JP2008184265A - Article loading and unloading method and article loading and unloading device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To meet various industries' needs for emergence of a method and a device for moving an article susceptible to deformation and losing shape and preventing the deformation and the losing shape of the article, without storing the article in a container. <P>SOLUTION: The device has a moving plate and a ring-like belt. The belt is wound on a bottom surface side and an upper surface side of the moving plate in a ring-like manner, one or two positions in a winding direction is/are fixed to fix the ring length. When the moving plate is slid to a position anterior to the fixing portion(s) in the ring-like belt, the front side of the belt is drawn out of the moving plate bottom surface side to the moving plate upper surface side, and the belt rear side is pulled out of the moving plate upper surface side to the moving plate bottom surface side. When the moving plate is slid backward, the belt front side is pulled back from the moving plate upper surface side to the moving plate bottom surface side, and the belt rear side is fed back from the moving plate bottom surface side to the moving plate upper surface side. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention scoops up various articles, in particular, irregular shapes such as mayonnaise, fresh cream and yogurt, gel-like materials, semi-solid materials such as pudding and tofu, soft materials such as hamburger dough and bread dough The present invention relates to a method and an apparatus for loading and unloading articles suitable for taking out or placing them on another place.

  Conventionally, an irregularly shaped article that easily deforms or loses its shape as described above can be transferred from a table, table, conveyor, etc. to another location without being deformed or deformed, or taken into and out of a container. There were no devices or devices that could be used. Therefore, these articles had to be moved together with the container. However, there are some items whose shape and size are restricted by the container, and articles that are difficult to put in and out of the container. For this reason, the movement of these articles is troublesome and even some articles cannot be moved.

  There has been a demand in various industries for the emergence of a method and apparatus that can scoop up or move an article that is easily deformed or out of shape without being placed in a container.

  In the method for lowering an article according to the present invention, the belt is circulated in a ring shape on the bottom surface side and the top surface side of the moving plate, and one or more portions in the belt circulatory direction are fixed to form a ring length. Using a device for lowering the article having a constant value, the movable plate is slid forward from the fixed portion in the belt while the fixed portion is held at a fixed position. The belt is extended to the upper surface side, and the article ahead of the belt is crushed from below and placed on the front side of the belt, and the moving plate is slid backward from the fixed position in the belt to move the moving front side of the belt. In this method, the belt is returned from the upper surface side to the bottom surface side of the moving plate, and the front side of the belt is retracted from below the article on the belt, and the article is lowered from the front side of the belt to the tip.

  According to a second aspect of the present invention, the article unloading apparatus includes a movable plate and a ring-shaped belt, and the belt is circulated in a ring shape on the bottom surface side and the top surface side of the movable plate, and the circumferential direction is one or two. The above portions are fixed and the ring length is constant. When the moving plate is slid forward from the fixed portion in the ring-shaped belt, the belt front side is extended from the moving plate bottom side to the moving plate top side and the belt The rear side is drawn from the moving plate upper surface side to the moving plate bottom surface side, and when the moving plate is slid rearward, the belt front side is pulled back from the moving plate upper surface side to the moving plate bottom surface side and the belt rear side is moved from the moving plate bottom surface side to the moving plate upper surface side. It is sent back to the side. In this case, as described in claim 3, a handle that can be held by hand and a switch that can switch back and forth movement of the moving plate can be provided. According to a fourth aspect of the present invention, a robot arm or a hand for various industrial equipment is provided by providing a mounting portion that can be attached to and detached from a robot arm or work equipment, and a connecting portion that can connect a driving body that slides the moving plate. You can also do that.

The method for putting down articles according to the present invention has the following effects.
1. Because the belt is scooped up from below the article that is irregularly shaped or easily deformed (between the article and the table or table on which it is placed), what is the case of pushing the belt under the article and scooping up the article? Unlikely, the article does not deform or lose its shape.
2. The belt that holds the article is rotated in the reverse direction to retract the belt from under the article, and the article on the belt is lowered onto a table, table, conveyor, etc. Even when the article is lowered, the article is deformed or lost its shape. There is nothing to do. Incidentally, when the belt on which the article is placed is pulled out from under the article or the article is slid down from the belt, the article is deformed or deformed.

The article unloading apparatus of the present invention has the following effects.
1. Since it is composed of a moving plate and a belt that circulates in a ring shape, the configuration is simple.
2. Since the article can be loaded and unloaded simply by sliding the moving plate back and forth, the operation is simple.
3. Since the moving plate slides within the ring-shaped belt, the longest moving range of the moving plate is the length of the ring-shaped belt, and the article can be loaded and unloaded even in a narrow place.
4). Since it has a handle that can be held with one hand and a switch that can switch the movement of the moving plate back and forth, the operation becomes easy. If a switch is provided at a position where it can be operated with one hand having a handle, one-handed operation is facilitated.
5. Since the mounting part can be equipped on the robot and used as a robot hand, the article picked up by the article drop-off device can be easily moved to another place by the robot. Since the moving plate can be slid by motor or air power, it is possible to load and unload items automatically, handling heavy items and large items easily, and building a fully automatic integrated system in combination with other devices. It is also possible to do.
6). If the mounting unit is installed in a robot or other work equipment, it is possible to work in a poor working environment where it is difficult for humans to work or even in a narrow place where humans are difficult to work.

(Embodiment 1 of an article dropping apparatus)
An example of an embodiment of the article unloading apparatus according to the present invention will be described below with reference to FIGS. This article unloading apparatus is an example of a hand type that can be operated with one hand, and is the basic structure of the present invention. The basic structure is a ring-like structure in which a fixing portion 5 is overlapped with both ends 5a and 5b of a belt 4 that is circulated from the bottom surface 2 of the moving plate 1 to above the upper surface 3 with a fixture 6 from above and below. The belt 6 is fixed to the fixing member 6 on the distal end side of the base 7. A driving body 9 (FIG. 2) including a motor M (FIG. 2) and a screw shaft 8 (FIG. 2) is provided inside the base 7. When the screw shaft 8 is rotated by the rotation of the motor M, the moving plate 1 connected to the screw shaft 8 can slide back and forth within the ring-shaped belt 2.

  The moving plate 1 is a rectangular flat plate having a thickness of about 1 mm, and is made of a rust-resistant material such as stainless steel or resin. The shape and size of the movable plate 1 can be selected according to the application. The shape is not limited to a flat plate, but a shape that makes it easy to pick up an article on a table on which an article is placed or a container, for example, a flat plate shape with a bottom surface and an upper surface curved in an arc shape, a cylindrical shape, or a semi-cylindrical shape with an upper opening. You can also The thinner the tip 1a of the moving plate 1, the easier it is to insert between the table T (FIG. 5 (a)) and the article W (FIG. 5 (a)) thereon.

  The belt 4 is a thin film-like or woven film or sheet, which is difficult to adhere to an article and is made of a slippery material such as Teflon (registered trademark) or nylon, or other material sheet surface. A film coated with a film having good peelability is suitable. The belt 4 shown in FIG. 1 is rotated once from the bottom surface 2 side to the upper surface 3 side of the moving plate 1, but can be rotated two or more times if necessary. The belt 4 may be formed in advance in a ring shape so that the movable plate 1 can be inserted into the inside from the side opening.

  The fixture 6 is composed of two square bars 6a and 6b. The fixing part 5 of the belt 4 is sandwiched between the upper and lower square bars 6a and 6b, and is fixedly connected by a connector 10 such as a bolt, nut or screw. I can do it. The upper surface of the lower square bar 6a and the bottom surface of the upper square bar 6b are formed with recesses and projections that can be engaged with the fixing portions 5 of the belt 4, and the belt 4 sandwiched between the recesses and projections is formed. The position is difficult to be displaced. By this fixing, the length of the ring-shaped belt is kept constant.

  The fixture 6 is fixed at a position near the bottom end of the base 7. The base body 7 has an elongated rectangular tube shape, and an opening 11 (FIGS. 2 and 3) is formed at the center in the width direction of the bottom surface, and a handle H that can be held with one hand is formed at the top. An internal space 12 is formed, an internal space 16 is formed in the lower portion, and an opening 11 is opened on the bottom surface of the internal space 16. The opening 11 is opened to the entire axial length of the base body 7.

  The motor M of the driving body 9 is supported by a motor support bracket 13 (FIG. 2) in the internal space 12 in front of the handle H, and a driving rotating body (pulley or gear) 15 is provided at the tip of the rotating shaft 14 of the motor M. It is connected. The screw shaft 8 (FIG. 2) of the drive body 9 is screwed into the screw hole 22 of the moving bracket 21 in the internal space 16 of the base body 7, and the front end thereof is connected to the front support bracket 17 (FIG. 2) in the internal space 16. The rear end is rotatably supported by the rear bracket 18 (FIG. 2), and the moving bracket 21 moves forward when the screw shaft 8 rotates forward, and the moving bracket 21 moves backward by reverse rotation. A connecting portion 23 (FIG. 2) on the rear end side of the moving plate 1 is connected to the lower portion of the moving bracket 21, and a driven rotating body (pulley or gear) 19 is fixed to the tip end portion of the screw shaft 8. When the motor M is rotated by a rotary coupling (belt or chain) 20 applied to the drive rotary body 15 and the driven rotary body 19, the rotary shaft 14 -drive rotary body 15 -rotational coupling tool 20-driven rotary body 19 -screws. When the shaft 8 rotates, the moving bracket 21 moves forward by this rotation, the moving plate 1 moves forward, and when the motor M rotates in reverse and the screw shaft 8 rotates in reverse, the moving bracket 21 moves backward. This movement is performed in the ring-shaped belt 4.

  A forward switch SW1 (FIG. 3) and a backward switch SW2 (FIG. 3) are connected to the motor M. When the forward switch SW1 is pressed, the motor M rotates forward and the moving plate 1 moves forward, and when the release is released. When the moving plate 1 stops and the reverse switch SW2 is pressed, the motor M rotates in the reverse direction to move the moving plate 1 backward, and when the push is released, the moving plate 1 stops. Both switches SW1 and SW2 are attached in front of the handle H so that they can be operated with a finger of one hand holding the handle H. The switches SW1 and SW2 may be one and can be switched back and forth.

  The operation principle of the article unloading apparatus according to the present invention will be described with reference to FIGS. This explanatory view is a case where the fixed portion 5 of the belt 4 is held at a fixed position and the movable plate 1 is slid back and forth. FIG. 4A shows the case where the movable plate 1 has moved forward most. FIG. 4B shows the time when the movable plate 1 is retracted, and FIG. 4C shows the time when the movable plate 1 is most retracted.

  The belt 4 is fed forward together with the moving plate 1 at the position of FIG. 4A, and the belt is fed to the front upper surface side of the moving plate 1 when the moving plate 1 is retracted to the position of FIG. 4B. The front side 4a is pulled toward the bottom surface side of the moving plate 1, the belt rear side 4b is sent to the rear upper surface side of the moving plate 1, and when the moving plate 1 is retracted to the position of FIG. Further, the belt rear side 4b is further pulled to the rear upper surface side of the moving plate 1 by being pulled toward the bottom surface side of the moving plate 1, and the belt rear side 4b at the upper rear side of the moving plate 1 becomes longer. On the contrary, when the moving plate 1 is advanced from the position of FIG. 4C to the position of FIG. 4B, the belt rear side 4b is pulled back to the bottom surface side of the moving plate 1, and the moving plate 1 is moved to FIG. When the belt is advanced from the position (b) to FIG. 4A, the belt rear side 4b is further fed to the bottom surface side of the movable plate 1, and the belt front side 4a is fed to the front upper surface of the movable plate 1 and becomes longer.

(Embodiment 1 of the method for putting down articles)
An example of a case where an irregular shaped article such as mayonnaise or whipped cream is picked up and placed on the belt 4 using the article dropping device shown in FIGS. As shown in FIG. 5A, the belt tip 4c is set behind the article W on the table T, and the fixing portion 5 of the belt 4 is held at a fixed position (for example, on the YY line in FIG. 4). Do not move back and forth. In this state, the forward switch SW1 (FIG. 3) is turned ON and the moving plate 1 is slid forward from the fixed portion 5 in the belt 4 so that the belt front side 4a is moved from the bottom surface side of the moving plate 1 to the upper surface side of the moving plate 1. The moving plate 1 is gradually moved between the table T and the article W while being fed out. As a result of this approach, the article W is crushed by the belt tip 4c as shown in FIG. 5B and lifted onto the belt front side 4a, and the article W is moved by continuous sliding of the moving plate 1 and continuous feeding of the belt front side 4a. As shown in FIG. 5C, the belt is completely scooped up (lifted) on the belt front side 4a. In this case, since friction does not occur between the article W and the belt front side 4a, the article W is kept in the shape as it is on the table T without being deformed or deformed, and is placed on the belt front end side 4a. I will lift it up. By the way, if the moving plate 1 and the belt front end 4c are entered (pushed) under the article W without sliding the moving plate 1 and raising the belt front side 4a to the upper surface side of the moving plate 1, the article W Since friction is generated between the belt tip 4c and the article W, the article W is pushed by the belt tip 4c to be deformed and deformed. Depending on the case, the article may not easily rise on the W belt front side 4a, or may not rise. When the lifting of the article is completed, the forward switch SW1 is turned off to stop the front slide of the movable plate 1. The lifting can be performed more smoothly as the tip 1a (FIG. 5) of the moving plate 1 is thinner. The raising of the article can be performed in the same manner even for an article other than the irregular shaped article.

  The article W picked up as shown in FIG. 5C is returned to the table T as follows. The belt tip 4c in FIG. 5C is brought into contact with (set on) the table T, and the fixing portion 5 of the belt 4 is held at a fixed position (for example, on the YY line in FIG. 4). The reverse switch SW2 (FIG. 3) is turned ON, the motor M and the screw shaft 8 are rotated in the reverse direction, and the moving plate 1 is slid rearward from the fixed portion 5 in the belt 4 so that the front side of the belt in FIG. 4a is pulled back from the upper surface side of the movable plate 1 to the bottom surface side. By this pulling back, the article W on the belt front side 4a is sent out on the table T as shown in FIG. 5B, and the belt front side 4a is moved to the bottom side of the moving plate 1 by further rearward sliding of the moving plate 1. Further, it is pulled back and completely lowered onto the table T as shown in FIG. Also in this case, since friction does not occur between the belt front side 4a and the article W, the article W is not deformed or deformed, and the shape as it is on the belt front side 4a is maintained and the table T Is taken down (returned). When the article is completely returned, the backward switch SW2 is turned OFF to stop the backward movement of the movable plate 1 and the belt return. The lowering of the article can be similarly performed even if it is an article other than the irregular shaped article, and can be performed more smoothly as the tip of the movable plate 1 is thinner.

(Embodiment 2 of the article unloading apparatus)
A second embodiment of the article unloading apparatus according to the present invention will be described below with reference to FIGS. This item loading / unloading device is also a hand type that can be operated with one hand, and is more compact than the item loading / unloading device of FIG. 1, and is suitable for scooping (loading) a small amount of small items. is there. The article dropping device is configured to circulate the belt 4 in a ring shape from the bottom surface side to the top surface side of the moving plate 1, to fix one or two or more fixing portions of the belt 4 to make the belt ring length constant, In the basic structure in which the movable plate 1 can be slid back and forth within the belt 4, and the belt 4 is extended and retracted as shown in FIGS. This is the same as the apparatus for unloading one article. The difference is that the sliding operation of the movable plate 1 is performed by the motor in the pipe-shaped handle 36. For this reason, in FIG. 6, a U-shaped frame-shaped operation unit 30 that is open frontward is connected to the rear portion of the moving plate 1, and the operation unit 30 can be moved back and forth inside a U-shaped frame-shaped holder 31 that is opened frontward. The screw rod 32 protruding rearward from the operation unit 30 is screwed into the screw hole 34 of the bracket 33 fixed to the holding tool 31, and the protruding end 35 of the screw rod 32 protruding rearward of the screw hole 34 is rounded. A pipe-shaped handle 36 is connected by screw fitting, a small motor is built in the inner space on the tip side of the handle 36, and the moving rod 1 is moved forward and backward by rotating the screw rod 32 forward and backward by forward and reverse rotation of the motor. It can be slid. 6 is also provided with a switch for operating the motor.

  In the case of the article unloading apparatus shown in FIG. 6, the moving plate 1 can be slid back and forth by rotating the screw rod 32 forward and backward by rotating the handle forward and backward with a finger without using a motor.

(Embodiment 2 of the method for putting down articles)
In order to pick up the irregular shaped article on the belt 4 using the article unloading apparatus shown in FIG. 6, the handle 36 is held with one hand as shown in FIG. The belt is fixed and held at a fixed position so that the fixing portion 5 of the belt 4 does not move back and forth. In this state, the handle 36 is rotated by a motor or a hand holding the handle to slide the moving plate 1 forward in the belt 2 from the fixed portion 5, and the belt 4 is moved from the bottom surface side to the upper surface side of the moving plate 1. The belt front side 4a is entered between the base and the article W while being fed out. As a result of this approach, the article W is lifted up (scrambled) from the belt front end 4c onto the belt front side 4a as shown in FIG. 7B. Also in this case, since friction does not occur between the article W and the belt 4, the article W is neither deformed nor out of shape.

  In order to return the article W on the belt front side 4a in FIG. 7 (b) onto the table, the belt tip 4c is brought into contact with the table (set), and the fixing portion 5 is held at a fixed position. In this state, the handle 36 is reversely rotated by a motor or a finger to slide the moving plate 1 backward from the fixed portion 5 in the belt 4, and the belt front side 4 a is pulled back to the bottom side of the moving plate 1. By this pulling back, the article W on the belt front side 4a is lowered onto the table. Also in this case, since friction does not occur between the belt 4 and the article W, the article W is not deformed or deformed, and the shape as it was on the belt front side 4a is maintained and is placed on the table. Taken down (returned).

(Embodiment 3 of the article unloading apparatus)
A third embodiment of the article unloading apparatus according to the present invention will be described with reference to FIG. This article unloading apparatus is suitable for use as a robot hand or attached to other work equipment. The article unloading device also has a belt 4 that circulates in a ring shape from the bottom surface side to the top surface side of the movable plate 1, one or more fixing portions 5 of the belt 4 are fixed, and the ring length is constant, In the basic structure in which the movable plate 1 can be slid back and forth within the belt 4, and the belt 4 is extended and retracted as shown in FIGS. This is the same as the article unloading apparatus of the first embodiment. The difference is that the drive unit 9 for sliding the moving plate 1 back and forth is of an air cylinder type. Specifically, the cylinder 41 of the air cylinder is mounted on the rear support tool 40 of the moving plate 1, and the rod 43 of the air cylinder is fixed to the front support tool 44 mounted on the fixing tool 6, thereby controlling the air cylinder. By supplying and exhausting air to the circuit (control unit) 45 via the air hoses 46a and 46b, the cylinder 41 reciprocates back and forth along the rod 43, and the movement connected to the cylinder 41 along with the slide. This is because the plate 1 slides back and forth in the same direction. As shown in FIG. 9, the apparatus for loading and unloading the article is housed in a box-shaped casing 47, and the movable plate 1 and the belt front end side 4 c can protrude forward from the front end opening 48 of the casing 47. The attachment portion 47 a can be attached to the arm 50 of the robot 49.

(Embodiment 3 of the method for putting down articles)
When using the article unloading apparatus shown in FIG. 9 as a robot hand as shown in FIG. 9, the air hoses 46a and 46b are connected to an air pump. In order to pick up the irregular shaped article W on the belt 4 with this robot hand, the belt front end 4c is set behind the article W, and the housing 47 is held at a fixed position to fix the place 5 (FIG. 8). ) So that it does not move back and forth. In this state, air is supplied / exhausted from the air pump to the control unit 45 via the air hoses 46a and 46b, and the cylinder 41 is moved forward along the rod 43 in the housing 47 as shown in FIG. Is slid forward in the belt 4 relative to the fixed portion 5 and the moving plate 1 is moved under the article W while the belt 4 is fed from the bottom surface side to the upper surface side. By this approach, the article W is rolled up on the belt front side 4a and lifted (crawled up) on the belt front side 4a as shown in FIGS. Also in this case, the article W is neither deformed nor out of shape.

  In order to return the article W lifted onto the belt 4 as described above onto the table, the following procedure is performed. The belt tip 4c is contacted (set) on the base to hold the fixed portion 5 at a fixed position, and in this state, air from the control unit 45 is supplied / exhausted from the air pump via the air hoses 46a and 46b. Then, the cylinder 41 is retracted along the rod 43, and the moving plate 1 is slid rearwardly from the fixed portion 5 in the belt 4 and the belt front side 4a is pulled back from the upper surface side to the bottom surface side of the moving plate 1. to continue. By this pulling back, the article W on the belt front side 4a is sent out from the belt 4 onto the table and lowered. Also in this case, the article W does not lose its shape.

  Since the robot hand rotates with the rotation of the robot arm and can operate in accordance with the movement of the robot such as turning and swinging of the robot, for example, the article W conveyed by the belt conveyor 51 as shown in FIG. Suitable for transfer to another belt conveyor 52.

  The apparatus for suspending articles according to the present invention includes sugar, salt, chemical seasoning, powders such as drugs, granular materials such as soybeans, rice, capsules and chips (rose articles not contained in a container), bacterial species, culture solution, It can be used to unload all items such as agricultural products, marine products, food, clothing, industrial products, and mailed items. In addition, it can be used to put on and take down elderly people, people who have difficulty walking, etc. during treatment, sickness treatment, etc., and can be used in all articles and fields.

(A) is a perspective view which shows an example of the article lowering apparatus of this invention, (b) is a perspective view of the state which the article lowering apparatus of (a) scooped up the article. FIG. 2 is a partial longitudinal side view of the article dropping device of FIG. XX sectional drawing in FIG. (A)-(c) is a slide explanatory drawing of the slide of a moving board and the belt in the apparatus for lowering articles of this invention. (A)-(c) is explanatory drawing of the article pick-up by the article lifting apparatus of this invention, (a) is explanatory drawing of the state which set the movement board and the belt to the back of the article, (b) is in the middle of picking up Explanatory drawing of (c), Explanatory drawing after completion of scooping. The perspective view which shows the other examples of the apparatus for taking down the article of this invention. FIG. 7 is an explanatory diagram of the use of the article unloading apparatus in FIG. 6, (a) is an explanatory diagram of a set state behind the article, and (b) is an explanatory diagram after completion of article hoisting. The perspective view of the Example which uses the air cylinder as a drive body of the apparatus for taking down the article of this invention. Explanatory drawing at the time of mounting | wearing a robot as a robot hand with the article dropping apparatus of FIG. FIG. 10 is an explanatory diagram of the inside of the robot hand of FIG. 9. The top view which shows an example of use of the robot hand of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Moving plate 1a The front-end | tip part of a moving plate 2 The bottom face of a moving plate 3 The upper surface of a moving plate 4 Belt 4a Belt front side 4b Belt rear side 4c Belt front-end | tip 5 Belt fixed part 5a, 5b Belt both ends 6 Fixing tool 6a Bottom Square bar 6b square bar 7 base body 8 screw shaft 9 drive unit 10 coupling tool 11 base body opening 12 base body internal space 13 motor support bracket 14 motor rotating shaft 15 drive rotary body 16 base internal space 17 forward support Bracket 18 Rear support bracket 19 Driven rotator 20 Rotating connector 21 Moving bracket 22 Screw hole 23 Connecting portion of moving plate 30 Operating portion 31 Holding tool 32 Screw rod 33 Bracket 34 Screw hole 35 Projecting end of screw rod 36 Handle 40 Rear Support tool 41 Cylinder 43 Rod 44 Front support tool 45 Air cylinder control circuit The control unit)
46a, 46b Air hose 47 Housing 47a Housing mounting portion 48 Housing front end opening 49 Robot 50 Arm 51 Belt conveyor 52 Belt conveyor H Handle M Motor SW1 Forward switch SW2 Backward switch T Base W Article

Claims (4)

  The belt is circulated in the form of a ring on the bottom and top surfaces of the moving plate, and one or two or more locations in the belt's circumferential direction are fixed and the ring length is constant. The moving plate is slid forward in the belt from the fixed position, and the front side of the belt is fed from the moving plate bottom side to the moving plate top side, and the article on the front side of the belt is lowered on the front side of the belt. The belt is placed on the front side of the belt, and the moving plate is slid rearward from the fixed position in the belt to return the front side of the belt from the upper side of the moving plate to the lower side of the moving plate. A method for putting down an article, wherein the article is retracted from under the article and the article is lowered from the front side of the belt.   A moving plate and a ring-shaped belt are provided, and this belt is circulated in a ring shape on the bottom surface side and the top surface side of the moving plate, and one or more places in the rotating direction are fixed, the ring length is constant, When the belt is slid forward from the fixed portion in the ring-shaped belt, the belt front side is drawn out from the moving plate bottom surface side to the moving plate top surface side, and the belt rear side is drawn out from the moving plate top surface side to the moving plate bottom surface side. The article lowering device is characterized in that when the belt is slid rearward, the belt front side is pulled back from the moving plate upper surface side to the moving plate bottom surface side, and the belt rear side is fed back from the moving plate bottom surface side to the moving plate upper surface side.   3. The article unloading apparatus according to claim 2, further comprising a handle that can be held by hand and a switch that can switch back and forth movement of the movable plate.   4. The article unloading apparatus according to claim 3, further comprising: a mounting part that can be attached to and detached from a robot arm or work equipment; and a connecting part that can connect a driving body that slides the moving plate.

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