JP6532232B2 - Article transfer apparatus and article transfer method - Google Patents

Description

The present invention relates to an article transfer apparatus for transferring an article and an article transfer method performed using the article transfer apparatus.

  DESCRIPTION OF RELATED ART Conventionally, the article transfer apparatus (package transfer apparatus) described, for example in the following patent document 1 is known.

  This conventional article transfer apparatus includes a base body, on which the one-side movable body and the other-side movable body whose lower end portions are different in height position are provided so as to be movable closer to and separated from each other.

  In addition, the one-side holding body (first hook body) for holding one side surface of the article is rotatably provided on the one-side moving body at the lower height position of the lower end portion, and this one-side holding The body rotates relative to the one-side moving body by the expansion and contraction of the cylinder. Similarly, on the other side moving body where the height position of the lower end portion is higher, the other side holding body (second hook body) for holding the other side face of the article is rotatably provided, and this other side The holder rotates with respect to the other moving body by the expansion and contraction of the cylinder.

  Then, when transporting the article, the one-side moving body and the other-side moving body are moved closer to each other to sandwich the article, and the one-side holding body and the other-side holding body are rotated inwardly to move the article. Hold the hook from the outer side.

JP, 2002-11685, A

  However, in the above-described conventional article transfer apparatus, the one-side holding body and the other-side holding body driven by the cylinder are rotatably provided at the one-side moving body and the other-side moving body. It is complicated.

The present invention has been made in view of the above problems, and an object thereof is to provide an article transfer method using the Ru can be simplified those goods transfer device and the article transfer device of the arrangement.

Article transfer device 請 Motomeko 1 wherein is an article transfer device for transferring an article, the article transfer device, a handheld device and a control unit, the hand device can be separable move together, the lower end portion One-side holding body fixed to the one-side moving body and the other-side moving body whose height positions are different from each other and the lower-side one lower-side moving body and holding one side surface of the article And the other side holding body fixed to the other side moving body at the higher height position of the lower end portion and holding the other side face portion of the article, the control portion is already mounted at the time of stacking work. the transfer article is placed at a position deviated from the reference loading position so that the distance is drilled at least one article of the other articles of the same stage that is location, then the one side moving body that the transfer article and at least one by a group of the one side retaining member And it controls the article transfer device so as to push up loading position.

According article transfer device of claim 2, an article transfer device for transferring an article, the article transfer feed device, a handheld device and a control unit, the hand device can be separable move together, the lower end portion One-side holding body fixed to the one-side moving body and the other-side moving body whose height positions are different from each other and the lower-side one lower-side moving body and holding one side surface of the article And the other side holding body fixed to the other side moving body at the higher height position of the lower end portion and holding the other side face portion of the article, the control portion is already mounted at the time of stacking work. The transferred article is placed at a position offset from the reference stacking position so as to be spaced from at least one of the other articles in the same row, and then the one side movement is performed above the gap wherein the body to be positioned interchanged the other side mobile Ha De device is 180 degrees horizontal rotation, then, controls the article transfer device so as to push the object to be transported article to the reference loading position by at least one of the one side moving body and the one side retaining member It is.

Article transfer apparatus according to the third aspect, an article transfer device for transferring an article, the article transfer feed device, a handheld device and a control unit, the hand device can be separable move together, the lower end portion One-side holding body fixed to the one-side moving body and the other-side moving body whose height positions are different from each other and the lower-side one lower-side moving body and holding one side surface of the article And the other side holding body fixed to the other side moving body at the higher height position of the lower end portion and holding the other side face portion of the article, wherein the control unit in a state in which the article was held at only the one side holder, it shifted in a direction deviated from the reference loading position so spaced from at least one of the articles of the other articles of the same stage, after which the object to be transported article the article transfer held by to transfer to a predetermined position It is intended to control the location.

The article transfer apparatus according to claim 4 is the article transfer apparatus according to any one of claims 1 to 3, wherein the one side holding body holds the handle portion of one side of the article from the outer surface side and holds the one side hook The other side holding body is the other side hook body that holds the handle portion of the other side surface portion of the article from the outer surface side, and the article is horizontal by the one side hook body and the other side hook body. It is held in an inclined posture inclined with respect to the above.

The article transfer method according to claim 5 is an article transfer method performed by using an article transfer apparatus for transferring an article, wherein the article transfer apparatus includes a hand apparatus and a control unit, and the hand apparatus contacts and separates each other. The movable body is fixed to the one-side movable body and the other-side movable body whose lower end portions are different from each other in height and the one-side movable body whose lower end portion is lower in height position. The article according to the present invention includes: one side holding body to be held, and the other side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article; The control of the transfer device places the transferred article at a position offset from the reference stacking position so as to be spaced apart from at least one of the other articles in the same stage already placed during the stacking operation. , And then, the transferred object is By at least one of finely the one side retaining member is for pushing up the reference loading position.

The article transfer method according to claim 6 is an article transfer method performed by using an article transfer apparatus for transferring an article, wherein the article transfer apparatus includes a hand device and a control unit, and the hand devices contact and separate from each other. The movable body is fixed to the one-side movable body and the other-side movable body whose lower end portions are different from each other in height and the one-side movable body whose lower end portion is lower in height position. The article according to the present invention includes: one side holding body to be held, and the other side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article; The control of the transfer device places the transferred article at a position offset from the reference stacking position so as to be spaced apart from at least one of the other articles in the same stage already placed during the stacking operation. , And then the one side moving body above the interval The hand device is horizontally rotated 180 degrees so that the other-side moving body is replaced and then transferred to the reference loading position by at least one of the one-side moving body and the one-side holding body To push the

The article transfer method according to claim 7 is an article transfer method performed by using an article transfer apparatus for transferring an article, wherein the article transfer apparatus includes a hand device and a control unit, and the hand devices contact and separate from each other. The movable body is fixed to the one-side movable body and the other-side movable body whose lower end portions are different from each other in height and the one-side movable body whose lower end portion is lower in height position. The article according to the present invention includes: one side holding body to be held, and the other side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article; By control of the transfer device, at the time of disassembling work, with the transferred object being held only by the one side holding body, from the reference stacking position so as to space from at least one of the other items in the same stage. Shift in the direction of the shift, and then Holding the transmission article is intended to transfer to a predetermined position.

The article transfer method according to claim 8 is the article transfer method according to any one of claims 5 to 7, wherein the one side holding body holds the handle portion of one side of the article from the outer surface side and holds the one side hook The other side holding body is the other side hook body that holds the handle portion of the other side surface portion of the article from the outer surface side, and the article is horizontal by the one side hook body and the other side hook body. It is held in an inclined posture inclined with respect to the above.

  According to the present invention, the configuration can be simplified.

It is a front view of the hand apparatus (robot hand) of the article transfer apparatus which concerns on one embodiment of this invention. It is a top view of a hand apparatus same as the above. It is a side view of one side of a hand device same as the above. It is a side view of the other side of a hand device same as the above. (A) And (b) is a figure which shows one side part of a hand apparatus same as the above. (A) And (b) is a figure which shows the other side part of a hand apparatus same as the above. It is a fragmentary top view of the installation which equipped the article transfer device same as the above. It is a side view of an article transfer device same as the above. It is a figure which shows the articles | goods transferred by the goods transfer apparatus same as the above, (a) is a perspective view, (b) is a front view, (c) is a partial end elevation. It is an example of the stowage pattern by the above-mentioned article transfer device. It is operation | movement explanatory drawing of the stacking operation | work (stacking operation | work) by the goods transfer apparatus same as the above. FIG. 12 is an operation explanatory view following FIG. 11; It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. FIG. 17 is an operation explanatory view following on FIG. 16; FIG. 18 is an operation explanatory view following on FIG. 17; FIG. 19 is an operation explanatory view following on FIG. 18; FIG. 20 is an operation explanatory view following on FIG. 19; FIG. 21 is an operation explanatory view following on FIG. 20; It is operation | movement explanatory drawing following FIG. FIG. 23 is an explanatory diagram of an operation following FIG. 22; FIG. 24 is an explanatory diagram of an operation following FIG. 23; It is operation | movement explanatory drawing of the leveling operation | work (leveling operation | movement) by the goods transfer apparatus same as the above. It is operation | movement explanatory drawing following FIG. FIG. 27 is an operation explanatory view following on FIG. 26; FIG. 28 is an operation explanatory view following on FIG. 27; It is operation | movement explanatory drawing following FIG. FIG. 30 is an explanatory diagram of an operation following FIG. 29; It is operation | movement explanatory drawing following FIG. FIG. 32 is an explanatory diagram of an operation following FIG. 31; It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is explanatory drawing of an abnormality detection means. (A) to (d) are other examples of stowage patterns. (A) And (b) is a figure which shows the modification of a palm body.

  An embodiment of the present invention will be described with reference to the drawings.

  FIG. 7 is a partial plan view of a low-temperature facility (Pare and de-paret facility) installed, for example, in a freezer compartment of a food factory, in which 1 in the figure is a first article transport apparatus. , And convey the empty articles W sequentially supplied from the upstream to the standby position.

  Then, as shown in FIGS. 7 and 8, in the vicinity of the transport end of the first article transport apparatus 1, the second article transport apparatus 2, the first pallet transport apparatus 3, the second pallet transport apparatus 4, the third A pallet transfer device 5 and an article transfer device 6 are provided.

  The second article transport device 2 transports the article W, which is a container in which the food, which is a stored item, is stored, to the next process. Further, the first pallet transport device 3 transports the pallet P in which a plurality of empty articles (empty containers) W not storing food are stacked in a plurality of stages (for example, 7 stages) in a predetermined stowage pattern. Do. Furthermore, the second and third pallet conveying devices 4 and 5 are pallets in which a plurality of actual articles (actual containers) W storing food are stacked in a plurality of stages (for example, 7 stages) in a predetermined stacking pattern. Transport P.

  Then, the article transfer device 6 holds the articles W one by one and transfers them to a predetermined position. For example, the empty articles W are placed on the pallet P on the first pallet transfer device 3 in a predetermined stacking pattern ( Multi-tiered operation (palletizing operation), and multiple pallets on the pallets P on the second and third pallet conveyors 4 and 5 (see FIG. 10). It is a robot-pallet-de-paret combined machine that performs a decluttering operation (depalletizing operation) of collapsing real articles W stacked on one another.

  In the stacking operation, the articles W stopped at the standby position of the transport end portion of the first article transport apparatus 1 are held on the pallet P on the first pallet transport apparatus 3 and the lower article W already loaded. It is an operation to transport to the position.

  The unstacking operation is an operation of holding the articles W stacked on the pallet P on the second and third pallet conveying devices 4 and 5 and transferring the articles W to the placement position of the conveyance start end of the second article conveying device 2 is there. It should be noted that, around the placement position of the transport start end of the second article transport device 2, another article W located in the lower part is frozen on the lower side of the article W held by the article transfer device 6 An abnormality detection means 8 such as a photoelectric sensor for detecting whether or not there is sticking is disposed, and when the abnormality detection means 8 detects an article W which should not originally exist, it controls its signal (abnormality detection information) Output to section 9.

  Here, as shown in FIGS. 9 (a) to 9 (c), the article W releasably held by the article transfer device 6 is, for example, a container made of synthetic resin in the form of a rectangular parallelepiped with an open upper surface. ).

  The article W has a rectangular bottom portion W0, and at both longitudinal end portions of the bottom portion W0, left and right side portions W1 and W2 facing each other, ie, one left and right side portions (one A side surface portion W1 and the other side surface portion (other side surface portion facing away from one side surface portion) W2 are erected. A front surface portion W3 and a rear surface portion W4 which are spaced apart and opposed to each other are erected at both ends in the width direction of the bottom surface portion W0.

  Each of the one side surface W1 and the other side surface W2 of the article W has an outwardly projecting handle portion T at the upper end. Each of the left and right handle portions T has a horizontal first plate portion T1 projecting outward from the upper end of an inclined side body portion S slightly inclined with respect to the vertical direction, and the first plate portion T1. And a vertically extending second plate portion T2 that protrudes downward from the tip end portion of the head.

  The bottom surface portion W0 of the article W is formed a size smaller than the top surface opening W5 of the article W. Therefore, when the bottom surface W0 of one article W fits into the top opening W5 of the other article W at the lower stage, the one article W and the other article W fit with each other. The mass of the article (actual container) W in which the food is stored is, for example, approximately 13 kg.

  As shown in FIGS. 1 to 4 and the like, the article transfer device 6 as a stack stacking and unstacking device is provided on the robot body 10 that is the device body and on the tip side of the robot body 10 to incline the article W A hand apparatus (robot hand) 11 which holds the sheet at a predetermined inclination angle α with respect to the horizontal direction and moves the sheet to a predetermined position. The inclination angle α is, for example, approximately 10 degrees. The robot body 10 and the hand device 11 are controlled by the control unit 9.

  The robot body 10 includes a base 13 supported by a plurality of legs 12 and a robot arm 14 erected on the base 13.

  The robot arm 14 has an arm base 15 erected on the base 13 so as to be rotatable about a vertical axis Y. A lower end portion of a lower arm portion 16 which is a first arm portion is rotatably connected to the arm base portion 15 about a horizontal axis, and an upper arm portion which is a second arm portion is connected to an upper end portion of the lower arm portion 16. The proximal end of the portion 17 is connected rotatably around a horizontal axis.

  A pivot shaft portion 18 which is a hand connection portion in the vertical direction is provided at a tip end portion of the upper arm portion 17 so as to be rotatable about a vertical axis Y which is an axis in the vertical direction. A hand device 11 capable of holding one article W is connected and fixed to the lower end portion of the pivot shaft portion 18. The hand device 11 is arbitrarily oriented within a predetermined range based on the operation of the robot arm 14. And movable about the vertical axis Y. A control unit 9 is connected to the hand device 11 and the robot arm 14.

  The hand device 11 includes a base body 20 which is a movable body connected and fixed to the lower end portion of the pivot shaft portion 18 of the robot arm 14. Then, the base body 20 moves in an arbitrary direction within the predetermined range based on the operation of the robot arm 14, and the vertical axis Y is integrated with the pivot shaft 18 with respect to the upper arm 17 of the robot arm 14. It turns around the center.

  Further, on the base body 20, one side palm body (one palm body on the left side in FIG. 1) which is one side moving body which is positioned opposite to each other and has lower end portions whose height positions are different from each other. The lower end portion is lower in height position 21) and the other side palm body (the one on the right side of the palm body with the lower end portion at a higher height position in FIG. 1) 22 moves closer to and away from each other It is possible.

  And both palm bodies (sandwich bodies) 21 and 22 hold article W from both right and left sides by movement (approaching movement) in the direction to approach each other with respect to base body 20, and move in the direction to separate mutually to base body 20. Holding of the article W is released by (disengagement movement).

  Furthermore, the one side hook body 23 which is a one side holding body that holds the one side surface part W1 of the article W from the outer surface side is fixed to the one side palm body 21 where the height position of the lower end part is lower. There is. The other side palm body 22 having a lower height position is located higher than the one side hook body 23, and the other side surface W2 opposite to the one side surface W1 of the article W is on the outer surface side The other side hook body 24 which is the other side holding body which holds from the side is fixed.

  The hook in the present embodiment is not limited to one in which the tip projects upward, but also includes one in which no protrusion is present at the tip.

  On the other hand, the base body 20 is provided with a drive unit 26 which is a drive means for moving the two palm bodies 21 and 22 close to each other (close movement and separation movement). The drive unit 26 has drive pulleys 27 and 28 spaced apart from each other, and an endless timing belt 29 is stretched around these two pulleys 27 and 28. , 22 are attached via the attachment member 30. Further, an electric motor (servo motor) 31 which is a driving source is connected to the drive pulley 27 via a reduction gear 32.

  Then, when the timing belt 29 rotates in one direction by the power from the electric motor 31, both palm bodies 21 and 22 move closer to each other while being guided by the guide portion 33 of the base body 20. When the timing belt 29 rotates in the other direction by the power of the two palms 21 and 22, the palms 21 and 22 move away from each other while being guided by the guide portion 33 of the base 20.

  Here, the one-side palm body 21 has a horizontal plate portion 35 positioned horizontally and a vertical plate portion 36 projecting downward from the horizontal plate portion 35 and positioned vertically. The horizontal plate portion 35 has a plate-shaped oil receiving portion 35 a that receives the lubricating oil injected into the guide portion 33 so that the lubricating oil does not drip into the article W. The dimension of the oil receiving portion 35a can cover the entire guide portion 33 from below when the one side palm body 21 exists at each position of the maximum opening position (maximum separation position) and the minimum closing position (minimum separation position). Thus, in the moving direction of the one side palm body 21, it is a length obtained by adding the movable distance of the one side palm body 21 to at least the entire length in the longitudinal direction of the guide portion 33, and intersects the moving direction of the one side palm body 21 In the direction, it is at least the entire length of the guide portion 33 in the short direction. Further, the vertical plate portion 36 is provided with an article detection unit 37 which detects the article W by contact with the one side surface W1 of the article W.

  The article detection unit 37 is formed of, for example, a limit switch, and a main unit 38 incorporating a micro switch (not shown), and an on position and an off position with an axis (fulcrum) 39 in the horizontal direction. And a biasing rod (not shown) such as a spring or the like for returning the pivoting rod portion 40 to the off position. have.

  The vertically elongated rotary rod portion 40 is formed in a curved rod shape convex toward the inner side. In the vertical plate portion 36, a long elongated hole 41 is formed in the vertical direction, and the turning rod portion 40 located at the off position is inserted into the long hole 41, and a part of the turning rod portion 40 is vertical It projects inward from the inner surface of the plate portion 36. The lower end portion of the pivoting rod portion 40 is located at the same (including substantially the same) height position as the one side hook body 23 and is located at a lower position than the other side hook body 24.

  Then, when one side surface W1 of the article W abuts on the pivoting rod 40 and the pivoting rod 40 is pivoted to the on position and is in the non-projecting state, the micro switch of the main body 38 is switched on and The signal is output to the control unit 9. Further, when one side surface W1 of the article W separates from the pivoting rod 40 and the pivoting rod 40 pivots to the off position and returns to the projecting state, the micro switch of the main body 38 is turned off and the signal thereof Are output to the control unit 9. Thus, the article detection unit 37 detects the presence or absence of the article W by turning on and off based on contact / separation of the one side surface portion W1 of the article W and the pivoting rod portion 40.

  Further, as shown in FIG. 5, the one side hook body (low side hook body) 23 is formed of only one hook member 23a engageable with the handle portion T of the article W, for example. At the lower end portion of the vertical plate portion 36 which is a rectangular plate-like hook attachment portion of the palm body 21, it is fixed in a projecting manner inward.

  The hook member 23a of the one-side hook body 23 is detachably fixed to the inner surface of the lower end portion of the vertical plate portion 36 with a fixture (for example, a bolt and a nut), and is inward from the lower end portion Longitudinal longitudinal longitudinal cross-sectionally rectangular inward projection projecting in a direction (horizontal direction orthogonal to the vertical axis Y) orthogonal to the vertical axis Y of the base body 20 toward the other inner side which is the hook body 24 side) A portion 42 and an upper projecting portion 43 substantially triangular in cross section integrally projecting upward from a longitudinally central portion of the inward projecting portion 42 are provided.

  The upper projecting portion 43 has an inclined inclined surface 43a on one surface, the distance between the inner surface 36a and the inner surface 36a of the vertical plate portion 36 being separated and opposed and increasing toward the upper end, and the other It has a vertical surface 43b on the side surface. The upper protruding portion 43 has a shape corresponding to, for example, the handle portion T of the article W, and is formed in such a size as to enter into the handle portion T (see FIG. 9C). In addition, the longitudinal dimension of the inward projection 42 is the same as (including approximately the same as) the longitudinal dimension of the vertical plate 36.

  On the other hand, the other side palm body 22 projects horizontally downward from the horizontal plate portion 45 positioned horizontally at the same height position as the horizontal plate portion 35 of the one side palm body 21 and is vertical And a vertical plate portion 46 positioned in the shape of a circle. The horizontal plate portion 45 has a plate-shaped oil receiving portion 45 a that receives the lubricating oil injected into the guide portion 33, and the lubricating oil does not drip into the article W. The dimensions of the oil receiving portion 45a are formed in the same manner as the above-described oil receiving portion 35a.

  Since the vertical dimension of the vertical plate portion 46 of the other side palm body 22 is shorter than the vertical dimension of the vertical plate portion 36 of the one side palm body 21, the lower end portion of the vertical plate portion 46 is a vertical plate It is located higher than the lower end of the portion 36.

  In addition, as shown in FIG. 6, the other hook body (high side hook body) 24 comprises, for example, a plurality of, for example, two hook members 24a engageably and detachably engaged with the handle portion T of the article W. In the lower end portion of the vertical plate portion 46 which is a rectangular plate-like hook attachment portion of the other side palm body 22, it is fixed in a projecting manner inward.

  Each hook member 24 a of the other side hook body 24 has a fixing plate portion 48 detachably fixed to the outer surface of the lower end portion of the vertical plate portion 46 with a fixture (for example, a bolt and a nut), and the fixing plate portion 48. The lower surface of the vertical plate portion 46 passes through the lower portion of the vertical plate portion 46 from the lower end portion of the vertical plate portion 46 to the inner side (inward side that is the article W side). It has a horizontal plate-like projecting plate portion 49 projecting in a direction orthogonal to (horizontal direction intersecting with the vertical axis Y). A plurality of recessed grooves (knurled eyes) 50 for preventing slippage are formed on the upper surface of the protruding plate portion 49, and the fixing plate portion 48 and the protruding plate portion 49 form a substantially L shape. In addition, you may affix an anti-slip member on the upper surface of the protrusion board part 49 for anti-slip prevention.

  Here, as is clear from FIG. 6, unlike the one hook body 23, the two hook members 24 a constituting the other hook body 24 do not have an upward projecting portion, and the other palm body 22. The front and rear vertical plates 46 are spaced apart and fixed, and a space 47 is present between the hook members 24a.

  In FIGS. 2 and 3, reference numeral 55 denotes a proximity sensor (belt position detecting means) attached to the base body 20. The proximity sensor 55 detects the detection object 56 attached to the timing belt 29 stretched around both the pulleys 27 and 28 and prevents the hand device 11 from opening too much. Further, as shown in FIG. 1, a stopper 61 (a stopper for preventing over-hand closing) 61 for restricting the movement of the palms 21 and 22 by coming into contact with the palms 21 and 22 and a palm A stopper (a stopper for preventing an excessive opening of the hand) 62 for restricting the separation movement of the palm bodies 21 and 22 by contact with the joints 21 and 22 is attached to the base body 20, respectively. Thus, in the hand device 11, the hand device 11 is prevented from opening too much in both the mechanical element (mechanical) and the electrical element (sensor).

  Next, the operation and the like of the article transfer device 6 will be described.

  First, stacking operation (stacking operation) by the article transfer device 6 will be described.

  For example, the loading patterns shown in FIG. 10, that is, stacking so that five articles W in each row are close to each other (not limited to being in contact with each other but may be in a noncontact with some gaps). In the case of carrying out the stacking work, the articles W are stacked one by one in the order of “1” to “5” in each row (see FIG. 10).

  And in this case, when stacking the goods W of "5", the goods W of "4" next to the same row stacked in advance become a hindrance.

  That is, since the article W of “5” is placed close to the article W of “4”, the hand device 11 is placed from directly above the reference stacking position as in the other “1” to “4”. In the case where the hook body 23 is lowered, a sufficient gap is not secured between the article W of “5” and the article W of “4” for allowing any hook body 23 or 24 to enter and retract.

  Therefore, the item transfer device 6 differs from the cases of the other items “1” to “4” only when the item W (transferred item) is transferred to the position “5”, as shown in FIG. The stacking operation shown in FIG. 24 is performed. The reference stacking position is a position at which the center of the article W held by the hand device 11 and the center of the lower article W coincide with each other in plan view, and the article W held by the hand device 11 Is the position at which the lower article W is fitted.

  That is, first, as shown in FIG. 11, the hand device 11 of the article transfer device 6 moves toward the article (empty container) W stopped at the standby position of the first article transport device 1 based on the operation of the robot arm 14 And descend to a predetermined position. A sensor may be provided at the predetermined position.

  Next, as shown in FIG. 12, both palm bodies 21 and 22 of the hand device 11 move toward each other by a predetermined distance toward the side portions W1 and W2 of the article W in the standby position.

  In the state shown in FIG. 12, the article W is not held by both palm bodies 21 and 22, and slightly between the one side surface W 1 of the article W and the vertical plate 36 of the one-side palm body 21. There is a gap (for example, 3 mm) between the other side surface W2 of the article W and the vertical plate 46 of the other side palm body 22 in the same manner. Moreover, in this state, the one side hook body 23 is positioned below the handle portion T of the one side surface portion W1 of the article W, and the other side hook body 24 is below the handle portion T of the other side surface portion W2 of the article W. It is located in

  Then, as shown in FIG. 13, as the hand device 11 is lifted, the one side hook body 23 is hooked on the handle portion T of the one side surface W1 of the article W, and the other side hook body 24 is the other side of the article W Catch on the handle portion T of the part W2.

  Then, when the caught and held article W is separated from the conveyance surface of the first article conveyance device 1, both palm bodies 21 and 22 start to move closer, and the article W is moved by both palm bodies 21 and 22 It is pinched. Thus, the article W is held in an inclined posture (in an inclined state) by both hook bodies 23 and 24 having different lower end height positions, and stably with a desired clamping pressure in both palm bodies 21 and 22. It is pinched. In addition, the timing of clamping of both palm bodies 21 and 22 may be performed after lifting a predetermined distance determined in advance, or performed in a state of being separated from the conveyance surface of the first article conveyance device 1 as described above. You may

  Next, as shown in FIG. 14, with the movement of the hand device 11, the article W remains in the inclined posture, and the lower article W (“5” articles) already stacked on the pallet P It is transported to the upper position of W).

  During the transfer, for example, when the article W is dropped due to some cause, the article detection unit 37 does not detect the article W. For example, the hand device 11 abnormally stops.

  Next, as shown in FIGS. 15 to 17, the palm bodies 21 and 22 move away from each other while lowering to the predetermined position toward the lower article W on which the hand device 11 has already been stacked.

  As a result, the article W moves away from the article W next to the same stage already stacked from the reference stacking position on the lower stage article W already loaded (the article W of the "4" adjacent in the same direction). It is mounted so as to be located at a position shifted by a predetermined distance L (for example, 150 mm). That is, the transferred article W is placed at a position shifted from the reference stacking position so as to be spaced from at least one article W of the other articles W in the same row already placed.

  That is, the article W is temporarily placed at a position slightly offset outward from the reference stacking position on the article W at the lower stage by the holding by both the palm bodies 21 and 22 and the hooked holding by the hook bodies 23 and 24 being released. Be placed. At this time, the article W is placed at a position shifted in the longitudinal direction of the article W from the reference stacking position in order to stabilize the placement state, and is not fitted with the article W at the lower stage. It is in an inclined posture slightly inclined to the horizontal direction above.

  The to-be-conveyed article W in the inclined state is at least one of the other articles W in the same stage already placed even if only one surface is in proximity to the other articles W stacked in the same stage. It can be said that it is in a state of being placed at a position shifted from the reference stacking position so as to be spaced from one article W.

  The article W held by the hand device 11 is the lower stage article in order to prevent damage to the transported article W, the lower stage article W, and the pallet due to pressing the transported article W against the pallet or the lower stage article W. It is preferable that the two palms 21 and 22 move away from each other to release the sandwiching of the article W by the two palms 21 and 22 before coming into contact with W, for example, the article W corresponds to the lower article W After being in contact with each other, the palm bodies 21 and 22 may move away from each other.

  Next, as shown in FIG. 18, the hand device 11 is raised to a predetermined position, and the one side hook body 23 is positioned above the upper surface of the article W.

  Subsequently, as shown in FIG. 19, the hand device 11 is horizontally rotated about the vertical axis Y by 180 degrees with respect to the robot arm 14 while the palm bodies 21 and 22 move away from each other. Is located on the opposite side to the next article W side in the same stage, and the other hook body 24 is located on the next article W side in the same stage. In other words, based on 180 ° horizontal rotation (horizontal rotation) about the vertical axis Y of the base body 20 with respect to the robot arm 14, the other article W and the transferred article W already mounted on the same stage The first hook body 23 and the first palm body 21 are changed to a state in which the second hook body 24 and the second palm body 22 are located above the interval of the predetermined distance L generated between the two. That is, based on 180 degrees of horizontal rotation centering on the vertical axis Y of the base body 20 with respect to the robot arm 14, the one side palm body 21 and the one side hook body 23 are opposite to the adjacent article W side in the same stage. It will be located in the side.

  Next, as shown in FIG. 20, the hand device 11 is lowered to a predetermined position, and the one-side palm body 21 and the one-side hook body 23 face the other side surface W2 of the article W. At this time, the other side hook body 24 is located above the upper surface (upper end surface) of the article W next to the same stage.

  Subsequently, as shown in FIG. 21 to FIG. 23, the hand device 11 is positioned at a predetermined position toward the adjacent article W side in the same stage, that is, for example, the other side hook body 24 is positioned above the adjacent article W in the same stage. Move horizontally to the desired position.

  Then, the article W is pushed by the at least one of the one side palm body 21 and the one side hook body 23 to the reference stacking position toward the side of the article W next to the same stage.

  That is, for example, the pivoting rod portion 40 of the article detection unit 37 abuts on the handle portion T of the other side face portion W2 of the article W to be turned, and the vertical plate portion 36 of the one side palm body 21 is the other side face of the article W It abuts on the handle portion T of the part W2 and pushes the article W, that is, pushes the article W toward the article W next to the same stage to move it.

  As a result, the article W is slid to the reference stacking position with respect to the lower article W on the lower article W while being pressed by the one side palm body 21 and fitted with the lower article W and inclined. The attitude changes from the attitude to the horizontal attitude. Thus, the stacking operation for the item "5" is completed.

  In addition, it is not limited to the structure which only the one side palm body 21 contacts the article W and pushes the article W, for example, only the one side hook body 23 contacts the article W and pushes the article W Alternatively, both the one side palm body 21 and the one side hook body 23 may be in contact with the article W to push the article W. Further, the invention is not limited to the configuration in which the article W is pushed by the horizontal movement of the hand device 11. For example, the construction may be such that the article W is pushed by the approaching movement of both palm bodies 21 and 22. Since only the drive unit 26 of the device 11 is driven, simplification of the operation is realized as compared with the case where the robot arm 14 is turned to horizontally move the hand device 11. The hand device 11 may be inclined by tilting the hand device 11 or projecting a member downward from the other side palm body 22 or temporarily changing the height relationship between the lower end portions of both palm bodies 21 and 22. The article W may be pushed to the reference stacking position without rotating the.

  Next, as shown in FIG. 24, the hand device 11 moves horizontally after the one side hook body 23 moves away from the other side surface W2 of the article W, and then stops at the standby position of the first article transport device 1. It moves toward the article W. In the case of a configuration in which the article W is pushed by the approach movement of both palm bodies 21 and 22, both palm bodies 21 and 22 may move away from each other on the way to the next article W, or both palm bodies The hand device 11 may be moved toward the next article W after moving away from 21 and 22.

  As described above, the article transfer apparatus 6 performs the above-described special stacking operation only for the article W of "5", but it is normal for the articles W of "1" to "4" other than "5". In order to perform stacking work, the article W is held by the hand device 11 without being once placed at a position (displaced position) shifted from the reference stacking position (article fitting position), the article W is directly held to the reference stacking position. When it is transferred and released from its holding position at the reference loading position, the article W fits with the article W at the lower stage.

  Next, the step-up operation (step-up operation) by the article transfer device 6 will be described.

  For example, in the stowage pattern shown in FIG. 10, in each row, the article W is disassembled one by one in the order of “1” to “5” (see FIG. 10).

  And, in this case, when disassembling the article W of “1”, the article W of “2” next to the same stage located in proximity (including contact and non-contact) with the article W becomes an obstacle .

  That is, the article W of “1” is placed close to the article W of “2”, and the article W of “1” is the side of the article W of “1” between the articles W of “2”. The article transfer device 6 is only required when the article W of “1” is the article to be transferred W, because the space for allowing any hook body 23, 24 to enter is not sufficiently secured to hold the section. Unlike the case of the article W of "2" to "5", the unfolding operation shown in FIG. 25 to FIG. 38 is performed.

  That is, first, as shown in FIG. 25, the hand device 11 of the article transfer device 6 is stacked on the pallet P on the second or third pallet transfer device 4, 5 based on the operation of the robot arm 14. It moves toward the article (actual container) W of “1”.

  Next, as shown in FIG. 26, the hand device 11 is lowered to a predetermined position, and the one-side palm body 21 and the one-side hook body 23 face the side portion of the article W, for example, one side portion W1. At this time, the other hook body 24 is located above the article W of "2" next to the same row.

  Subsequently, as illustrated in FIG. 27, the hand device 11 moves horizontally until the article detection unit 37 detects the article W by contact with the one side surface W1 of the article W. At this time, since the information on what stage of work is currently received from the upper information terminal, if the article detection unit 37 does not detect the article W, the article W is present, for example, due to a fall or the like. For example, the control unit 9 supplied with the information performs an abnormal stop (urgent stop) of the article transfer device 6 or performs control to notify the administrator of the abnormality. Note that, for example, the hand device 11 may horizontally move by a predetermined distance without using the article detection unit 37.

  In the state shown in FIG. 27, the vertical plate portion 36 of the one side palm body 21 abuts on the handle portion T of the one side surface portion W1 of the article W, and the one side hook body 23 is one side surface portion of the article W It is located below the handle portion T of W1.

  Next, as shown in FIG. 28, the one side hook body 23 gets into the handle portion T of the one side surface portion W1 of the article W and is caught by the lifting of the hand device 11. Only the side surface W1 side is lifted, and as a result, the cantilevered article W is inclined and the fitting with the lower article W is released.

  Subsequently, as shown in FIG. 29, while the hand device 11 horizontally moves by a predetermined distance L (for example, 150 mm), both palm bodies 21 and 22 move close to each other.

  Then, the article W slides on the article W in the lower stage while keeping the inclined posture held by only the one side hook body 23 and moves away from the article W next to the same stage (the other stage in the other stage) Of the articles W from the reference stacking position so as to create a spacing by a predetermined distance L in a direction shifted from the reference stacking position so as to space from at least one article W, and as a result, between adjacent articles W The gap 51 is formed in the At this time, in order to stabilize the mounting state, the article W which is a substantially rectangular parallelepiped is pulled out from the reference stacking position in the longitudinal direction of the article W, and the gap 51 has a size that allows the other hook body 24 to enter. is there.

  The to-be-conveyed article W in the pulled-out and inclined state is the other article W on the same stage already placed even if only one surface is in proximity to the other articles W stacked on the same stage. It can be said that it is in a state of being placed at a position deviated from the reference stacking position so as to leave a space from at least one article W of them.

  Next, as shown in FIG. 30 to FIG. 32, the hand device 11 is lowered until the hooking and holding by the one-side hook body 23 is released, and then horizontal until the center of the hand device 11 and the center of the article W coincide. Moving. At this time, the other side holding body (the other side hook body 24) enters the space between the article to be conveyed (the article W) and the other article W on the same level. The center of the hand device 11 and the center of the article W do not necessarily have to coincide with each other.

  Subsequently, as shown in FIG. 33, both palm bodies 21 and 22 of the hand device 11 move close to each other by a predetermined distance. In the state shown in FIG. 33, the article W is not held by the both palm bodies 21 and 22 and slightly between the one side surface W1 of the article W and the vertical plate 36 of the one-side palm body 21. There is a gap (for example, 3 mm) between the other side surface W2 of the article W and the vertical plate 46 of the other side palm body 22 in the same manner. Moreover, in this state, the one side hook body 23 is positioned below the handle portion T of the one side surface portion W1 of the article W, and the other side hook body 24 is below the handle portion T of the other side surface portion W2 of the article W. It is located in

  The palm body 21 or 22 may be moved close to the state shown in FIG. 31 to hold the article W. This effect is the same as the effect described above with reference to FIG.

  Next, as shown in FIG. 34, the hook device 23 is hooked on the handle portion T of the side surface W1 of the article W by the lifting of the hand device 11, and the other hook body 24 is on the other side of the article W. Catch on the handle portion T of the part W2.

  Then, when the hooked and held article W is separated from the article W at the lower stage, both palm bodies 21 and 22 start approaching movement, and the article W is held by the both palm bodies 21 and 22. Thus, the article W is held in an inclined posture (in an inclined state) by both hook bodies 23 and 24 having different lower end height positions, and stably with a desired clamping pressure in both palm bodies 21 and 22. It is pinched.

  Next, as shown in FIG. 35, the article W is transported to the placement position of the transport start end of the second article transport device 2 while the apparatus W is in the inclined posture by the movement of the hand device 11. During the transfer, for example, when the article W is dropped due to some cause, the article detection unit 37 does not detect the article W. For example, the hand device 11 abnormally stops.

  Subsequently, as shown in FIGS. 36 and 37, the palm devices 21 and 22 move away from each other while the hand device 11 is lowered.

  As a result, the article W is placed at the placement position of the transport start end portion of the second article transport device 2 by the clamping by both palm bodies 21 and 22 and the hooked holding by both hook bodies 23 and 24 being released. Ru. Thus, the disassembling work on the item W of “1” is completed.

  The article W held by the hand device 11 is transported by the second article in order to prevent breakage of the article W and the second article transport device 2 caused by pressing the article W being transferred onto the pallet and the lower stage article W. It is preferable that the two palms 21 and 22 move away from each other to release the sandwiching of the article W by the two palms 21 and 22 before coming into contact with the transport surface of the device 2. The two palm bodies 21 and 22 may move away from each other after coming into contact with the conveyance surface of the article conveyance device 2.

  Further, for example, before placing the article W on the second article transport apparatus 2, as shown in FIG. 38, the article W in the lower stage is frozen on the article W held by the hand device 11 using the abnormality detection means 8. If the abnormality detecting means 8 detects an article W in the lower stage which does not originally exist, the control unit 9 may, for example, abnormally stop the article transfer device 6 Control is performed to cause an emergency stop or to notify an administrator of an abnormality.

  Thereafter, the hand device 11 ascends from the placement position of the transport start end of the second article transport device 2 and moves toward the next article W.

  As described above, the article transfer apparatus 6 performs the above-described special disassembling operation only for the article W of “1”, but it is normal for the articles W of “2” to “5” other than “1”. In order to perform the step-up work, the article W located at the reference stacking position is held by the hand device 11 and lifted and transferred to the mounting position without shifting the article W from the reference stacking position.

  And according to such an article transfer apparatus 6, the lower one side hook body 23 is fixed to the lower end side of the one side palm body 21, and the other higher side hook body 24 is the one of the other side palm body 22. Since the configuration is fixed to the lower end side, although the configuration of the hand device 11 is relatively simple, the article W can be properly transported, and thus the configuration can be simplified and appropriate. It is possible to carry out the stacking and unstacking operations.

  In addition, since the configuration of the hand device 11 is relatively simple, assembly work and maintenance work are easy, and the manufacturing cost can be reduced.

  Furthermore, at the time of stacking work, the article W is temporarily placed at a position away from the reference stacking position in a direction away from the next article W in the same stage, and then the article W is lowered on the one side palm body 21 and one side In order to push to the reference stacking position adjacent to the adjacent articles W in the same row by at least one of the side hook bodies 23, the steps are appropriately performed in a predetermined stowage pattern in which adjacent articles W are positioned close to each other. Can be stacked.

  Further, at the time of disassembling work, the article W is held by the one side hook body 23 only on the lower side and held in the inclined posture, and pulled out in the inclined posture away from the article W next to the same stage from the reference stacking position. In order to shift in this manner, the articles W stacked in a predetermined stacking pattern in which adjacent articles W are positioned close to each other can be appropriately separated.

  The stowage pattern of the article W is not limited to that shown in FIG. 10, and for example, even if the stowage pattern shown in FIGS. 39 (a) to 39 (d) is an appropriate stair It is possible to stack and unstack work.

  In addition, the drive unit 26 of the article transfer device 6 is preferably operated without using a pneumatic device because it operates in the freezer compartment. For example, when used under an environment of normal temperature, the drive unit 26 is a pneumatic device. You may comprise by an air cylinder etc.

  Furthermore, the article W is not limited to the one shown in FIG. 9 and is optional, for example, regardless of the type, as long as the hooks 23 and 24 have hooked parts to be hooked.

  Further, the one side holding body and the other side holding body that hold the side surface portion of the article W are not limited to those that are caught by the side surface portion of the article W and hold it, for example, suction holding the side surface portion of the article In this case, the article W may have no hooked portion.

  Furthermore, the one-side moving body and the other-side moving body that can move toward and away from each other may be configured not to hold the article from both sides, for example.

  Further, the present invention is not limited to the configuration in which the one side support is detachably fixed to the one side movable body. For example, the one side support may be integrally fixed to the one side movable body. The configuration is not limited to the configuration in which the other side holding body is detachably fixed to the other side moving body, and for example, the other side holding body may be integrally fixed to the other side moving body.

  Furthermore, the article detection unit 37 may use a photoelectric sensor, a proximity sensor, a laser sensor or the like in addition to the limit switch.

  Further, as shown in FIGS. 40 (a) and 40 (b), the vertical plate portion 36 of the one side palm body 21 and the vertical plate portion 46 of the other side palm body 22 are not limited to the rectangular plate shape, The lower side may be thinner than the upper side. By this configuration, even if the mounting position of the article W is slightly deviated, the abutment of the palm bodies 21 and 22 with the handle portion T and the hook bodies 23 and 24 Engagement is realized more reliably.

6 Article Transfer Device 9 Control Unit
11 Hand device
21 One side palm body which is one side mobile body
22 The other side palm body which is the other side moving body
23 One side hook body which is one side holder
24 The other hook body which is the other side holder
37 Article Detection Unit
42 inward projection
43 Upper projection W Article
W1 one side part
W2 other side

Claims (8)

An article transfer apparatus for transferring articles, comprising
The article transfer device includes a hand device and a control unit.
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
The control unit
At the time of stacking work, the transferred article is placed at a position offset from the reference stacking position so as to be spaced from at least one article of the other articles in the same stage already placed,
Thereafter, the one side moving body and the one side retaining member object article transfer device shall be the controls said article transfer device so as to push up the reference loading position by at least one of the target transfer article . An article transfer apparatus for transferring articles, comprising
Said article transfer feed device, a handheld device and a control unit,
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
The control unit
At the time of stacking work, the transferred article is placed at a position offset from the reference stacking position so as to be spaced from at least one article of the other articles in the same stage already placed,
Thereafter, the above said gap to said hand device is 180 degrees horizontally rotated so as to be positioned interchanged the other side mobile from the one side moving body,
Thereafter, the one side moving body and the one side retaining member object article transfer device shall be the controls said article transfer device so as to push the object to be transported article to the reference loading position by at least one of. An article transfer apparatus for transferring articles, comprising
Said article transfer feed device, a handheld device and a control unit,
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
The control unit
During stage splitters work, while holding only the one side retaining member to be transported article, it shifted in a direction deviated from the reference loading position so spaced from at least one of the articles of the other articles of the same stage,
Thereafter, the object product transfer device shall be the controls said article transfer device to transfer to a predetermined position to hold the object to be transported article. The one side holding body is a one side hook body that holds the handle portion of one side surface portion of the article from the outer surface side,
The other side holding body is the other side hook body that holds the handle portion of the other side surface portion of the article from the outer surface side,
The article is held by the one side hook body and the other side hook body in an inclined posture inclined with respect to the horizontal direction.
The article transfer apparatus according to any one of claims 1 to 3, characterized in that: An article transfer method performed using an article transfer apparatus for transferring an article, comprising:
The article transfer device includes a hand device and a control unit.
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
By control of the article transfer device by the control unit,
At the time of stacking work, the transferred article is placed at a position offset from the reference stacking position so as to be spaced apart from at least one article of the other articles in the same stage already placed,
Thereafter, the transferred article is pushed to the reference stacking position by at least one of the one-side moving body and the one-side holding body.
Item transfer method characterized in that. An article transfer method performed using an article transfer apparatus for transferring an article, comprising:
The article transfer device includes a hand device and a control unit.
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
By control of the article transfer device by the control unit,
At the time of stacking work, the transferred article is placed at a position offset from the reference stacking position so as to be spaced apart from at least one article of the other articles in the same stage already placed,
Thereafter, the hand device is horizontally rotated 180 degrees so that the one-side movable body is replaced with the other-side movable body above the interval,
Thereafter, the transferred article is pushed to the reference stacking position by at least one of the one-side moving body and the one-side holding body.
Item transfer method characterized in that. An article transfer method performed using an article transfer apparatus for transferring an article, comprising:
The article transfer device includes a hand device and a control unit.
The hand device is
A movable body on one side and a movable body on the other side, which are movable close to each other and whose height positions of lower ends are different from each other;
A one-side holding member fixed to the one-side moving body at a lower height position of the lower end portion and holding one side portion of the article;
And a second side holding body fixed to the other side moving body having a lower height position and holding the other side face portion of the article,
By control of the article transfer device by the control unit,
At the time of disassembling work, in a state where the transferred article is held only by the one side holding body, it is shifted in a direction shifted from the reference stacking position so as to space from at least one article of the other articles in the same stage;
Thereafter, the transferred article is held and transferred to a predetermined position
Item transfer method characterized in that. The one side holding body is a one side hook body that holds the handle portion of one side surface portion of the article from the outer surface side,
The other side holding body is the other side hook body that holds the handle portion of the other side surface portion of the article from the outer surface side,
The article is held by the one side hook body and the other side hook body in an inclined posture inclined with respect to the horizontal direction.
The method of transferring goods according to any one of claims 5 to 7, characterized in that:

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