to move the article in the direction of withdrawal and withdrawal by cooperation of the withdrawal movement of the pair of article holders 15 and the conveying operation of the conveyor 13. ing.

  The article transfer device 11 configured as described above transfers articles in the article storage unit 4 or the loading table 8 by moving the pair of article holders 15 in and out, moving in the near and far directions, and conveying the conveyor 13. It is configured so that it can be transferred onto the apparatus 11 or an article on the article transfer apparatus 11 can be transferred to the article storage unit 4 or the loading table 8.

  Then, as shown in FIG. 4, the stacker crane 3 is set in advance on the traveling route 2, the traveling electric motor M <b> 1 that travels and moves the traveling carriage 10, the lifting electric motor M <b> 2 that moves the lifting platform 12 up and down. The traveling rotary encoder 31 that detects the traveling distance of the traveling carriage 10 from the travel reference position, the lifting rotary encoder 32 that detects the lifting distance of the lifting platform 12 from the lifting reference position, and the first article holder 15a. And an exit / retreat rotary encoder 33 for detecting the exit / retreat movement distance from the reference position in the exit / retreat movement direction.

  The sensors provided in the exit / retreat rotary encoder 33 and the article transfer device 11 will be described. As shown in FIG. 4, the article transfer device 11 includes a first encoder in addition to the above-described exit / retreat rotary encoder 33. First origin position detecting means 36 for detecting whether or not the article holder 15a is located at the reference position is provided. The rotary encoder 33 for exit / retreat is provided so as to output a pulse as the first article holder 15a moves from the reference position in the exit / retreat movement direction. By counting the number of pulses, the position of the first article holder 15a in the moving direction is determined. That is, the exit / retreat rotary encoder 33 is provided as an exit / retreat position detecting means for detecting the position of the first article holder 15a in the exit / retreat movement direction.

Further, the article transfer device 11 is provided with second origin position detection means 37 as set position detection means for detecting whether or not the second article holder 15b is located at the detection position. In this case, the same position as the reference position is set as the detection position. That is, the second article holder 15b detects whether or not the second article holder 15b is located at the reference position.
As shown in FIG. 6, the second origin position detecting means 37 is one side detection body that detects that the second article holding body 15b is present on one side in the moving-out / moving direction from the reference position. Side detection sensor 37a (corresponding to a protrusion detection body) and the other side detection sensor as the other side detection body for detecting that the second article holding body 15b is present on the other side in the direction of retreating from the reference position. 37b (corresponding to a protrusion detection body) . That is, the second origin position detection means 37 is not detected by the one side detection sensor 37a and the other side detection sensor 37b when the second article holder 15b is located at the reference position, and the second article When the holding body 15b is displaced from the reference position in the moving direction, the presence of the second article holding body 15b is detected by the one side detection sensor 37a or the other side detection sensor 37b. It is comprised so that it may detect whether it is located in.

  Incidentally, each of the one-side detection sensor 37a and the other-side detection sensor 37b of the second origin position detection means 37 is constituted by a transmissive photoelectric sensor, and a detected portion provided in the second article holder 15b. The detection light is blocked at c, so that the presence of the second article holding body 15b is detected. The one-side detection sensor 37a and the other-side detection sensor 37b are provided at an interval slightly wider than the length of the detected portion c in the withdrawal / retraction direction, and the reference position is the same position in the withdrawal / retraction direction. It is in the range of about several millimeters in the exit / retreat movement direction.

  Similarly to the second origin position detection means 37, the first origin position detection means 36 is also provided with one side detection sensor 36a and the other side detection sensor 36b, and the first article holding body 15a also has a detected part. c, the one side detection sensor 36a and the other side detection sensor 36b in the first origin position detection means 36, and the one side detection sensor 37a and the other side detection sensor 37b in the second origin position detection means 37 are: It is provided at the same position in the exit / retreat direction. As shown in FIG. 4, the article transfer device 11 is also provided with a distance detection sensor 34 that detects the position of the pair of article holders 15 in the lateral width direction.

  As shown in FIG. 4, the stacker crane 3 is provided with crane control means 35 that receives an entry / exit command from the ground-side controller 7 and controls the operation of the stacker crane 3. Thus, the detection information of various sensors provided on the stacker crane 3 such as the traveling rotary encoder 31, the lifting rotary encoder 32, the rotary encoder 33 for moving out and the like is input.

  Then, when an entry / exit command is instructed from the ground controller 7, the crane control means 35 travels the traveling carriage 10 to a travel position corresponding to the entry / exit command based on the detection information of the travel rotary encoder 31. A traveling control unit 35a that executes control, a lifting control unit 35b that performs lifting control for lifting the lifting platform 12 to a lifting position according to the loading / unloading command based on detection information of the lifting rotary encoder 32, and an exit / retreat rotary encoder Transfer control that moves the pair of article holders 15 based on the detection information 33 and moves the pair of article holders 15 to each other based on the detection information of the distance detection sensor 34 to transfer the articles. The transfer control part 35c which performs is comprised.

Next, transfer control by the transfer control unit 35c (crane control means 35) will be described.
The transfer control unit 35 c controls the operation of the pair of retracting electric motors 25 to move the pair of article holders 15 to and from the reference position or the protruding position based on the detection information of the retracting rotary encoder 33. Control the operation of the electric motor 20 for moving near and far to hold or release the article by moving the pair of article holders 15 toward and away from each other based on the normal exit / exit processing and the detection information of the distance detection sensor 34. The normal perspective processing is performed. That is, the transfer control unit 35c corresponds to the control means of the present invention.

  To explain the normal exit / exit process, the transfer control unit 35c instructs the power switching unit 27 to switch the power switching unit 27 to the both-sides supply state when the power switching unit 27 is switched to the one-side supply state. In a state where both power switching means 27 are switched to the supply state, the inverter 26 is instructed to drive to move the pair of article holders 15 to the reference position or the protruding position. Based on the detection information of the retreat rotary encoder 33, the operation of the pair of retracting / moving electric motors 25 is controlled so that the pair of article holders 15 are moved back and forth to the reference position and the projecting position in a synchronized state. It is configured. Incidentally, the transfer control unit 25c controls the operation of the inverter 26 so that the same power is output from the inverter 26 in the state where both the power switching means 27 are switched to the supply state and the state where the power switching unit 27 is switched to the one supply state. Has been.

  Therefore, when the article is transferred from the article storage unit 4 or the like to the article transfer device 11 by the transfer control by the transfer control unit 35c, the pair of article holders 15 are positioned at the reference position and in the holding release state. From the switched state (see FIG. 5 (a)), first, the pair of article holders 15 are protruded and moved to the protruding position by the normal withdrawal process (see FIG. 5 (b)), and then the normal perspective process is performed. The pair of article holders 15 are switched to the gripping state (see FIG. 5C), and the articles located in the article storage unit 4 and the like are held by the pair of article holders 15. Thereafter, after the pair of article holders 15 are retreated to the reference position by the normal withdrawal process (see FIG. 5D), the pair of article holders 15 are switched to the grip release state by the normal perspective process (see FIG. 5). 5 (e)), the article is transferred onto the article transfer device 11.

  In addition, when transferring an article from the article storage unit 4 or the like to the article transfer device 11, the conveyor 13 is operated to convey the article to the article transfer device 11 side. Further, by performing the reverse operation of transferring an article from the article storage unit 4 or the like to the article transfer device 11, the article can be transferred from the article transfer device 11 to the article storage unit 4 or the like.

  Further, the transfer control unit 35c controls the operation of the first retracting / moving electric motor 25a to move the first article holder 15a to the reference position based on the detection information of the retracting rotary encoder 33, and Based on the detection information of the second origin position detection means 37, a position correction process for controlling the operation of the second electric motor 25b for moving in and out to move the second article holder 15b to the reference position is executed. Has been. That is, there is a possibility that the second article holding body 15b is displaced in the withdrawal and moving direction with respect to the first article holding body 15a by executing the normal withdrawal process, but as shown in the flowchart of FIG. By configuring so that the position correction process is executed every time the normal exit / exit process is executed a plurality of times (for example, 10 times), the second article holder 15b moves in the exit / retreat movement direction with respect to the first article holder 15a. Even in the case of deviation, the second article holder 15b can be corrected to an appropriate positional relationship that is the same position as the first article holder 15a in the moving-out / moving direction.

  To explain the position correction process, the transfer control unit 35c switches to the power switching unit 27 to switch the power switching unit 27 to the both-sides supply state if the power switching unit 27 is switched to the one-side supply state. As shown in FIGS. 7 (a) and 8 (a), the drive command is commanded to the inverter 26 in a state where both the power switching means 27 are switched to the supply state. The first article holder 15a is retracted to the reference position by controlling the operation of the pair of exit / retreat electric motors 25 based on the detection information of the exit / retreat rotary encoder 33 to move the article holder 15a to the reference position. The second article holder 15b is moved back and moved in the same manner as the first article holder 15a.

At this time, when the first article holder 15a and the second article holder 15b are displaced in the retracting movement direction, and the first article holder 15a precedes the second article holder 15b, FIG. As shown in (a), even if the first article holder 15a is retreated to the reference position, the second article holder 15b does not reach the reference position.
In such a case, when the first article holder 15a reaches the reference position, a switching command is issued to the power switching means 27 to switch the power switching means 27 to the one-side supply state, as shown in FIG. The second article holder is commanded by the one-side detection sensor 37a of the second origin position detecting means 37 in a state where the first article holder 15a is stopped at the reference position by giving a command to the inverter 26 and a drive command. The second article holder 15b is continuously retreated in the same direction so that the presence of 15b is not detected, and the second article holder 15b is moved back and forth to the reference position.

In addition, when the first article holder 15a and the second article holder 15b are displaced in the moving-out / moving direction and the second article holder 15b precedes the first article holder 15a, FIG. As shown in a), when the first article holder 15a is moved to the reference position, the second article holder 15b exceeds the reference position.
In such a case, when the first article holder 15a reaches the reference position, as shown in FIG. 8 (b), a switching command is issued to the power switching means 27 to switch the power switching means 27 to the one-side supply state. The second article holding body is instructed by the other side detection sensor 37b of the second origin position detecting means 37 in a state where the first article holding body 15a is stopped at the reference position by instructing the inverter 26 and a drive command. The second article holder 15b is retracted in the reverse direction so that the presence of 15b is not detected, and the second article holder 15b is moved back and forth to the reference position.

  As described above, by executing the position correction process, the first article holder 15a and the second article holder 15b move synchronously, and the first article holder 15a moves to the reference position, and then from the reference position. Since only the shifted second article holder 15b moves and the second article holder 15b moves to the reference position, both the first article holder 15a and the second article holder 15b are located at the reference position. The second article holding body 15b can be corrected to an appropriate positional relationship in which the second article holding body 15b is in the same position as the first article holding body 15a.

[Second Embodiment]
Next, an example in which the second embodiment of the article transfer device according to the present invention is applied to an article storage facility will be described with reference to the drawings.
In the second embodiment, since the configuration other than the article transfer device in the article storage facility is configured in the same manner as the first embodiment, the description thereof is omitted. Since the article transfer device is configured in the same manner as in the first embodiment except for a part of the configuration, the configuration different from the first embodiment in the article transfer device will be mainly described.

The power switching means 27 provided in the middle of the path for supplying power from the inverter 26 to the pair of exit / retreat electric motors 25 supplies both power to both the pair of exit / retreat electric motors 25 ( 7 (a) and 10 (a)), the first one-side supply state (see FIG. 10 (b)) for supplying electric power only to the first moving motor 25a, and the second moving electric motor. It is configured to be switchable to a second one-side supply state (see FIG. 7B) that supplies power only to the motor 25b.
Therefore, as shown in FIGS. 7 (a) and 10 (a), by switching both the power switching means 27 to the supply state, the power from the inverter 26 is supplied to the first moving motor 25a and the second output motor. Since electric power is supplied to both of the retreating electric motors 25b, both the first egress / retreating electric motor 25a and the second egress / retreating electric motor 25b are operated, and the first article holding body 15a and the second retreating electric motor 25b are operated. Both the article holders 15b move in and out.
Further, as shown in FIG. 10 (b), by switching the power switching means 27 to the first one-side supply state, the power from the inverter 26 is supplied only to the first exit / retreat electric motor 25a. Only the first exit / withdrawal electric motor 25a is operated, and only the first article holder 15a is withdrawn / withdrawn.
Further, as shown in FIG. 7B, since the power from the inverter 26 is supplied only to the second exit / retreat electric motor 25b by switching the power switching means 27 to the second one-side supply state, Only the second exit / retreat electric motor 25b is operated, and only the second article holder 15b is moved back and forth.

Next, the transfer control unit 35c will be described.
In the normal exit / exit process, the transfer control unit 35c commands the inverter 26 to drive with both the power switching means 27 switched to the supply state, and moves the pair of article holders 15 to the reference position or the protrusion. The operation of the pair of electric motors 25 for moving in and out is controlled based on the detection information of the rotary encoder 33 for moving in and out to the position.

  Then, in the position correction process, the transfer control unit 35c commands the inverter 26 to drive in the state where both the power switching means 27 are switched to the supply state, and the first article holding body toward the reference position. After controlling the operation of the pair of retracting / moving electric motors 25 to move the 15a and the second article holder 15b, the first article holder 15a is moved before the second article holder 15b moves to the reference position. Is moved to the reference position, a switching command is issued to the power switching means 27 to switch the power switching means 27 to the second one-side supply state, and the power switching means 27 is switched to the second one-side supply state. In this state, a drive command is issued to the inverter 26, and the second exit / retreat movement electric power is generated based on the detection information of the second origin position detection means 37 so as to move the second article holder 15b to the detection position. It is configured to control the operation of the motor 25b.

  In addition, in the position correction process, the transfer control unit 35c commands the inverter 26 to drive in a state where both the power switching means 27 are switched to the supply state, and moves the first article holder toward the reference position. After controlling the operation of the pair of retracting / moving electric motors 25 to move the 15a and the second article holder 15b, the second article holder 15b is moved before the first article holder 15a moves to the reference position. Is moved to the reference position, a switching command is issued to the power switching means 27 to switch the power switching means 27 to the first one-side supply state, and the power switching means 27 is switched to the first one-side supply state. In this state, a command for driving is issued to the inverter 26, and the first article moving in and out based on the detection information of the rotary encoder 33 for moving in and out to move the first article holder 15a to the reference position. It is configured to control the operation of the dynamic motor 25a.

  To explain the position correction process, the transfer control unit 35c switches to the power switching unit 27 to switch the power switching unit 27 to the both-sides supply state if the power switching unit 27 is switched to the one-side supply state. 7 (a) and 10 (a), the drive command is commanded to the inverter 26 in a state where both the power switching means 27 are switched to the supply state, and the first article Based on the detection information of the withdrawing / retracting means to move the holding body 15a to the reference position, the operation of the pair of withdrawing / moving electric motors 25 is controlled to move the first article holding body 15a toward the reference position. In the same manner as the first article holder 15a, the second article holder 15b is retreated toward the reference position.

At this time, as shown to Fig.7 (a), the 1st article holding body 15a and the 2nd article holding body 15b have shifted | deviated to the advancing / withdrawing direction, and the 1st article holding body 15a is the 2nd article holding body 15b. In the case of preceding, the first article holder 15a moves to the reference position before the second article holder 15b moves to the reference position.
As described above, when the first article holder 15a first moves to the reference position, when the first article holder 15a reaches the reference position, as shown in FIG. In order to switch to the one-side supply state, a switching command is commanded to the power switching means 27 and a driving command is commanded to the inverter 26 to stop the first article holder 15a at the reference position and the second origin position. The second article holder 15b is retracted so that the presence of the second article holder 15b is not detected by the one-side detection sensor 37a of the detection means 37, and the second article holder 15b is moved back and forth to the reference position. Let

Further, as shown in FIG. 10 (a), the first article holder 15a and the second article holder 15b are displaced in the retracting movement direction, and the second article holder 15b is more than the first article holder 15a. In the case of preceding, the second article holder 15b moves to the reference position before the first article holder 15a moves to the reference position.
As described above, when the second article holder 15b first moves to the reference position, when the second article holder 15b reaches the reference position, as shown in FIG. In order to switch to the one-side supply state, a switching command is commanded to the power switching means 27 and a driving command is commanded to the inverter 26 so that the second article holding body 15b is stopped at the reference position and the rotary for exit / retreat is performed. The first article holder 15a is retracted until the first article holder 15a is detected at the reference position by the encoder 33, and the first article holder 15a is moved back and forth to the reference position. .

  As described above, by executing the position correction process, the first article holder 15a and the second article holder 15b are synchronously moved, and the preceding article holder 15 is moved to the reference position. Since only the article holder 15 moves and the subsequent article holder 15 moves to the reference position, both the first article holder 15a and the second article holder 15b are located at the reference position, and the second article The holding body 15b can be corrected to an appropriate positional relationship in which the holding body 15b is located at the same position as the first article holding body 15a.

[Another embodiment]
(1) In the first embodiment, the second article holder 15b is moved to the reference position while the first article holder 15a is positioned at the reference position. However, the second article holder 15b is moved to the reference position. The first article holding body 15a may be moved to the reference position in a state where the first article holding body 15a is positioned at the position.
Specifically, the power switching means 27 is in a both supply state in which power is supplied to both the pair of electric motors 25 for moving in and out, and in a one supply state in which electric power is supplied only to the first electric motor 25a for moving in and out. In the transfer control unit 35c, a switching command is issued to the power switching unit 27 and a driving command is issued to the inverter 26 in order to switch the power switching unit 27 to both drive states. Then, based on the detection information of the second origin position detection means 37, the operation of the pair of retracting electric motors 25 is controlled, and the pair of article holding bodies 15 are moved back and forth to move the second article holding body 15b to the reference position. Move to. Thereafter, the transfer control unit 35c instructs the power switching unit 27 to switch the power switching unit 27 to the one supply state and also instructs the inverter 26 to drive the drive command, thereby moving the rotary switch for exit and exit. Based on the detection information of the encoder 33, the operation of the first retracting / moving electric motor 25a is controlled, and the first article holding body 15a is moved back and forth to move the first article holding body 15a to the reference position. Also good.

(2) In the first and second embodiments described above, the single drive control inverter that supplies the drive power to the pair of electric motors of the first electric motor and the second electric motor is provided. A pair of drive control inverters, a first inverter that supplies drive power to the first electric motor and a second inverter that supplies drive power to the second electric motor, may be provided. . Incidentally, in this case, the transfer control unit 35c controls the operation of the pair of exit / retreat electric motors 25 separately by commanding the drive commands to the pair of inverters 26 in the normal exit / retreat process, In the position correction process, a drive command may be commanded to the second inverter to control the operation of the second moving motor 25b.

(3) In the first and second embodiments, the electric motor (the pair of electric motors 25 for moving in and out) is provided as the driving means. However, another actuator such as an electric cylinder may be provided as the driving means. Good.

(4) In the first and second embodiments, the detection position is the reference position. However, the detection position other than the reference position, such as a position between the reference position and the protruding position, a position further retracted from the reference position, or the like. It may be a position.

(5) In the first and second embodiments, the position correction process is executed every time the normal exit / exit process is executed a plurality of times. However, the position correction process is executed every time the normal exit / exit process is executed. May be. Further, it may be configured such that an artificially operated command means is provided and the position correction process is executed at an arbitrary timing by the operator operating the command means. In addition, when the normal exit / exit processing is performed and the pair of article holders are retreated to the reference position, the setting location detection unit detects that the second article holder is not located at the reference position. You may comprise so that a position correction process may be performed.

(6) In the first or second embodiment described above, the pair of article holders 15 are configured to be able to switch between the holding state and the holding release state by moving the pair of the article holding bodies 15 toward and away from each other by the electric motor 20 for moving near and far. Although it comprised so that an article | item may be hold | maintained by hold | gripping with the article | item holding body 15, each of a pair of article | item holding | maintenance body 15 protrudes in the width direction inner side with the electric motor for claws, and width direction outside A claw member whose position is freely changeable is provided at the retreat position where the article is retreated, and the article is held by engaging the claw member provided in each of the pair of article holding bodies 15 with the article. May be.

(7) In the first embodiment, the control means outputs the same power from the inverter 26 in the state in which the power switching means 27 is switched to the both supply state and the state in which the power switching means 27 is switched to the one supply state. Although the operation of the control unit 26 is controlled, the moving speed of the article holder 15 is not changed by the control unit when the power switching unit 27 is switched to the supply state or the one-side supply state. The operation of the inverter 26 may be controlled to output different power from the inverter 26.
Similarly, in the second embodiment, the article holding body in the state where the control means switches both the power switching means 27 to the supply state and the state where the power switching means 27 is switched to the first one supply state and the second one supply state. The operation of the inverter 26 may be controlled so that different power is output from the inverter 26 so that the 15 exit / retreat movement speed does not change.

(8) In the first embodiment, the inverter and the power switching unit are provided separately. However, the inverter may have a function as the power switching unit and may be provided integrally with the inverter and the power switching unit. Specifically, the inverter includes a first port connected to the first exit / exit electric motor 25a and a second port connected to the second exit / exit electric motor 25b. Power is output from both of the two ports, and power is output from both the first port and the second port so that power is output from only the second port in one supply state. And you may comprise so that it may switch to one side supply state.
Similarly, in the second embodiment, the inverter includes a first port connected to the first exit / exit electric motor 25a and a second port connected to the second exit / exit electric motor 25b. You may comprise so that it may switch to a both supply state, a 1st one side supply state, and a 2nd one side supply state by switching the output state of the electric power from a 1st port and a 2nd port.

4 transfer target location 8 transfer target location 11 article transfer device 15 article holding body 15a first article holding body 15b second article holding body 25 driving means (electric motor)
25a First drive means (first electric motor)
25b Second drive means (second electric motor)
26 Inverter 27 Power switching means 33 Exit / exit position detection means 35c Control means 37 Set position detection means 37a One side detection body 37b The other side detection body

Claims (9)

An article transfer device that transfers an article by moving a pair of article holders to and from a reference position and a protruding position that protrudes toward a transfer target location side,
A pair of drive means for moving the first article holder in the pair of article holders and a second drive means for moving the second article holder in the pair of article holders. When,
Exit / exit position detection means for detecting the position of the first article holder in the exit / exit movement direction;
A set position detecting means for detecting whether or not the second article holder is located at a preset detection position;
A normal exit / retreat process for controlling the operation of the pair of drive means to move the pair of article holders to the reference position or the projecting position based on the detection information of the exit / exit position detection means; and The operation of the first drive means is controlled to move the first article holder to a position set corresponding to the detection position, and the second article holder is moved based on the detection information of the set position detection means. An article transfer apparatus provided with control means for executing position correction processing for controlling the operation of the second drive means to move to a detection position.   The article transfer device according to claim 1, wherein the setting position detection unit is provided to detect whether or not the second article holder is located at the reference position as the detection position. The set position detecting means detects that the second article holder is present on one side in the retracting / moving direction from the detection position, and the second article holder is the detection. Comprising the other side detection body for detecting the presence on the other side of the moving-out and moving direction from the position,
In the state in which the control means detects the presence of the second article holding body by the one side detection body in the position correction process, the second article holding body is detected by the one side detection body. In the state where the second article holding body is moved to the other side in the moving-in / out movement direction until the second article holding body disappears, and the presence of the second article holding body is detected by the other-side detection body, The operation of the second drive means is controlled to move the second article holder to one side in the retracting / moving direction until the second article holder is no longer detected. 3. The article transfer device according to 1 or 2. As the first driving means, a first electric motor is provided,
As the second driving means, a second electric motor identical to the first electric motor is provided,
A single drive control inverter for supplying drive power to the pair of electric motors;
In the middle of a path for supplying power from the inverter to the pair of electric motors, switching between a both-supply state in which power is supplied to both of the pair of electric motors and a one-supply state in which power is supplied only to the second electric motor. Flexible power switching means is provided,
The control means is
In the normal exit / exit process, a drive command is commanded to the inverter in a state where the power switching means is switched to the both supply state, and the pair of article holders are ejected to the reference position or the protruding position. Control the operation of the pair of electric motors based on the detection information of the exit / exit position detection means to retreat,
In the position correction process, a position where the power switching means is instructed to drive the inverter in a state where both the power supply means are switched to the supply state, and the first article holding body is set corresponding to the detection position. After controlling the operation of the pair of electric motors based on the detection information of the exit / exit position detection means to move the power switch, a switch command is issued to the power switch means to switch the power switch means to the one-side supply state. The setting position detection means for commanding the inverter to drive the second article holding body to the detection position by commanding the inverter with the power switching means switched to the one-side supply state. The article transfer apparatus according to claim 1, wherein the article transfer device is configured to control the operation of the second electric motor based on the detected information. The control means is
In the normal withdrawal process, the pair of article holders are moved toward the reference position or the protruding position, and the pair of article holders moves to the reference position or the protruding position. Stop the article holder,
In the position correction process, the first article holder is moved toward a position set corresponding to the detection position, and the second article holder is moved toward the detection position. When the first article holder moves to a position set corresponding to the detection position before the holder moves to the detection position, the first article holder corresponds to the detection position. The second article holder is moved to the detection position in a state where it is stopped at the set position, and the first article holder is moved to a position set corresponding to the detection position. When the second article holder has moved to the detection position, the first article holder has been moved to a position set corresponding to the detection position with the second article holder stopped at the detection position. Of the pair of driving means Article transfer apparatus according to claim 1, wherein is configured to control the movement. As the first driving means, a first electric motor is provided,
As the second driving means, a second electric motor identical to the first electric motor is provided,
A single drive control inverter for supplying drive power to the pair of electric motors;
In the course of supplying power from the inverter to the pair of electric motors, both supply states for supplying power to both the pair of electric motors and a first one supply state for supplying power only to the first electric motors A power switching means capable of switching to a second one-side supply state for supplying power only to the second electric motor;
The control means is
In the normal exit / exit process, a drive command is commanded to the inverter in a state where the power switching means is switched to the both supply state, and the pair of article holders are ejected to the reference position or the protruding position. Control the operation of the pair of electric motors based on the detection information of the exit / exit position detection means to retreat,
In the position correction process, the first article is directed toward a position set corresponding to the detection position by instructing a drive command to the inverter in a state where the power switching means is switched to the both supply state. After controlling the operation of the pair of electric motors to move the holding body and move the second article holding body toward the detection position, the second article holding body moves to the detection position. When the first article holder moves to a position set corresponding to the detection position, a switching command is issued to the power switching means to switch the power switching means to the second one-side supply state. In order to move the second article holder to the detection position by instructing a drive command to the inverter in a state where the power switching means is switched to the second one-side supply state. The operation of the second electric motor is controlled based on the detection information of the setting position detection means, and the second article holding is performed before the first article holding body moves to a position set corresponding to the detection position. When the body has moved to the detection position, the power switching means is instructed to switch the power switching means to the first one supply state, and the power switching means is in the first one supply state. Based on the detection information of the exit / retreat position detection means for instructing the inverter to drive and to move the first article holder to a position set corresponding to the detection position. The article transfer device according to claim 5, wherein the article transfer device is configured to control an operation of the first electric motor. The set position detecting means is configured to include a protrusion detection body that detects that the second article holding body is present on the protrusion position side in the retracting / moving direction from the reference position as the detection position,
In the state where the presence of the second article holder is detected by the projection detector in the position correction process, the control means until the second article holder is not detected by the projection detector. The article transfer device according to claim 5 or 6, wherein the second article holding body is configured to control an operation of the second drive means so as to move the second article holder to the reference position side.   The article transfer apparatus according to any one of claims 1 to 7, wherein the control unit is configured to execute the position correction process each time the normal exit / exit process is executed a plurality of times.   The holding state in which the pair of article holders are moved closer to each other by the near-distance movement driving means to grip and hold the article, and the paired article holding bodies are moved away from each other by the near-distance movement driving means to release the holding on the article. The article transfer device according to any one of claims 1 to 8, wherein the article transfer device is configured to be switchable to a holding release state.

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