JP3716962B2

JP3716962B2 - In-container goods handling equipment

Info

Publication number: JP3716962B2
Application number: JP24504898A
Authority: JP
Inventors: 悟岩名
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 1998-08-31
Filing date: 1998-08-31
Publication date: 2005-11-16
Anticipated expiration: 2018-08-31
Also published as: JP2000072254A

Description

【０００１】
【発明の属する技術分野】
本発明は、種々の用途に用いる容器内物品取扱装置に関し、詳しくは、容器を前向き姿勢で設置する容器設置位置を左右方向に並べて複数箇所設けるとともに、これら容器設置位置に設置した容器をそれら容器設置位置の前方側で左右方向に並べて設けた各別の物品取扱位置に移動させる容器移動手段を設け、これら物品取扱位置に位置させた容器の夫々に対し前方側から容器内物品の取り扱い操作を行う共通のロボットを、これら物品取扱位置の前方側に配備する容器内物品取扱装置に関する。
【０００２】
【従来の技術】
従来、この種の容器内物品取扱装置では、例えば、容器設置位置Ａ及び物品取扱位置Ｂの夫々を２箇所設ける場合、図９に示すように、左右の物品取扱位置Ｂでは容器１を互いに平行となる真直な前向き姿勢にし、これに対し、共通のロボット５を、左方の物品取扱位置Ｂの直前方に位置させて左方の容器１に対し正対姿勢で容器内物品の取り扱い操作を行わせる状態と、右方の物品取扱位置Ｂの直前方に位置させて右方の容器１に対し正対姿勢で容器内物品の取り扱い操作を行わせる状態とに、左右移動させるようにしていた。
【０００３】
そして、左右の容器設置位置Ａは左右の物品取扱位置Ｂ夫々の直後方に配置し、各容器１は、これら容器設置位置Ａに真直な前向き姿勢で設置した後、その真直な前向き姿勢のままで容器移動手段３' により直前方向きに直進移動させて各物品取扱位置Ｂに至らせるようにしていた。
【０００４】
なお、上記ロボット５は多関節型のものであり、左右の各容器１に対する容器内物品の取り扱い操作において縦軸心Ｐ１周りでの回転による向き変更が可能である。
【０００５】
【発明が解決しようとする課題】
しかし、この従来装置では、ロボット５を左右移動させる時間がロスとなって作業能率が制限される問題があり、また、ロボット５を左右移動させる機構を要することで装置コストが高くなる問題があった。
【０００６】
一方、これら問題を解消するのに、図１０に示すように、容器設置位置Ａ及び物品取扱位置Ｂの夫々を２箇所設ける場合、共通のロボット５を縦軸心Ｐ１周りでの回転による向き変更が自在な構成とするのに対し、２箇所の容器設置位置Ａの各々がロボット５と各物品取扱位置Ｂとを結ぶ軸心Ｒの延長線上に位置する配置構成とし、そして、真直な前向き姿勢で各容器設置位置Ａに設置した容器１は、先ず、各容器設置位置Ａでの縦軸心Ｐａ周りでの回転によりロボット５に対し正対する向き（左右内方側に傾く斜め前向き）に向き変更させた上で、容器移動手段３" によりロボット５に向け直進移動させて各物品取扱位置Ｂに至らせるといった改良形式（容器設置位置Ａ及び物品取扱位置Ｂの夫々を左右方向に並べて３箇所以上設ける場合も同様）も考えられる。
【０００７】
つまり、この改良形式では、各容器１をロボット５に向く斜め前向きの姿勢で各物品取扱位置Ｂに位置させ、これに対し、ロボット５を縦軸心Ｐ１周りでの向き変更により各容器１に正対させて容器内物品の取り扱い操作を行わせる。
【０００８】
しかし、この改良形式では、ロボット５の左右移動が不要になり、また、従来装置からの踏襲として、容器１の向きと移動方向とを一致させた状態での直進移動により各容器１を物品取扱位置Ｂに至らせることから、物品取扱位置Ｂに対し各容器１を精度良く正確に位置させ得るものの、左右に並ぶ容器設置位置Ａどうしの間隔がかなり大きくなり、この為、装置幅が大きくなる問題が生じる。
【０００９】
以上の実情に鑑み、本発明の主たる課題は、上記の改良形式をさらに改善して、容器設置位置から物品取扱位置への容器移動を合理的に行うことにより、上記の各問題を効果的に解消する点にある。
【００１０】
【課題を解決するための手段】
〔１〕請求項１に係る発明では、容器を前向き姿勢で設置する容器設置位置を左右方向に並べて複数箇所設けるとともに、これら容器設置位置に設置した容器をそれら容器設置位置の前方側で左右方向に並べて設けた各別の物品取扱位置に移動させる容器移動手段を設け、これら物品取扱位置に位置させた容器の夫々に対し前方側から容器内物品の取り扱い操作を行う共通のロボットを、これら物品取扱位置の前方側に配備する構成において、
ロボットを縦軸心周りでの回転による向き変更が自在な構成にすると共に、複数の物品取扱位置を、隣り合うものどうしの間隔が複数の容器設置位置の隣り合うものどうしの間隔よりも狭くなる間隔で、前記縦軸心周りでの周方向に沿って配置する。
そして、前記容器移動手段を、容器設置位置の夫々に前向き姿勢で設置された容器をその容器がロボットに対し正対する状態への移動方向の変化を伴いながら前方側へ移動させ、かつ、それに続きその容器をロボットに対し正対する姿勢でロボットに向け直進移動させて物品取扱位置に至らせる構成にする。
【００１１】
つまり、この構成によれば（図１参照）、前述の改良形式と同様、各容器１をロボット５に向く斜め前向きの姿勢で各物品取扱位置Ｂに位置させ、これに対し、ロボット５を縦軸心Ｐ１周りでの向き変更により各容器１に正対させて容器内物品の取り扱い操作を行わせるから、ロボット５の左右移動が不要になり、先述の従来装置に比べ、ロボット左右移動のロス時間を省いて作業能率を向上でき、また、ロボットを左右移動させる機構を不要にして装置コストを低減できる。
【００１２】
また、容器設置位置Ａから物品取扱位置Ｂへは、容器１がロボット５に対し正対する状態への移動方向の変化を伴いながら容器１を移動させるから、前述の改良形式の如く、各容器設置位置Ａに設置された容器１を先ず、その容器設置位置Ａでの回転によりロボット５に対し正対する向きへ姿勢変更させた上で、ロボット５に向け直進移動させて物品取扱位置Ｂに至らせるに比べ、左右方向に並べる複数の容器設置位置Ａどうしの間隔を小さくすることができ、これにより、装置幅の増大を効果的に抑止しながら上記の如くロボット左右移動の不要化を達成できる。
【００１３】
そしてまた、容器１を移動させながらその移動方向を変化させることで容器１をロボット５に対し正対する向きに向き変化させるから、容器移動とは別に容器設置位置Ａでの回転により容器１を向き変更させる前述の改良形式に比べ、容器移動機構に向き変更機構を兼ねさせる形態で装置構造を簡略化して、装置コストの一層の低減も可能になる。
【００１４】
しかも、容器１がロボット５に対し正対する状態への移動方向の変化を伴いながらの前方側への容器移動に続き、その容器１をロボット５に対し正対する姿勢でロボット５に向け直進移動させて物品取扱位置Ｂに至らせるから、従来装置からの踏襲として、容器１の向きと移動方向とを一致させた状態での直進移動により各容器１を物品取扱位置Ｂに至らせることで、物品取扱位置Ｂに対し各容器１を精度良く正確に位置させ得るようにするという機能はそのまま維持できる。
【００１５】
又、請求項１に係る発明では、前記容器移動手段を、前記の如く容器がロボットに対し正対する状態への移動方向の変化を伴いながら容器を容器設置位置から前方側へ移動させるのに、移動方向先方ほど移動方向が前記縦軸心向きとなる弧状経路に沿って容器を移動させる構成にする。
【００１６】
つまり、この構成によれば、容器がロボットに対し正対する状態への移動方向の変化を容器移動に並行して連続に生じさせることができ、これにより、例えば容器移動途中で段階的に移動方向を変更して、その段階的移動方向の変化により容器をロボットに対し正対する向きへ段階的に向き変化させるに比べ、容器移動を円滑なものにし易く、ひいては、この円滑化により作業能率を一層効果的に向上できる。
【００１７】
又、請求項１に係る発明では、前記容器移動手段を、容器設置位置から前記直進移動の開始位置まで移動基体を移動方向先方ほど移動方向が前記縦軸心向きとなる弧状経路に沿って移動させ、かつ、この移動基体に装備の載置台を前記直進移動の開始位置に至った移動基体上でロボットに向け直進移動させて、容器を載置台に載置した状態で容器設置位置から物品取扱位置まで移動させる構成にする。
【００１８】
つまり、この構成によれば、直進移動の開始位置までの弧状経路に沿っての容器移動と、その後の直進移動とを、容器の載置台を備える移動基体そのものの移動によるものと、移動基体上での載置台の移動によるものとに分離することから、容器設置位置から直進移動の開始位置までの移動は比較的高速にして迅速にしながらも、物品取扱位置に容器を精度良く正確に位置させるための直進移動は低速の緩やかなものにするといったことを行い易く、これにより、作業能率の向上と物品取扱位置に容器を精度良く位置させることとの両立を一層効果的に達成できる。
【００１９】
また、別法としては、直進移動の開始位置まで移動させた容器を、別の移動体に載せ替えて物品取扱位置まで直進移動させる形式も考えられるが、これに比べ、上記構成によれば、このような載せ替えが不要で、載せ替えによる時間ロスや容器位置のズレを回避でき、この点、作業能率の向上と物品取扱位置に容器を精度良く位置させることとの両立において一層優れたものにすることができる。
【００２０】
〔２〕請求項２に係る発明では、前記移動基体の移動構成として、移動基体の前記弧状移動を案内する弧状の案内レールと、前向きの直線動作により移動基体に前向きの移動力を付与する直線駆動機構とを設ける。
【００２１】
つまり、この構成では、直線駆動機構の前向きの直線動作により移動基体に前向きの移動力を付与するのに対し、この移動基体を弧状の案内レールにより案内して前向きの移動力を逐次、弧状経路の接線方向に変換することで前記の弧状移動を行わせるから、例えば、移動基体に付与する移動力そのものを向き変化させ得る駆動手段を用いて前記の弧状移動を行わせるに比べ、駆動手段を簡単なもので済ませることができ、装置コストを安価にすることができる。
【００２２】
〔３〕請求項３に係る発明では、前記載置台の前記移動基体に対する移動構成として、載置台の前記直進移動を案内する直線案内レールと、カムの回転動作により載置台にロボット向きの移動力を付与するカム機構とを設ける。
【００２３】
つまり、カム機構による移動力付与であれば、容器を物品取扱位置に精度良く正確に至らせるのに適した微妙な速度変化パターンで載置台を移動させることを、カムとカムフォロアとの形状設定により容易に行うことができ、また、上記の如く直線案内レールをもって載置台の移動を案内することにより載置台を精度良く正確に直進移動させることができ、これらのことから、上記構成によれば、容器を物品取扱位置へ一層精度良く正確に位置させることができて、作業精度をさらに効果的に高めることができる。
【００２４】
【発明の実施の形態】
図１〜図３は本発明による容器内物品取扱装置を示し、対象の容器１は適当な搬送手段により搬送されて本装置における設置台２上の左右２箇所の容器設置位置Ａに真直な前向き姿勢で載せ置き設置される。設置された容器１の夫々は、これら容器設置位置Ａの前方側で左右に並べて配置された各別の物品取扱位置Ｂまで、設置台２に装備の容器移動手段３により移動し、これら物品取扱位置Ｂにおいて各容器１の前面蓋１ａを蓋開閉機構４により開く。
【００２５】
そして、この状態で、縦軸心Ｐ１周りでの回転による向き変更が自在な多関節型のロボット５により、各容器１からの物品取り出しを初めとする所要の容器内物品取扱操作を容器１の前方側から実施する。
【００２６】
平面視において、２箇所の物品取扱位置Ｂはロボット５を通過する前後向き軸心Ｑに対して左右対称に配置し、また、２箇所の容器設置位置Ａは前方側の物品取扱位置Ｂどうしの間隔よりも大きい間隔で上記の前後向き軸心Ｑに対して左右対称に配置してあり、換言すれば、２箇所の物品取扱位置Ｂは、それらの間隔が容器設置位置Ａどうしの間隔よりも狭くなる間隔で、ロボット５の縦軸心Ｐ１周りでの周方向に沿って配置してある。
【００２７】
この配置に対し、前記の容器移動手段３は、容器設置位置Ａの夫々に真直な前向き姿勢（すなわち、前記の前後向き軸心Ｑに沿う方向での前向き姿勢）で設置された容器１を、ロボット５に対し正対する状態への移動方向の変化を伴いながら前方側へ移動させるように、移動方向先方ほど移動方向がロボット５の前記縦軸心Ｐ１向きとなる弧状経路に沿って移動させ、かつ、その弧状移動に続き、各容器１をロボット５に対し正対する姿勢でロボット５に向け直進移動させて各物品取扱位置Ｂに至らせる構成にしてある。
【００２８】
つまり、本装置では、各容器１をロボット５に正対する斜め前向きの姿勢で各物品取扱位置Ｂに位置させて、ロボット５を縦軸心Ｐ１周りでの向き変更により各容器１に対し選択的に正対させた状態で容器内物品の取り扱い操作を行わせるようにしてあり、これにより、左右に並ぶ２つの容器１を取扱対象とすることにおいてロボット５の左右移動を不要にし、また、容器設置位置Ａどうしの間隔を極力小さくして装置を横幅方向で小型化するようにしてある。
【００２９】
そしてまた、前記弧状移動に続き容器移動の最終段階では、容器１をロボット５に対し正対する姿勢でロボット５に向け直進移動させて物品取扱位置Ｂに至らせる形態を採ることにより、容器１の向きと移動方向とを一致させた状態での直進移動をもって物品取扱位置Ｂに対し各容器１を精度良く正確に位置させ得るようにし、これにより、蓋開閉機構４やロボット５を各容器１に対し適切な相対的位置関係のもとで常に安定的に所要動作させ得るようにしてある。
【００３０】
図４及び図５は容器移動手段３の具体構成を示し、
６は容器１の載置台７を備える移動基体、
８は容器設置位置Ａと直進移動の開始位置Ｂ' との間における移動基体６の弧状移動を案内する弧状案内レール、
９はロッド１０に付設のピン１１を移動基体６に形成の長穴１２に係合させた状態でロッド１０をアクチュエータ１３により前後に直線動作させることで、移動基体６に前後移動力を付与する直線駆動機構である。
【００３１】
また、１４は移動基体６の上での載置台７の移動基体前後方向への直進移動（換言すれば、直進移動の開始位置Ｂ' にある移動基体６上での直進移動開始位置Ｂ' と物品取扱位置Ｂとにわたる載置台７の直進移動）を案内する直線案内レール、
１５は載置台７の下面側に形成した横溝状のカムフォロア１６にカム１７を係合させた状態でこのカム１７をアクチュエータ１８により縦軸心Ｐ２周りで回転させることにより、移動基体６上での移動基体前後方向への移動力（換言すれば、直進移動開始位置Ｂ' にある移動基体６上でのロボット５に対する遠近方向への移動力）を載置台７に付与するカム機構である。
【００３２】
つまり、本装置では、直線駆動機構９におけるロッド１０の前向きの直線動作により移動基体６に前向きの移動力を付与するのに対し、この移動基体６を弧状案内レール８により案内して前向きの移動力を逐次、弧状経路の接線方向に変換することで、移動基体６を容器設置位置Ａから直進移動開始位置Ｂ' まで弧状移動させ、これにより、容器設置位置Ａにおいて真直な前向き姿勢で載置台７上に載置された容器１を、ロボット５に対し正対する状態への移動方向の変化を伴いながら容器設置位置Ａから直進移動開始位置Ｂ' まで弧状に移動（図３の（イ）〜（ロ））させる。
【００３３】
そして、これに続き、直進移動開始位置Ｂ' にある移動基体６上で、カム機構１５におけるカム１７の回転動作により載置台７にロボット５向きの移動力を付与して、直線案内レール１４による案内のもとで載置台７を直進移動開始位置Ｂ' から物品取扱位置Ｂまで直進移動させることにより、載置台７上の容器１をロボット５に対し正対する姿勢でロボット５に向け直進移動させて物品取扱位置Ｂに至らせる（図３の（ロ）〜（ハ））ようにしてある。
【００３４】
なお、１９は容器１の上記直進移動により、容器前面の位置決め用孔２０に係入して物品取扱位置Ｂで容器１を位置決めする位置決め用突起である。
【００３５】
〔別実施形態〕
上述の実施形態では、ロッド１０の直線動作により移動基体６を弧状案内レール８による案内下で弧状移動させる例を示したが、これに代え、図６に示す如く、アーム２１に付設のピン２２を移動基体６に形成の長穴２３に係合させた状態でこのアーム２１をアクチュエータ２４により縦軸心Ｐ３周りで回転動作させることにより、移動基体６を弧状案内レール８による案内下で容器設置位置Ａから直進移動開始位置Ｂ' まで弧状移動させるようにしてもよい。
【００３６】
また、図７に示す如く、一端を移動基体６に連結したアーム２５を弧状案内レール８の弧状形状中心を通る縦軸心Ｐ４周りでアクチュエータ２６により回転動作させることにより、移動基体６を弧状案内レール８による案内下で容器設置位置Ａから直進移動開始位置Ｂ' まで弧状移動させるようにしてもよい。
【００３７】
前述の実施形態では、容器設置位置Ａ及び物品取扱位置Ｂの夫々を２箇所設ける場合を示したが、図８に示す如く、容器設置位置Ａ及び物品取扱位置Ｂの夫々を左右方向に並べて３箇所以上設ける場合において、それら複数の物品取扱位置Ｂを、その隣り合うものどうしの間隔が複数の容器設置位置Ａどうしの間隔よりも狭くなるようにして、ロボット５の縦軸心Ｐ１周りでの周方向に沿って配置する形態で、本発明を実施してもよい。
【００３８】
また、容器１をロボット５に対し正対させる状態への移動方向の変化を伴いながら移動させる容器設置位置Ａと物品取扱位置Ｂとの複数組（すなわち、本発明を適用する複数組）に加え、真直な前向きの容器設置姿勢がロボットに対する正対姿勢となる容器設置位置と、その容器設置位置から容器を真直な前向き姿勢のままで直進移動させて至らせる物品取扱位置との組を設ける装置構成において、本発明を実施してもよい。
【００３９】
容器設置位置Ａの夫々に真直な前向き姿勢で設置された容器１をその容器１がロボット５に対し正対する状態への移動方向の変化を伴いながら前方側へ移動させるための具体的移動構造、また、この移動に続き、容器１をロボット５に対し正対する姿勢でロボット５に向け直進移動させて物品取扱位置Ｂに至らせるための具体的移動構造には夫々、種々の形式を採用でき、これら一連の容器移動を行う容器移動手段の具体構成は種々の構成変更が可能である。
【００４０】
本発明の実施において、容器内物品、及び、その容器内物品に対するロボットの取り扱い操作の内容はどのようなものであってもよい。
【図面の簡単な説明】
【図１】装置平面図
【図２】装置側面図
【図３】容器の移動形態を示す平面図
【図４】容器移動手段の具体構造を示す分解斜視図
【図５】容器移動手段の具体構成を示す正面視断面図
【図６】別実施形態を示す平面図
【図７】他の別実施形態を示す平面図
【図８】他の別実施形態を示す装置平面図
【図９】従来例を示す平面図
【図１０】比較例を示す平面図
【符号の説明】
１容器
３容器移動手段
５ロボット
６移動基体
７載置台
８弧状案内レール
９直線駆動機構
１４直線案内レール
１５カム機構
１７カム
Ａ容器設置位置
Ｂ物品取扱位置
Ｂ' 直進移動開始位置
Ｐ１縦軸心
Ｑ前後向き軸心[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an in-container article handling apparatus used for various applications, and more specifically, a plurality of container installation positions in which the containers are installed in a forward-facing posture are arranged in the left-right direction, and the containers installed at these container installation positions are provided in the containers. Container moving means is provided for moving to different article handling positions arranged side by side in the left-right direction on the front side of the installation position, and handling of articles in the container is performed from the front side for each of the containers positioned at the article handling position. The present invention relates to an in-container article handling apparatus in which a common robot to perform is arranged on the front side of these article handling positions.
[0002]
[Prior art]
Conventionally, in this type of in-container article handling apparatus, for example, when two each of a container installation position A and an article handling position B are provided, the containers 1 are parallel to each other at the left and right article handling positions B as shown in FIG. In contrast to this, the common robot 5 is positioned immediately before the left article handling position B, and the handling operation of the items in the container is performed in a facing posture with respect to the left container 1. It was made to move left and right between the state in which it is to be performed and the state in which it is positioned immediately before the article handling position B on the right and the container 1 on the right is handled in the right-facing posture. .
[0003]
The left and right container installation positions A are arranged immediately after the left and right article handling positions B, and each container 1 is installed in these container installation positions A in a straight forward attitude, and then remains in its straight forward attitude. Thus, the container moving means 3 'moves straight ahead in the forward direction to reach each article handling position B.
[0004]
The robot 5 is an articulated type, and can be changed in direction by rotation around the vertical axis P1 in the handling operation of the in-container article with respect to the left and right containers 1.
[0005]
[Problems to be solved by the invention]
However, in this conventional apparatus, there is a problem that the time for moving the robot 5 to the left and right is lost and the work efficiency is limited, and a mechanism for moving the robot 5 to the left and right is required, resulting in an increase in apparatus cost. It was.
[0006]
On the other hand, in order to solve these problems, as shown in FIG. 10, in the case where two each of the container installation position A and the article handling position B are provided, the orientation of the common robot 5 is changed by rotation around the vertical axis P1. However, each of the two container installation positions A is arranged on an extension line of the axis R connecting the robot 5 and each article handling position B, and has a straight forward attitude. The container 1 installed at each container installation position A is first oriented in the direction facing the robot 5 (obliquely inclined to the left and right inward sides) by rotation around the vertical axis Pa at each container installation position A. An improved form in which the container moving means 3 "moves straight to the robot 5 to reach each article handling position B after changing the position (the container installation position A and the article handling position B are arranged in three places in the left-right direction). When providing more than The same) may be considered.
[0007]
In other words, in this improved form, each container 1 is positioned at each article handling position B in an obliquely forward posture toward the robot 5, while the robot 5 is placed on each container 1 by changing the orientation around the vertical axis P <b> 1. The container is handled so as to face the container.
[0008]
However, in this improved form, it is not necessary to move the robot 5 from side to side, and each container 1 is handled as an article as a follow-up from the conventional apparatus by moving straight forward with the direction of the container 1 and the direction of movement matched. Since the container 1 can be accurately and accurately positioned with respect to the article handling position B because the position reaches the position B, the interval between the container installation positions A arranged side by side becomes considerably large, and therefore the apparatus width increases. Problems arise.
[0009]
In view of the above circumstances, the main problem of the present invention is to further improve the above-described improved form, and effectively perform each of the above problems by rationally moving the container from the container installation position to the article handling position. It is in the point to cancel.
[0010]
[Means for Solving the Problems]
[1] In the invention according to claim 1, a plurality of container installation positions for arranging the containers in a forward-facing posture are arranged in the left-right direction, and the containers installed at these container installation positions are arranged in the left-right direction on the front side of the container installation positions. The container moving means for moving to each different article handling position provided side by side is provided, and a common robot that performs the handling operation of the articles in the container from the front side with respect to each of the containers positioned at the article handling position is provided with these articles. In the configuration deployed on the front side of the handling position,
The robot can be configured to freely change its orientation by rotating around the vertical axis, and the intervals between adjacent items are narrower than the intervals between adjacent items at multiple container installation positions. At intervals, they are arranged along the circumferential direction around the longitudinal axis.
Then, the container moving means moves the container installed in a forward-facing posture at each of the container installation positions to the front side with a change in the movement direction so that the container faces the robot. The container is configured to move straight to the robot in a posture facing the robot to reach the article handling position.
[0011]
In other words, according to this configuration (see FIG. 1), each container 1 is positioned at each article handling position B in an obliquely forward posture toward the robot 5 as in the above-described improved form. By changing the direction around the axis P1, the container 5 is made to face each container 1 and the handling operation of the articles in the container is performed. The work efficiency can be improved by saving time, and the cost of the apparatus can be reduced by eliminating the mechanism for moving the robot left and right.
[0012]
Further, since the container 1 is moved from the container installation position A to the article handling position B with the change of the moving direction so that the container 1 faces the robot 5, each container is installed as in the above-described improved form. First, the container 1 installed at the position A is changed in posture to face the robot 5 by rotation at the container installation position A, and then moved straight toward the robot 5 to reach the article handling position B. As compared with the above, it is possible to reduce the interval between the plurality of container installation positions A arranged in the left-right direction, thereby making it possible to eliminate the need for the left-right movement of the robot as described above while effectively suppressing an increase in the apparatus width.
[0013]
Further, since the container 1 is moved in the direction of facing the robot 5 by changing the moving direction while moving the container 1, the container 1 is turned by rotation at the container installation position A separately from the container movement. Compared with the above-described improved form to be changed, the apparatus structure can be simplified in a form in which the container moving mechanism also serves as the direction changing mechanism, and the apparatus cost can be further reduced.
[0014]
Moreover, following the forward movement of the container 1 with a change in the direction of movement of the container 1 facing the robot 5, the container 1 is moved straight toward the robot 5 in a posture facing the robot 5. Therefore, as a follow-up from the conventional apparatus, each container 1 is brought to the article handling position B by linear movement in a state in which the direction of the container 1 and the moving direction coincide with each other. The function of accurately positioning each container 1 with respect to the handling position B can be maintained as it is.
[0015]
Further, in the invention according to claim 1 , in order to move the container from the container installation position to the front side, the container moving means is accompanied by a change in the moving direction so that the container faces the robot as described above. It is set as the structure which moves a container along the arc-shaped path | route where a moving direction becomes the said longitudinal axis center toward the moving direction ahead.
[0016]
In other words, according to this configuration, it is possible to continuously change the movement direction of the container so as to face the robot in parallel with the movement of the container. Compared to changing the direction of the container in a stepwise direction to the direction of the robot facing the robot by changing the stepwise movement direction, the container movement can be made smoother. It can be improved effectively.
[0017]
In the invention according to claim 1 , the container moving means is moved along an arcuate path in which the moving direction is directed toward the longitudinal axis toward the moving direction from the container setting position to the start position of the linear movement. In addition, the mounting table mounted on the moving base is moved straight toward the robot on the moving base that has reached the start position of the straight movement, and the article is handled from the container setting position while the container is mounted on the mounting base. Move to the position.
[0018]
In other words, according to this configuration, the container movement along the arcuate path to the start position of the straight movement and the subsequent straight movement are performed by the movement of the moving base itself provided with the container mounting table, and on the moving base. In this case, the container is positioned accurately and accurately at the article handling position, while the movement from the container installation position to the starting position of the linear movement is relatively fast and quick. Therefore, it is easy to perform a straight movement for the purpose of slow movement at a low speed, and thereby, it is possible to more effectively achieve both the improvement of the work efficiency and the precise positioning of the container at the article handling position.
[0019]
In addition, as another method, a form in which the container moved to the start position of the straight movement is replaced with another moving body and moved straight to the article handling position can be considered. Such replacement is unnecessary, and time loss and container position deviation due to replacement can be avoided. In this respect, it is more excellent in improving both work efficiency and positioning the container accurately at the article handling position. Can be.
[0020]
[ 2 ] In the invention according to claim 2 , as the moving structure of the moving base, an arcuate guide rail that guides the arc-like movement of the moving base, and a straight line that applies a forward moving force to the moving base by a forward linear motion And a drive mechanism.
[0021]
In other words, in this configuration, a forward moving force is applied to the moving base body by the forward linear motion of the linear drive mechanism, whereas the moving base body is guided by the arc-shaped guide rail so that the forward moving force is sequentially applied to the arc-shaped path. Therefore, the driving means is compared with the case where the arcuate movement is performed using a driving means capable of changing the direction of the moving force applied to the moving base body. A simple device can be used, and the apparatus cost can be reduced.
[0022]
[ 3 ] In the invention according to claim 3 , as a moving configuration of the mounting table with respect to the moving base, a linear guide rail for guiding the linear movement of the mounting table, and a moving force toward the robot on the mounting table by a rotating operation of the cam. And a cam mechanism for providing
[0023]
In other words, if the moving force is applied by the cam mechanism, the shape setting of the cam and cam follower can be used to move the mounting table with a subtle speed change pattern suitable for bringing the container to the article handling position accurately and accurately. It can be easily performed, and by guiding the movement of the mounting table with the linear guide rail as described above, the mounting table can be moved straightly with high accuracy, and from these, according to the above configuration, The container can be positioned more accurately and accurately at the article handling position, and the working accuracy can be further effectively improved.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
1 to 3 show an in-container article handling apparatus according to the present invention, in which a target container 1 is conveyed by an appropriate conveying means and is straight forward to two right and left container installation positions A on an installation table 2 in the apparatus. It is placed in a posture. Each of the installed containers 1 is moved by the container moving means 3 provided on the installation table 2 to each of the different article handling positions B arranged side by side on the front side of these container installation positions A. At the position B, the front lid 1 a of each container 1 is opened by the lid opening / closing mechanism 4.
[0025]
In this state, the container 1 performs a required in-container article handling operation such as taking out articles from each container 1 by an articulated robot 5 that can freely change its orientation by rotating around the vertical axis P1. Perform from the front side.
[0026]
In plan view, the two article handling positions B are arranged symmetrically with respect to the longitudinal axis Q passing through the robot 5, and the two container installation positions A are located between the article handling positions B on the front side. They are arranged symmetrically with respect to the longitudinal axis Q in the front-rear direction at intervals greater than the interval. In other words, the two article handling positions B are located at a distance greater than the interval between the container installation positions A. It arrange | positions along the circumferential direction around the vertical-axis center P1 of the robot 5 by the space | interval which becomes narrow.
[0027]
With respect to this arrangement, the container moving means 3 includes the container 1 installed in a straight forward attitude (that is, a forward attitude in the direction along the longitudinal axis Q) at each of the container installation positions A. In order to move to the front side with a change in the moving direction to the state facing the robot 5, the moving direction is moved along an arcuate path in which the moving direction is toward the longitudinal axis P1 of the robot 5, In addition, following the arcuate movement, each container 1 is moved straight toward the robot 5 in a posture facing the robot 5 to reach each article handling position B.
[0028]
That is, in this apparatus, each container 1 is positioned at each article handling position B in an obliquely forward posture facing the robot 5, and the robot 5 is selectively selected with respect to each container 1 by changing the orientation around the vertical axis P1. In this state, the handling operation of the articles in the container is performed in a state of being opposed to each other, so that the left and right movement of the robot 5 is not required in the case where the two containers 1 arranged on the left and right are handled, and the container The distance between the installation positions A is made as small as possible to reduce the size of the apparatus in the lateral width direction.
[0029]
Further, in the final stage of container movement following the arcuate movement, the container 1 is moved straight to the robot 5 in a posture facing the robot 5 to reach the article handling position B. Each container 1 can be positioned accurately and accurately with respect to the article handling position B by linear movement in a state where the direction and the movement direction coincide with each other, whereby the lid opening / closing mechanism 4 and the robot 5 are attached to each container 1. On the other hand, the required operation can always be stably performed under an appropriate relative positional relationship.
[0030]
4 and 5 show a specific configuration of the container moving means 3,
6 is a moving base provided with a mounting table 7 for the container 1,
8 is an arcuate guide rail that guides the arcuate movement of the movable base 6 between the container installation position A and the starting position B ′ of the linear movement;
9, the rod 10 is linearly moved back and forth by the actuator 13 with the pin 11 attached to the rod 10 engaged with the elongated hole 12 formed in the moving base 6, thereby applying a longitudinal moving force to the moving base 6. It is a linear drive mechanism.
[0031]
Reference numeral 14 denotes a linear movement of the mounting table 7 on the movable base 6 in the longitudinal direction of the movable base (in other words, a straight forward movement start position B ′ on the movable base 6 at the straight movement start position B ′). A straight guide rail for guiding the straight movement of the mounting table 7 across the article handling position B;
Reference numeral 15 denotes a cam follower 16 formed on the lower surface side of the mounting table 7, and the cam 17 is engaged with the cam 17 by rotating the cam 17 around the vertical axis P <b> 2 by the actuator 18. This is a cam mechanism that applies to the mounting table 7 a moving force in the front-rear direction of the moving base (in other words, a moving force in the direction toward and away from the robot 5 on the moving base 6 at the straight movement start position B ′).
[0032]
That is, in this apparatus, a forward moving force is applied to the moving base 6 by the forward linear motion of the rod 10 in the linear drive mechanism 9, whereas the moving base 6 is guided by the arc-shaped guide rail 8 to move forward. By sequentially converting the force to the tangential direction of the arcuate path, the movable base 6 is moved in an arc from the container installation position A to the straight movement start position B ′, and thereby the mounting table in a straight forward posture at the container installation position A 7 is moved in an arc from the container installation position A to the straight movement start position B ′ with a change in the movement direction so as to face the robot 5 (see FIGS. 3A to 3B). (B))
[0033]
Subsequently, on the moving base 6 at the straight movement start position B ′, a moving force in the direction of the robot 5 is applied to the mounting table 7 by the rotating operation of the cam 17 in the cam mechanism 15, and the linear guide rail 14 is used. Under the guidance, the placing table 7 is moved straight from the straight movement start position B ′ to the article handling position B, whereby the container 1 on the placing table 7 is moved straight toward the robot 5 in a posture facing the robot 5. To the article handling position B ((B) to (C) in FIG. 3).
[0034]
Reference numeral 19 denotes a positioning protrusion for engaging the positioning hole 20 on the front surface of the container and positioning the container 1 at the article handling position B by the linear movement of the container 1.
[0035]
[Another embodiment]
In the above-described embodiment, the example in which the moving base 6 is moved in an arc shape under the guidance of the arc-shaped guide rail 8 by the linear motion of the rod 10 has been described. Instead of this, as shown in FIG. The arm 21 is rotated around the vertical axis P3 by the actuator 24 while the arm 21 is engaged with the elongated hole 23 formed in the movable base 6 to place the movable base 6 under the guidance of the arc-shaped guide rail 8. An arcuate movement from the position A to the straight movement start position B ′ may be performed.
[0036]
In addition, as shown in FIG. 7, the arm 25 having one end connected to the moving base 6 is rotated by an actuator 26 around the longitudinal axis P4 passing through the arc-shaped center of the arc-shaped guide rail 8 to thereby guide the moving base 6 in an arc. You may make it carry out arcuate movement from the container installation position A to the linear movement start position B 'under the guidance by the rail 8.
[0037]
In the above-described embodiment, the case where the container installation position A and the article handling position B are each provided in two places is shown. However, as shown in FIG. 8, the container installation position A and the article handling position B are arranged in the left-right direction. In the case of providing more than one place, the plurality of article handling positions B are arranged around the longitudinal axis P1 of the robot 5 such that the interval between the adjacent items is narrower than the interval between the plurality of container installation positions A. You may implement this invention with the form arrange | positioned along the circumferential direction.
[0038]
In addition to a plurality of sets of container installation positions A and article handling positions B that move the container 1 while changing the moving direction to a state in which the container 1 faces the robot 5 (that is, a plurality of sets to which the present invention is applied). An apparatus for providing a set of a container installation position in which a straight forward container installation posture is a direct attitude to the robot, and an article handling position in which the container is moved straight from the container installation position in a straight forward posture In configuration, the present invention may be implemented.
[0039]
A specific moving structure for moving the container 1 installed in a straight forward attitude at each of the container installation positions A to the front side with a change in the moving direction so that the container 1 faces the robot 5; Further, following this movement, various forms can be adopted for the specific moving structures for moving the container 1 straight toward the robot 5 in a posture facing the robot 5 to reach the article handling position B, respectively. The specific configuration of the container moving means for performing the series of container movements can be variously changed.
[0040]
In the implementation of the present invention, the contents of the in-container item and the handling operation of the robot for the in-container item may be anything.
[Brief description of the drawings]
FIG. 1 is a plan view of the apparatus. FIG. 2 is a side view of the apparatus. FIG. 3 is a plan view showing how the container moves. FIG. 4 is an exploded perspective view showing a specific structure of the container moving means. FIG. 6 is a plan view showing another embodiment. FIG. 7 is a plan view showing another embodiment. FIG. 8 is a plan view of an apparatus showing another embodiment. FIG. Plan view showing an example [FIG. 10] Plan view showing a comparative example [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Container 3 Container moving means 5 Robot 6 Moving base 7 Mounting base 8 Arc-shaped guide rail 9 Linear drive mechanism 14 Linear guide rail 15 Cam mechanism 17 Cam A Container installation position B Article handling position B 'Straight movement start position P1 Vertical axis Q Axial axis

Claims

Place the containers in a forward-facing position in multiple horizontal positions in the left-right direction, and place the containers installed in these container positions in the separate article handling positions in the left-right direction in front of those positions. Providing a container moving means for moving;
An in-container article handling apparatus that deploys a common robot for handling articles in a container from the front side to each of the containers positioned in the article handling position, on the front side of these article handling positions,
The robot has a configuration in which the orientation can be freely changed by rotating around a vertical axis, and the plurality of article handling positions are spaced apart from each other between the adjacent container installation positions. Are arranged along the circumferential direction around the longitudinal axis at a narrower interval,
The container moving means;
The container installed in a forward-facing posture at each of the container installation positions is moved forward with a change in the movement direction of the container so as to face the robot, and the container is subsequently moved to the robot. In a configuration in which the robot directly moves toward the robot in a posture facing directly to the article handling position ,
In order to move the container from the container installation position to the front side while changing the movement direction of the container moving means to the state where the container faces the robot.
The moving direction is configured to move the container along an arcuate path in which the moving direction is toward the longitudinal axis,
The container moving means moves the moving base body from the container installation position to the start position of the linear movement along the arcuate path whose moving direction is toward the longitudinal axis toward the moving direction, and is mounted on the moving base body. Is moved in a straight line toward the robot on the moving base that has reached the starting position of the linear movement, and the container is moved from the container installation position to the article handling position in a state of being placed on the mounting table. An in-container article handling device.

The moving structure of the moving base includes an arc-shaped guide rail that guides the arc-shaped movement of the moving base, and a linear drive mechanism that applies a forward moving force to the moving base by a forward linear motion. The in-container article handling apparatus according to 1.

As the mobile structure with respect to the moving body of the mounting table, provided with straight guide rail for guiding the linear movement of the mounting table, and a cam mechanism for imparting movement force of the robot facing the mounting table by the rotation of the cam The in-container article handling apparatus according to claim 1 or 2.