JPH0699009B2 - Transfer device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device, and particularly to a container such as a cardboard box or a plastic container having an opening and a lid for closing the opening of the container. The present invention relates to a transfer device capable of stacking and stacking, and rotating the stacked container and lid to transfer them to a predetermined position.

(Prior Art) As a conventional technology relating to a transfer device, Japanese Patent Publication No. 50-1623.
Those disclosed in JP-A-8, JP-A-58-27179 and JP-A-63-17702 are known.

Explaining the conventional technique described in the above publication, Japanese Patent Laid-Open No. 16238/1975 discloses a device for taking out bottles or the like (articles) packed in a case (container) from the case. Is listed.

In addition, in Japanese Patent Publication No. 58-27179, contents (articles) are obtained by reversing a laterally expandable container (container) with an inversion device.
An inner container discharge device for discharging is described.

Further, Japanese Patent Laid-Open No. 63-17702 discloses an automatic warehouse facility equipped with a loading / unloading device for taking out a container (container) containing articles from a shelf and a turning device for turning the taken out container. Is listed.

(Problems to be Solved by the Invention) However, the above conventional techniques have the following problems.

That is, the device for taking out bottles and the like described in Japanese Patent Publication No. 50-16238, the content discharging device described in Japanese Patent Publication No. 58-27179, or the loading / unloading device described in Japanese Patent Laid-Open No. 63-17702 is Only the technique of taking out the article stored in the container by the moving device is disclosed, and the container and the lid are superposed, and the superposed container and the lid are rotated and transferred to a predetermined position. There is no mention of this, and there is no suggestion.

Accordingly, it is an object of the present invention, a cardboard shelf having an opening,
Provided is a transfer device capable of stacking a container such as a plastic container and a lid for closing an opening of the container and rotating the stacked container and the lid to transfer them to a predetermined position. To do.

(Means for Solving the Problem) The present invention relates to the first gripping hand (45) that opens and closes along the swivel axis (44), and the swivel axis (44) from the axis of the swivel axis (44) or in the vicinity thereof. A guide member (46) arranged substantially perpendicular to the axial direction of the moving body, a moving body (49) moving along the guiding member (46), and fixedly installed on the moving body (49). The pedestal (47a) and the second gripping hand (47) attached to the moving body (49) and opened / closed along the pedestal (47a) are provided, and an opening is formed in the top surface portion in which the article (B) is stored. The container (10) having the part (11) is taken out from the storage facility (C) and placed on the receiving stand (47a), and the container (10) placed on the receiving stand (47a) is placed on the second gripping hand (47). ) And the container (1) held by the second gripping hand (47).
0) is lifted by the moving body (49) to move the container (1
The opening (11) of (0) is superposed on the article take-out tool (20) held by the first holding hand (45), and the opening (11) of the container (10) is taken by the article take-out tool (20). In the closed state, the container (10), the article take-out tool (20), the first gripping hand (45), the guide member (4).
6), the moving body (49), the cradle (47a), and the second gripping hand (47) are integrally inverted around the pivot shaft (44), and the inverted article take-out tool (20). The object described above is achieved by providing a transfer device characterized in that the shutter (22) is opened to take out the article (B) from the container (10).

It is preferable that the turning shaft (44) is supported by a column (43) provided upright on the traveling body (42) traveling on the base body (50).

In addition, the traveling body (42) is equipped with a conveyor (3
It is preferable to have 1) and (33).

Further, it is preferable that the base body (50) is arranged on the carriage of the stacker crane (60).

(Operation) According to the transfer device of the present invention, a container such as a cardboard box or a plastic container having an opening and a lid that closes the opening of the container are overlapped with each other, and the container and the lid are stacked. Is rotated and transferred to a predetermined position.

(Example) An example of the transfer apparatus of the present invention will be described below.

FIG. 1 is a perspective view showing an embodiment of a transfer device of the present invention, and FIGS. 2 (a) and 2 (b) show an embodiment of an article removing device using the transfer device shown in FIG. FIG. 1A is a perspective view.
FIG. 3 is a view showing an article take-out device, FIG. 7 (b) is a view showing a state in which the container and the article take-out tool are turned to the article cut-out tool side by the turning device, and FIG. 3 is FIG. 2 (a). It is a figure which shows the side surface in.

The transfer device of the present embodiment is a swing supported by a column (43) standing on a traveling body (42) traveling on a base body (50) arranged on a carriage of a stacker crane (60). A first gripping hand (45) that opens and closes along the axis (44), and a guide member that is arranged from the axis of the turning axis (44) or in the vicinity thereof in a direction substantially perpendicular to the axis of the turning axis (44). (46)
And a movable body (49) that moves along the guide member (46),
The first gripping hand is provided with a cradle (47a) fixedly installed on the moving body (49), and a second gripping hand (47) attached to the moving body (49) and opened and closed along the cradle (47a). (Four
5), the guide member (46), the moving body (49), the cradle (47a), and the second gripping hand (47) can rotate integrally with the swivel axis (44) as a center. The body (42) includes conveyors (31) and (33) for taking out containers.

Further, an article picking device (A) using the above transfer device
As shown in FIGS. 2 (a) and 3, the container (10) is taken out from the storage facility (C) for storing the article (B) stored in the container (10), and the article supply device ( D) container (1
Only the article (B) in 0) is transferred, and it is arranged so as to be located between the storage facility (C) and the article supply device (D).

Thus, the article take-out device (A) includes a plurality of article take-out tools (20) as lids (23) for closing the opening (11) of the container (10), that is, a plurality of articles contained in the container (10). Corresponding to the arrangement state of the individual articles (B) in a housed state, the article (B) is provided with a partition (21) arranged in a crossed shape, and protrudes from the tip of the crossing part of the partition (21). An article take-out tool (2) provided with a guide member (27) for guiding the partition (21) between the articles (B) housed in the container (10).
0), a container take-out device (30) for taking out the container (10) from the storage facility (C), and a turning device having a superposing device (41) for superposing the article take-out tool (20) and the container (10). (40), a container taking-out device (30), a carriage on which a base body (50) including a rotating device (40) is mounted, and a stacker crane (60) that supports the carriage in a vertically movable manner. It The base body (50) may constitute the carriage.

Further, the storage facility (C) is a fluidized shelf including a plurality of rows and a plurality of stages of inclined roller conveyors (70) described later, and the article supply device (D) is an article for cutting out the article (B) from the article removal device (A). It is mainly composed of a spiral chute (90) provided with a cutting tool (30).

Next, each of the above components will be described in more detail.

First, the article take-out tool (20), the container take-out apparatus (30), the turning device (40), and the like that compose the article take-out apparatus (A) will be described.

As shown in FIG. 4, the article take-out tool (20) is a lid provided with partitions (21) arranged in a cross shape, a guide member (27) having a conical upper part, a shutter (22) and the like. The partition (21) is configured as (23), and the article removal tool (20) is provided.
It is formed so as to project outward from the base portion (24) of the lid body (23). Further, a guide member (27) is provided so as to project at the tip of the intersection of the partition (21). Then, the protruding tip portion of the partition (21) and the guide member (2
7) is turned over to the opening (11) side of the container (10) so that the article take-out tool (20) is placed on the container (10), the guide member of the article take-out tool (20) is first. (27) is formed so as to enter the gap formed by the four articles (B), and subsequently the tip of the partition (21) is inserted between the article (B) and another article (B). ing.
And the partition (21) is a container (10) as shown in FIG.
According to the arrangement (4 rows × 2 columns) of the articles (B) stored in, the article storage section (26) is configured to store the articles (B) one by one. In addition, the shutter (2
2) is composed of one plate, and all the articles (B) are substantially simultaneously and at the same time, the article cutting tool (8) of the article supply device (D) described later.
(0) so that it can be transferred to
It is attached by sliding inside the lid (23) of (0)
After the article (B) is transferred from the article take-out tool (20) to the article cutting tool (80), the article (B) is cut out to the spiral chute (90) via the chute (91) according to the picking command. It is configured for assortment.

Further, the container take-out device (30) is capable of swinging up and down the container take-out side at the pivot point (32) with the container take-out conveyor fixedly installed on the traveling body (42), that is, the wheel conveyor (31). And a drive device (not shown) for driving the wheel conveyor (31) and the swing conveyor (33), and the swing conveyor (33) is driven by the traveling body (42). ) Is configured to advance to the inclined roller conveyor (70).

The rotating device (40) is arranged so that the container (10) stored in the inclined roller conveyor (70) flows over the base body (50) arranged on the carriage of the stacker crane (60), that is, the inclination. When the roller conveyor (70) is used as a reference, a traveling body (42) traveling in the front-rear direction, a pillar (43) erected on the traveling body (42), and a support near the upper end of the pillar (43) The swivel axis (44) and the axial direction of the swivel axis (44) (hereinafter,
A pair of grip plates (45a), (4
5a), and a first gripping hand (45) for gripping the article take-out tool (20), and a clock with respect to the hanging direction of the first gripping hand (45) centering around the axis of the turning axis (44). A guide member (46) that hangs in a direction of approximately 90 °, a movable body (49) that moves up and down along the guide member (46), and a movable body (49)
It is equipped with a pair of grip plates (47b) and (47b) that opens and closes along a pedestal (47a) attached to the container. The container (10) is moved up and down while being gripped by the first gripping hand (45). A second gripping hand (47) for stacking the container (10) on the article take-out tool (20) is provided. These first one
The second gripping hands (45), (47), the guide member (46), and the like constitute the superposing device (41), and the turning device (4).
0) is a swing gear (44a) fixed to the swing shaft (44) and a drive gear (44b) fixed to a swing motor (not shown) shaft.
Via the above, the turning motor is configured to integrally rotate the superposing device (41) about the turning shaft (44). Thus, the first gripping hand (45)
The grip plate (45a) of the rotary shaft (4a) is connected via the arm (43a).
It is mounted vertically to 4) and can rotate together with the swivel shaft (44). Further, between the pair of arms (43a) and (43a), a screw shaft (48) parallel to the swivel shaft (44), that is, a screw shaft having a right screw formed on one side and a left screw formed on the other side from the center of the shaft. (48) is installed and a pair of arms (43
The distance between a) and (43a) is increased or decreased to make the first gripping hand (45).
The pair of grip plates (45a), (45a) can be opened and closed. In addition, the gripping plate (45) of the first gripping hand (45)
Inside the a), an engaging protrusion (45b) that engages with an engaging recess (25) formed in the lid (23) of the article take-out tool (20).
Is provided so that the first gripping hand (45) can securely grip the article take-out tool (20), and the article take-out tool (20) does not drop during rotation. ing. Further, the second gripping hand (47) moves in the left-right direction above the pedestal (47a) formed of a perforated plate that supports the bottom surface of the container (10) attached to the moving body (49) in a substantially flat shape. A pair of grip plates (47b), (47
b) and a screw shaft (47c) for opening and closing the grip plates (47b), (47b), that is, a screw shaft (47c) in which a right screw is formed on one side and a left screw is formed on the other side from the center of the shaft. Then, the grip plates (47b), (47b) are moved in the left-right direction up to a desired grip interval to expand or contract the interval between them to grip the container (10). Also, the cradle (47
When a) is located at the descending end, the wheel of the wheel conveyor (31) is fitted into the hole of the cradle (47a) and protrudes from the hole. In addition, the guide member (46) includes a screw shaft (46) along the guide member (46).
a) is provided, and by moving the screw shaft (46a), the moving body (49) is moved up and down along the guide member (46) to move the container (10) to the article removing device (2).
It is designed to be superimposed on (0).

Further, the stacker crane (60) is provided with a second stacker arranged along the takeout opening (71) of the inclined roller conveyor (70).
It is configured to travel on a traveling rail (61) shown in FIG. (A), and is provided with a transfer device mounted on the carriage, that is, a container removing device (30), a rotating device (40), etc., capable of moving up and down. Has been done.

Next, a fluidized shelf that constitutes the storage facility (C), an article cutting tool (80) that constitutes the article supply device (D), and a spiral chute (90) will be described respectively.

The fluidized shelf of the storage facility (C) is composed of a plurality of rows and a plurality of stages of inclined roller conveyors (70), an extraction opening (71) is formed at the inclined front end thereof, and the inclined roller conveyors (70).
A stopper (72) is provided at the front end portion of the container, and the container (10) supplied is configured to slide down the inclined roller conveyor (70) by its own weight and to be locked by the stopper (72).

The article cutting tool (80) of the article supply device (D) is
A chute (which guides the article (B) to the spiral chute (90) by a housing (81) configured to store the articles (B) transferred from the article take-out tool (20) and to cut them one by one ( It is fixedly installed on the upper part of 91). Corresponding to the partition (21) of the article take-out tool (20), the partition (82) for partitioning the article (B) one by one and the stored article (B) for each one in the cutting chute (91). And a shutter (83) (see FIG. 4) for dropping. Further, a guide plate (84) for guiding the article take-out tool (20) to be smoothly superposed on the article cut-out tool (80) is provided at the upper end of the article cut-out tool (80) (see FIG. 3). .

Further, the spiral chute (90) conveys and supplies the article (B) cut out from each article cutting tool (80) to a desired container or the like (not shown) via the plurality of chutes (91). Is configured.

In addition, the spiral chute (90) and the article cutting tool (8
0) in the space formed with the article transfer device (A) rotated by the rotation device (40) so that the article take-out tool (20) is stacked on the article cutting tool (80). An empty container discharge conveyor (100) is installed at the same height as the underlying container (10), and the empty container (1
0) is pushed out by the cradle (47a) and transferred to the empty container discharge conveyor (100), and the empty container (10) is discharged to the outside of the system.

When the container (10) is a cardboard box or the like having an opening (11) on the top surface, the container (10) may be directly supplied to the inclined roller conveyor (70), but the container (10) is a cardboard box or the like. When packaged, the top surface may be cut in advance to form the opening (11) and then supplied to the inclined roller conveyor (70).

Next, an article take-out mode using the above-mentioned article take-out apparatus (A) will be described.

The take-out openings (71) of the inclined roller conveyor (70) in the storage facility (C) store a plurality of containers (10) each containing one type of article (B).

On the other hand, when the article (B) partitioned by the article removing tool (20) is transferred to the article cutting tool (80),
The rotating device (40) moves to a position facing the article take-out tool (20) to which the article (B) has been transferred by the traveling of the stacker crane (60) and the raising and lowering of the carriage, and an empty container. (10) The empty container discharge conveyor (100) is projected by the tip of the pedestal (47a). That is, while the pedestal (47a) is positioned at the height of the side surface of the container (10) by the movement of the moving body (49), the traveling body (42) is advanced toward the empty container discharge conveyor (100), that is, Using the inclined roller conveyor (70) as a reference, by moving backward,
The empty container (10) is transferred to the empty container discharge conveyor (100). Further, when the empty container (10) is transferred, the engagement protrusion (45b) of the first gripping hand (45) is positioned outside the engagement recess (25) of the article take-out tool (20). Therefore, the gripping plates (45a), (45a) of the first gripping hand (45)
Is closed and the article take-out tool (20) is gripped. When the first gripping hand (45) grips the article take-out tool (20), the rotating device (40) rotates about 10 ° clockwise in the side view shown in FIG. 3, and then the traveling body (42). Moves forward in the direction of the inclined roller conveyor (70) to the position shown by the solid line in the figure, and the turning device (40) further moves in the clockwise direction approximately 17 degrees.
The turning device (40) is turned by 0 ° to the state shown by the solid line in FIG.

Further, as the stacker crane (60) travels and the carriage moves up and down, the rotating device (40) moves to the position of the desired take-out opening (71) and the container take-out device (3).
The container (10) in which 0) is stored in the desired take-out opening (71) is taken out. That is, when the carriage of the stacker crane (60) stops at a desired position, the traveling body (42) advances toward the takeout opening (71), and the swing conveyor (33) moves around the pivot point (32) as a container. When one container (10) is taken out by swinging the taking-out side upward, the container (10) is conveyed to a predetermined position of the wheel conveyor (31). At this time, since the cradle (47a) has been previously positioned at the descending end, the cradle (47a) is positioned below the loaded container (10).

After that, when the cradle (47a) rises to the centering position along the guide member (46), that is, when the upper surface of the cradle (47a) rises above the upper surface formed by the wheel conveyor (31), the cradle (47a). ), While supporting the bottom surface of the taken-out container (10) in a substantially flat shape, the screw shaft (47c)
The gripping plates (47b) and (47b) are closed to a desired distance by driving so that the side surface of the container (10) is gripped and centered. After the centering, the second gripping hand (47) lifts the container (10) gripped by ascending along the guide member (46) to the vicinity of the base (24) of the article take-out tool (20), and FIG. As shown in, the tip of the partition (21) protruding from the base (24) and the guide member (27) are inserted into the container (10) and stopped.
Therefore, since the cradle (47a) supports the bottom surface of the container (10) in a substantially flat shape, the partition (21) can be formed without disturbing the storage state of the article (B) stored in the container (10). It can be smoothly inserted into the opening (11) of the container (10).
Even if the centering of the container (10) and the article take-out tool (20) are slightly deviated, the partition of the article (B) in which the guide member (37) is first inserted in the gap is corrected while the partition is continued. Since the tip of (21) is inserted, the articles (B) housed in the container (10) can be reliably separated.

As described above, when the base (24) of the article take-out tool (20) and the opening (11) of the container (10) are overlapped with each other, the rotating device (40) is driven to move the article take-out tool ( 20) and the container (10) are inverted as shown in FIG. 2 (b). That is,
A turning device (40), that is, first and second gripping hands (45), (47), a guide member (46), about the turning axis (44),
The movable body (49), the cradle (47a), etc. rotate integrally in the counterclockwise direction in FIG. This reversing operation will be described in more detail. After the rotating device (40) rotates about 170 ° in the counterclockwise direction, the traveling body (42) moves backward to move the article removing device (20) in the reversing process. After being positioned substantially above the article cutting tool (80), the rotating device (40) further rotates counterclockwise by approximately 10 °, and the article removing tool (20) and the container ( 10) are overlaid. By this reversing operation, the article (B) stored in the container (10) is divided into the partition (21).
Will be separated one by one.

When the article take-out tool (20) and the container (10) overlap each other on the article cut-out tool (80), the grip plates (45a) and (45a) of the first gripping hand (45) are opened to open the article take-out tool (20). And release the grip plate (47) of the second gripping hand (47).
After b) and (47b) are also opened to release the container (10), the traveling body (42) advances and stands by in preparation for the transfer of the next article (B).

The article (B) stored in the article cutting tool (80) is
The shutter (83) corresponding to each row of articles is sequentially released to be dropped into the chute (91). When all the articles (B) are cut out from the article cutting tool (80),
Subsequently, the shutter (22) of the article take-out tool (20) is opened in the direction shown by the arrow in FIG. 4, and all the articles (B) stored in the article take-out tool (20) are automatically turned into the article cut-out tool (80). Transfer to.

As described above, the articles (B) transferred to the article slicing tool (80) are opened according to the desired number of picking commands, for example, by opening the shutter (83) as shown in FIG. When B) is sequentially cut out, the cut out product (B)
Is conveyed to a desired container or the like (not shown) through the chute (91) and the spiral chute (90). In addition, a plurality of shoots (91) is one spirler shoot (9
0) because they are connected to different heights respectively, the articles (B) of different types from the plurality of article cutting tools (80) are automatically loaded into one container or the like at substantially the same time. be able to.

Although the embodiments of the transfer apparatus of the present invention have been described above, the present invention is not limited to these embodiments,
For example, as shown in FIG. 5, the pedestal (47a) may be comb-shaped and a plurality of chain conveyors (31a) may be used instead of the wheel conveyor (31).

Further, the rotating device (40) is not mounted on the traveling body (42), and the container (10) or the article removing tool (20) is brought to the position of the first gripping hand (45) or the second gripping hand (47). A device for moving may be provided.

Further, the container removing device (30) may be provided on the carriage instead of being provided on the traveling body (42) so as to travel separately from the traveling body (42). The container removing device (30) may take out a plurality of containers (10) one by one, and collectively invert them.

Further, the article (B) may be stored in the container (10) in multiple stages, and the partition (21) partitions the article (B) contained in the container (10) into two or more pieces. May be.

(Effects of the Invention) As described above, the transfer device of the present invention is configured such that a container such as a cardboard box or a plastic container having an opening and a lid that closes the opening of the container are overlapped with each other, and the container is overlapped. The lid and the lid can be rotated and transferred to a predetermined position.

Note that the container and the lid can be efficiently overlapped with each other because the turning axis is pointed to by the pillars erected on the traveling body when traveling on the base body.

Further, since the traveling body is provided with the conveyor for taking out the container, the container can be taken out efficiently.

Further, since the base body is arranged on the carriage of the stacker crane, it is possible to transfer the containers housed in the take-out openings in a plurality of rows and a plurality of stages.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of a transfer device according to the present invention, and FIGS. 2 (a) and 2 (b) are article removal using the transfer device shown in FIG. FIG. 1 (a) is a perspective view showing an embodiment of the device.
FIG. 3 is a view showing an article take-out device, FIG. 7 (b) is a view showing a state in which the container and the article take-out tool are turned to the article cut-out tool side by the turning device, and FIG. 3 is FIG. 2 (a). FIG. 4 is a view showing the side surface of FIG.
FIG. 5 is a perspective view showing a state in which the container and the article take-out tool are reversed and superposed on the article cutting-out tool, and FIG. 5 is a perspective view of a main part showing a second embodiment of the cradle. (31): Wheel conveyor (33): Swing conveyor, (42): Traveling body (43): Support, (44): Swivel axis (45): First gripping hand, (46): Guide member (47) : Second gripping hand (47a): Cradle, (49): Moving body (50): Base (60): Stacker crane

Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location B65G 65/23 7456-3F

Claims (4)

[Claims] 1. A first gripping hand (45) that opens and closes along a swivel axis (44), and is substantially perpendicular to the axial line of the swivel shaft (44) from or near the axial line of the swivel shaft (44). A guide member (46) arranged in a direction, a moving body (49) moving along the guide member (46), a cradle (47a) fixedly installed on the moving body (49), A container (2) having a second gripping hand (47) attached to the moving body (49) and opened and closed along the cradle (47a), and having an opening (11) in the top surface portion in which the article (B) is stored ( 10) is taken out from the storage facility (C) and placed on the receiving stand (47a), and the container (10) placed on the receiving stand (47a) is gripped by the second gripping hand (47),
The container (10) grasped by the grasping hand (47) is lifted by the moving body (49) to open the opening (11) of the container (10).
On the article take-out tool (20) held by the first holding hand (45), and the opening (11) of the container (10).
Is closed by the article take-out tool (20), the container (10), the article take-out tool (20), the first
The gripping hand (45), the guide member (46), the moving body (49), the cradle (47a), and the second gripping hand (4).
7) is integrally inverted around the swivel axis (44), and the shutter (22) of the inverted article take-out tool (20) is opened to take out the article (B) from the container (10). A transfer device characterized by being provided. 2. The transfer device according to claim 1, wherein the revolving shaft (44) is supported by a column (43) provided upright on a traveling body (42) traveling on the base body (50). 3. The transfer device according to claim 2, wherein the traveling body (42) includes conveyors (31), (33) for taking out the container. 4. The stacker crane (60) wherein the base body (50) is a stacker crane (60).
The transfer device according to claim 2 or 3, which is disposed on the carriage.