JP2000072254A - Article handling device within container - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the operating performance of an article handling device within a container, and miniaturize the device. SOLUTION: A robot 5 for handling article within a container is so constituted as to be freely chargeable in direction by means of rotation around a vertical shaft center P1, and the plural number of article handling positions B are disposed so as to be laid along the circumferential direction around the vertical shaft center P1 while a space between adjacent items is being kept narrower than a space between adjacent in the plural number of article handling positions A. And it is so constituted that each container 1 set in respective container setting positions A in a forward facing attitude, is moved ahead while being accompanied with change in direction into a state that the container 1 is brought face-to-face with the robot 5, and the container 5 is continuously moved straight ahead to the robot 5 so as to let the container arrive at the article handling position B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for handling articles in containers used for various purposes, and more particularly, to a plurality of container installation positions where containers are installed in a forward position, which are arranged side by side in a horizontal direction. Container moving means for moving the containers installed in each of the container handling positions arranged in the left-right direction in front of the container installation position, and from the front side for each of the containers located in these article handling positions The present invention relates to an in-container article handling apparatus in which a common robot that performs an operation for handling articles in a container is provided in front of these article handling positions.

[0002]

2. Description of the Related Art Conventionally, in this type of article handling apparatus in a container, for example, when two locations, a container installation position A and an article handling position B, are provided, as shown in FIG. The container 1 is placed in a straight forward-facing posture that is parallel to each other, while the common robot 5 is positioned immediately in front of the left article handling position B so that the container 1 faces the left container 1 in a facing position. A state in which the handling operation of the article is performed,
The right and left containers 1 are moved immediately before and after the right container handling position B so that the container 1 on the right side can directly handle the articles in the container.

[0003] The left and right container installation positions A are disposed immediately behind the left and right article handling positions B, respectively, and each container 1 is installed in the container installation position A in a straight forward posture, and then the straight forward facing position. In this state, the container is moved straight forward by the container moving means 3 'in the posture, and reaches the article handling position B.

The robot 5 is of the articulated type, and can change its direction by rotation about the longitudinal axis P1 in the operation of handling the articles in the containers on the left and right containers 1.

[0005]

However, in this conventional apparatus, there is a problem that the time required to move the robot 5 left and right is lost and the working efficiency is limited, and a mechanism for moving the robot 5 left and right is required. Therefore, there is a problem that the equipment cost is increased.

On the other hand, in order to solve these problems, FIG.
As shown in the figure, when two container installation positions A and two article handling positions B are provided, the common robot 5 is moved to the vertical axis P1.
In contrast to the configuration in which the orientation can be freely changed by rotation around the periphery, each of the two container installation positions A is arranged on an extension of the axis R connecting the robot 5 and each article handling position B. Then, the container 1 installed in each container installation position A in a straight forward attitude firstly faces the robot 5 by rotating around the vertical axis Pa at each container installation position A (left and right inward sides). (The container installation position A and the article handling position B, respectively) in which the container is moved in a straight line toward the robot 5 by the container moving means 3 "to reach each article handling position B. The same applies to the case where three or more are arranged in the left-right direction.

That is, in this improved type, each container 1 is positioned at each article handling position B in a diagonally forward posture facing the robot 5, whereas the robot 5 is changed by changing the direction around the longitudinal axis P1. The handling operation of the articles in the container is performed by directly facing the container 1.

However, in this improved type, the left and right movement of the robot 5 is not required, and each container 1 is moved straight in a state where the direction of the container 1 and the movement direction are made coincident with each other as a follow-up from the conventional device. To the article handling position B, the containers 1 can be accurately and accurately positioned with respect to the article handling position B. However, the distance between the container installation positions A arranged on the left and right becomes considerably large, and therefore, the width of the apparatus is reduced. Is increased.

In view of the above circumstances, the main problem of the present invention is to further improve the above-mentioned improved form and to rationally move the container from the container installation position to the article handling position, thereby solving the above problems. The point is to eliminate it effectively.

[0010]

Means for Solving the Problems [1] In the invention according to claim 1, a plurality of container installation positions are provided in which containers are installed in a frontward posture in a lateral direction, and the containers installed at these container installation positions are arranged in a plurality of positions. Container moving means for moving to each different article handling position arranged in the left and right direction at the front side of the container installation position is provided, and for each of the containers located at these article handling positions, the handling operation of the articles in the container from the front side In a configuration in which a common robot that performs the above is arranged in front of these article handling positions, the robot can be freely changed in direction by rotation about a vertical axis, and a plurality of article handling positions are adjacent to each other. The plurality of containers are arranged along the circumferential direction around the center of the vertical axis at intervals where the intervals between adjacent containers are narrower than intervals between adjacent containers.
Then, the container moving means moves the containers installed in the forward posture at each of the container installation positions to the front side while changing the moving direction of the containers to a state where the containers face the robot, and The container is moved straight toward the robot in a posture facing the robot to reach the article handling position.

That is, according to this configuration (see FIG. 1),
Similarly to the above-mentioned improved type, each container 1 is positioned at each article handling position B in a diagonally forward posture facing the robot 5, while the robot 5 is moved to each container 1 by changing the direction around the vertical axis P1. Since the handling operation of the articles in the container is performed by facing each other, the left and right movement of the robot 5 becomes unnecessary, and the work efficiency can be improved by eliminating the lost time of the left and right movement of the robot as compared with the above-described conventional apparatus. The device cost can be reduced by eliminating the need for a mechanism for moving the device left and right.

Also, the container setting position A to the article handling position B
Since the container 1 is moved with the change of the moving direction of the container 1 to the state in which the container 1 faces the robot 5, the containers 1 installed at the respective container installation positions A are firstly moved as in the above-described improved type. A plurality of containers are arranged in the left-right direction as compared with a case where the posture is changed to a direction facing the robot 5 by the rotation at the container installation position A, and then the robot 5 is moved straight toward the robot 5 to reach the article handling position B. The distance between the positions A can be reduced, thereby making it possible to eliminate the need for the lateral movement of the robot as described above while effectively suppressing an increase in the device width.

Further, since the direction of the container 1 is changed in the direction directly facing the robot 5 by moving the container 1 while moving the container 1, the container 1 is rotated at the container installation position A separately from the container movement. Compared with the above-described improved type in which the direction of the container 1 is changed, the structure of the apparatus is simplified by using the container moving mechanism as the direction changing mechanism, and the apparatus cost can be further reduced.

Further, following the forward movement of the container 1 with a change in the direction of movement of the container 1 toward the robot 5, the container 1 is directed toward the robot 5 in a posture facing the robot 5. Move straight ahead to handle item B
Therefore, as a follow-up from the conventional device, each container 1 is moved to the article handling position B by linearly moving in a state where the direction of the container 1 and the moving direction are matched with each other. The function of enabling each container 1 to be positioned accurately and accurately can be maintained as it is.

[2] In the invention according to the second aspect, the container moving means moves the container from the container installation position to the front side while changing the moving direction of the container to a state directly facing the robot as described above. In this case, the container is moved along an arcuate path in which the direction of movement is closer to the vertical axis as the direction of movement is increased.

In other words, according to this configuration, the direction of movement of the container toward the robot can be continuously changed in parallel with the movement of the container. It is easier to move the container smoothly than by changing the direction of movement of the container and changing the direction of the container stepwise to the direction directly facing the robot by changing the stepwise moving direction. Efficiency can be improved more effectively.

[3] In the invention according to the third aspect, the container moving means moves the moving base from the container installation position to the start position of the rectilinear movement in an arcuate path in which the moving direction is closer to the center of the longitudinal axis. Along the moving base, and the mounting table mounted on the moving base is linearly moved toward the robot on the moving base that has reached the start position of the linear movement, and the container is placed in a state where the container is mounted on the mounting base. Move from the position to the article handling position.

That is, according to this configuration, the movement of the container along the arc-shaped path to the start position of the straight movement and the subsequent straight movement are performed by the movement of the moving base itself having the container mounting table. Since the separation from the movement of the mounting table on the moving base is separated, the movement from the container installation position to the start position of the straight movement is relatively fast and quick, but the container is accurately and accurately positioned at the article handling position. It is easy to make the straight-line movement for positioning at low speed and gentle, and thereby, it is possible to more effectively achieve both the improvement of work efficiency and the accurate positioning of the container at the article handling position. .

As another method, it is conceivable that the container moved to the start position of the straight movement is placed on another moving body and moved straight to the article handling position. According to this, it is unnecessary to change the position, and it is possible to avoid time loss and displacement of the container position due to the change of the position, and in this regard, it is possible to further improve the work efficiency and to accurately position the container at the article handling position. It can be excellent.

[4] In the invention according to claim 4, the moving base has a moving configuration in which an arc-shaped guide rail for guiding the arc-shaped movement of the moving base and a forward moving force applied to the moving base by a forward linear motion. And a linear drive mechanism to be provided.

That is, in this configuration, while a forward moving force is applied to the moving base by the forward linear motion of the linear drive mechanism, the moving base is guided by the arc-shaped guide rail to sequentially reduce the forward moving force. Since the arc movement is performed by converting the tangential direction of the arc path, for example, compared with performing the arc movement using a driving unit that can change the direction of the moving force itself applied to the moving base, The driving means can be simplified, and the apparatus cost can be reduced.

[5] In the invention according to claim 5, as the moving configuration of the mounting table with respect to the movable base, a linear guide rail for guiding the linear movement of the mounting table, and a rotation of the cam to the mounting table for the robot. And a cam mechanism for imparting the moving force of (1).

That is, in the case of applying the moving force by the cam mechanism, moving the mounting table in a delicate speed change pattern suitable for accurately and accurately bringing the container to the article handling position requires that the cam and the cam follower move. It can be easily performed by setting the shape, and also, by guiding the movement of the mounting table with the linear guide rail as described above, the mounting table can be moved straight forward with high precision and accuracy.
According to the above configuration, the container can be more accurately and accurately positioned at the article handling position, and the working accuracy can be more effectively improved.

[0024]

1 to 3 show an apparatus for handling articles in containers according to the present invention. A target container 1 is conveyed by an appropriate conveying means and is disposed at two places on a left and right side of an installation table 2 in the present apparatus. It is placed and installed at the installation position A with a straight forward attitude. Each of the installed containers 1 is moved by the container moving means 3 provided on the installation table 2 to each of the different article handling positions B arranged side by side on the front side of the container installation position A. Front cover 1 of each container 1 at position B
a is opened by the lid opening / closing mechanism 4.

In this state, a necessary article handling operation such as taking out an article from each container 1 is performed by the articulated robot 5 which can change its direction by rotation about the vertical axis P1. It is performed from the front side of the container 1.

In a plan view, two article handling positions B
Are arranged symmetrically with respect to the longitudinal axis Q passing through the robot 5, and the two container installation positions A are arranged at a distance larger than the distance between the article handling positions B on the front side. It is arranged symmetrically with respect to the center Q. In other words, the two article handling positions B are located at intervals where the interval between them is smaller than the interval between the container installation positions A, and It is arranged along the circumferential direction around P1.

In contrast to this arrangement, the container moving means 3
Is a straight forward posture for each of the container installation positions A (that is, a forward posture in the direction along the longitudinal axis Q).
The moving direction becomes closer to the longitudinal axis P1 of the robot 5 as it moves forward, so that the container 1 set in the above is moved forward with a change in the moving direction toward the state directly facing the robot 5. Move along an arcuate path, and
Following the arc-shaped movement, each container 1 is moved straight toward the robot 5 in a posture facing the robot 5 to reach each article handling position B.

That is, in this apparatus, each container 1 is positioned at each article handling position B in a diagonally forward posture facing the robot 5, and the robot 5 is moved to each container 1 by changing the direction around the vertical axis P1. On the other hand, the handling operation of the articles in the containers is performed in a state of selectively facing each other, so that the left and right movement of the robot 5 is not required in the case where the two containers 1 arranged side by side are to be handled, Further, the space between the container installation positions A is made as small as possible so that the apparatus can be downsized in the lateral width direction.

In the final stage of the container movement following the arc-shaped movement, the container 1 is moved straight toward the robot 5 in a posture facing the robot 5 so as to reach the article handling position B. Each container 1 can be accurately and accurately positioned with respect to the article handling position B by a linear movement in a state where the direction of the container 1 and the moving direction are matched, and thereby the lid opening / closing mechanism 4 and the robot 5 The required operation can always be stably performed with respect to the container 1 under an appropriate relative positional relationship.

4 and 5 show a specific structure of the container moving means 3, in which reference numeral 6 denotes a moving base provided with a mounting table 7 for the container 1, and reference numeral 8 denotes a position between the container installation position A and the start position B 'of the straight movement. An arc-shaped guide rail for guiding the arc-shaped movement of the movable base 6;
Is a straight line that applies a longitudinal movement force to the movable base 6 by linearly moving the rod 10 forward and backward by an actuator 13 in a state where a pin 11 attached to the rod 10 is engaged with a long hole 12 formed in the movable base 6. It is a drive mechanism.

Reference numeral 14 denotes a mounting table 7 on the moving base 6.
Of the moving base in the front-rear direction of the moving base (in other words, the linear movement of the mounting table 7 between the moving start position B 'on the moving base 6 at the starting position B' of the linear movement and the article handling position B). The linear guide rail 15 for guiding the cam 17 is rotated around a vertical axis P2 by an actuator 18 in a state where the cam 17 is engaged with a lateral groove-shaped cam follower 16 formed on the lower surface side of the mounting table 7. Moving substrate 6
A cam mechanism for applying a moving force in the front-rear direction of the moving base (in other words, a moving force in the direction of the robot 5 on the moving base 6 at the straight movement start position B ′) to the mounting table 7. is there.

That is, in the present apparatus, a forward moving force is applied to the movable base 6 by the forward linear movement of the rod 10 in the linear drive mechanism 9, while the movable base 6 is guided by the arc-shaped guide rail 8. By sequentially converting the forward moving force to the tangential direction of the arc-shaped path, the moving base 6
Is moved in an arc from the container installation position A to the rectilinear movement start position B ′, whereby the container 1 placed on the mounting table 7 in the container installation position A in a straight forward posture is directly opposed to the robot 5. (A) to (B) in FIG. 3 in an arc from the container installation position A to the rectilinear movement start position B ′ with the change of the moving direction.

Subsequently, a moving force toward the robot 5 is applied to the mounting table 7 by the rotating operation of the cam 17 of the cam mechanism 15 on the moving base 6 at the straight moving start position B ', and the linear guide is performed. The container 1 on the mounting table 7 is directed toward the robot 5 in a posture facing the robot 5 by moving the mounting table 7 from the linear movement start position B ′ to the article handling position B under the guidance of the rail 14. It is moved straight to reach the article handling position B ((b) in FIG. 3)
(C))

Reference numeral 19 denotes a positioning projection for engaging the positioning hole 20 on the front surface of the container 1 and positioning the container 1 at the article handling position B by the linear movement of the container 1.

[Alternative Embodiment] In the above embodiment, the movable base 6 is moved by the linear movement of the rod 10 to form the arc-shaped guide rail 8.
In the embodiment shown in FIG. 6, a pin 22 attached to the arm 21 is engaged with an elongated hole 23 formed in the movable base 6 as shown in FIG. May be rotated about the longitudinal axis P3 by the actuator 24, so that the movable base 6 is moved in an arc from the container installation position A to the rectilinear movement start position B 'under the guidance of the arc guide rail 8.

Also, as shown in FIG.
The movable base 6 is linearly moved from the container installation position A under the guidance by the arc guide rail 8 by rotating the arm 25 connected to the arm 25 around the longitudinal axis P4 passing through the center of the arc shape of the arc guide rail 8 by the actuator 26. You may make it move in an arc shape to the start position B '.

In the above-described embodiment, the case where the container installation position A and the article handling position B are respectively provided at two places has been described.
As shown in FIG. 8, when three or more container installation positions A and article handling positions B are provided side by side in the left-right direction and the plurality of article handling positions B are spaced from each other by a plurality of container installation positions. The present invention may be implemented in a form in which the distance between the positions A is narrower than the distance between the positions A and the robot A is disposed along the circumferential direction around the longitudinal axis P1 of the robot 5.

Further, a plurality of sets of the container installation position A and the article handling position B for moving the container 1 while changing the moving direction to the state of facing the robot 5 (that is, a plurality of sets to which the present invention is applied) In addition to the above, a set of a container installation position where the straight forward container installation posture is directly opposite to the robot, and an article handling position where the container is moved straight from the container installation position while maintaining the straight forward posture. The present invention may be implemented in an apparatus configuration provided with.

A specific method for moving the containers 1 installed in each container installation position A in a straight forward posture while moving the containers 1 in a state in which the containers 1 move in a state of facing the robot 5 forward. Various types of moving structures, and specific moving structures for moving the container 1 straight toward the robot 5 in a posture facing the robot 5 and reaching the article handling position B following this movement, respectively, are used. The specific configuration of the container moving means that can be adopted and performs these series of container movements can be variously changed.

In the embodiment of the present invention, the contents in the container and the contents of the handling operation of the robot for the goods in the container may be any.

[Brief description of the drawings]

FIG. 1 is a plan view of the apparatus.

FIG. 2 is a side view of the apparatus.

FIG. 3 is a plan view showing a moving mode of the container.

FIG. 4 is an exploded perspective view showing a specific structure of the container moving means.

FIG. 5 is a front sectional view showing a specific configuration of the container moving means.

FIG. 6 is a plan view showing another embodiment.

FIG. 7 is a plan view showing another alternative embodiment.

FIG. 8 is an apparatus plan view showing another embodiment.

FIG. 9 is a plan view showing a conventional example.

FIG. 10 is a plan view showing a comparative example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Container 3 Container moving means 5 Robot 6 Moving base 7 Mounting table 8 Arc guide rail 9 Linear drive mechanism 14 Linear guide rail 15 Cam mechanism 17 Cam A Container installation position B Article handling position B 'Straight movement start position P1 Vertical axis Q Longitudinal axis

Claims (5)

[Claims] A plurality of container installation positions where containers are installed in a forward posture are arranged in the left-right direction, and the containers installed in these container installation positions are arranged in the left-right direction in front of the container installation positions. Container moving means for moving to the article handling position, a common robot for handling the articles in the container from the front side of each of the containers positioned at the article handling position, An article handling device in a container to be disposed in the container, wherein the robot is configured to be able to freely change its direction by rotation about a vertical axis, and the plurality of article handling positions are spaced apart from each other by a plurality of intervals. Are arranged along the circumferential direction around the vertical axis at intervals smaller than the intervals between adjacent ones of the container installation positions, and the container moving means comprises: While the container is installed in the forward-facing position to the position of each is the container with the change in the moving direction to directly face the state with respect to the robot is moved to the front side, and,
Subsequently, the article handling apparatus in a container configured to move the container straight toward the robot in a posture facing the robot to reach the article handling position. 2. The method according to claim 1, wherein the container moving means moves the container from the container installation position to the front side while changing the moving direction of the container so as to face the robot. 2. The article handling apparatus according to claim 1, wherein the container is moved along an arcuate path in which a moving direction is oriented toward the longitudinal axis. 3. The container moving means moves the moving substrate from the container installation position to the start position of the rectilinear movement along an arcuate path in which the moving direction is closer to the vertical axis toward the moving direction, and The mounting table mounted on the moving base is moved linearly toward the robot on the moving base that has reached the start position of the linear movement, and the article is placed from the container installation position while the container is mounted on the mounting table. The article handling apparatus according to claim 2, wherein the apparatus is configured to be moved to a handling position. 4. An arc-shaped guide rail that guides the arc-shaped movement of the movable base as a moving configuration of the movable base,
4. The apparatus for handling articles in a container according to claim 3, further comprising a linear drive mechanism for applying a forward moving force to the movable base by a forward linear motion. 5. The moving configuration of the mounting table with respect to the moving base, wherein a linear guide rail for guiding the rectilinear movement of the mounting table and a rotating force of a cam apply the moving force toward the robot to the mounting table. 5. The apparatus for handling articles in a container according to claim 3, further comprising a cam mechanism.