JP2509980B2 - Article removal tool - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an article take-out tool for taking out an article from a container such as a cardboard box having an opening, a plastic container, or the like, and more particularly, to an article take-out tool which is stored in the container. The present invention relates to an article take-out tool provided with a partition corresponding to an array of articles present.

[Conventional technology]

As conventional techniques related to the article take-out tool, Japanese Patent Publication No. 53-7875, Japanese Patent Laid-Open No. 60-13615, and Japanese Patent Laid-Open No. 62-65315 are available.
-153017, JP-B-55-43873, and JP-B 57
The one described in Japanese Patent Publication No. -21842 is known.

Thus, Japanese Patent Publication No. 53-7875 describes a method of packing an article in which the bottom lid of a packaging box having a partition is opened and articles are smoothly stored from below. Japanese Patent No. 13615 describes a guide frame of a bottle packaging machine that guides articles (bottles) to a packaging box or a case and stores them all at once without causing arrangement disorder. Japanese Patent Laid-Open No. 62-153017 describes a bottle bottle take-out device for taking out articles conveyed on a line in an aligned state.

Further, Japanese Patent Publication No. Sho 55-43873 discloses a manipulator capable of simultaneously gripping or releasing a plurality of articles by one drive system.
Japanese Patent No. 842 describes a single-row supply type caser for taking out a large number of articles stored in a transport box and supplying the articles in a single row.

[Problems to be Solved by the Invention]

However, the above conventional techniques have the following problems.

That is, the article boxing method described in JP-B-53-7875,
The guide frame described in Japanese Patent Laid-Open No. 60-13615 or the bottle arranging and taking-out apparatus described in Japanese Patent Laid-Open No. 62-153017 disclose a technique such as box packing in the production process of articles. However, nothing is described and no suggestion is made regarding taking out the articles stored in the container in the arrangement of the storage state. In addition, Japanese Patent Publication Sho 53-78
The article boxing method described in Japanese Patent Publication No. 75 is, even if an article stored in a container is to be transferred to the packaging box, since the partition of the packaging box does not project outside the packaging box. ,
I can't insert the partition into the container where the items are stored,
The articles contained in the container cannot be taken out in the aligned state. In the guide frame described in JP-A-60-13615, a guide frame (partition) can be inserted between the bottles (articles) held by the bottle gripper, but Since it has a structure in which a partition is inserted, it cannot be applied to take out an article stored in a container. Further, since the bottle aligning and taking-out device described in JP-A-62-153017 is designed to take out articles by horizontally moving the bottle aligning member, the bottles are stored in a container having a side wall. You cannot take out the existing items.

Further, the manipulator described in JP-B-55-43873, or the single-row feed type caser for the multi-row storage article described in JP-B-57-21842 is a large number of articles stored in a container. Since the chucking head grips each of the articles, the articles cannot be gripped when the articles in the container are misaligned, and the articles cannot be transferred.

Therefore, an object of the present invention is to easily and efficiently handle articles stored in a fixed arrangement in a container such as a cardboard box having an opening, a plastic container, etc. from the above-mentioned container in correspondence with the arrangement of the stored state of the articles. An object is to provide an article take-out tool that enables taking out.

[Means for solving the problem]

The present invention is an article take-out tool for taking out articles B stored in a container 10 having an opening 11 in a fixed arrangement in accordance with the arrangement of the articles B in the stored state. The partition 21 is inserted into the container 10 to partition the articles B stored in the container 10 according to the arrangement of the storage state, and a shutter 22 that is openable and closable with respect to the base end side of the partition 21. A plurality of the partitions 21 are provided vertically and horizontally at right angles to partition the articles B stored in the container 10 one by one, and at the outer end of the partition 21. The above object is achieved by providing an article take-out tool characterized in that chamfers 21a are respectively formed.

[Action]

According to the article take-out tool of the present invention, the tip of the partition is inserted into the container through the opening of the container, the article stored in the container is partitioned according to the arrangement of the storage state, and the shutter is opened. The article can be taken out as it is.

〔Example〕

Hereinafter, first, the article take-out tool of one embodiment of the present invention,
Description will be given based on an example of an article transfer device using the article take-out tool. The article take-out tool of the present embodiment is suitable for taking out bottle-shaped articles such as kitchen detergents, clothing detergents, shampoos and rinses from containers having openings.

1 (a) and 1 (b) are perspective views showing an example of an article transfer device using the article take-out tool of the present embodiment, and FIG. 1 (a) shows an apparatus to which the article transfer device is applied. Figure showing,
FIG. 2B is a view showing a state in which the container and the article take-out tool of the present embodiment are inverted to the article cutting tool side by the reversing device of the article transferring apparatus, and FIG. 2 is a side view in FIG. 1A. FIG.

As shown in FIGS. 1 (a) and 2, an article transfer device A using the article take-out tool of this embodiment is provided with a container 10 from a storage facility C for storing an article B stored in the container 10. Is taken out and only the article B in the container 10 is transferred to the article supply device D, and is arranged between the storage facility C and the article supply device D.

In this embodiment, the article transferring apparatus A is provided with a partition 21 corresponding to the arrangement of the plurality of articles B housed in the container 10 and configured to partition the articles B one by one. Article take-out tool 20, a container take-out apparatus 30 for taking out the container 10 from the storage facility C, and a reversing apparatus 40 having a superposing device 41 for superposing the article take-out tool 20 and the container 10.
A carriage 50 on which the container take-out device 30 and the reversing device 40 are mounted, and a stacker crane 60 that supports the carriage 50 so as to be lifted and lowered are configured.

Further, the storage facility C includes a plurality of rows and a plurality of stages of fluidized shelves 70, which will be described later, and the article supply device D includes a spiral chute 90 including an article cutting tool 80 for cutting the article B from the article transfer apparatus A. It is composed of the subject.

 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 reversing apparatus 40, and the like of the present embodiment, which constitute the article transfer apparatus A, will be described.

As shown in FIG. 3A, the article take-out tool 20 of the present embodiment is configured as a transportable housing 23 having a partition 21, a shutter 22, etc., and the tip of the partition 21 has the article take-out tool 20.
It is formed so as to project downward from the base portion 24 along the open end of the portable housing 23. Then, the protruding tip portion of the partition 21 is connected to the opening 11 of the container 10 as shown in FIGS. 3 (c) and 3 (d).
When the article take-out tool 20 is turned over to the state in which the article take-out tool 20 is placed on the container 10, the partition 21 is formed so that the tip of the partition 21 reaches below the shoulder portion of the article B. In the state in which they are superposed, the partition 21 forms the container 10 as shown in FIG. 3 (a).
According to the arrangement (4 × 3 rows) of the articles B stored in, the article B is configured to be partitioned as an article storage section 26 for storing the articles B one by one, and a chamfer 21a is formed at the outer end thereof. The take-out tool 20 is designed to be easily introduced into the opening 11 of the container 10. Further, the shutter 22 is composed of one plate, and all of the articles B can be transferred to the article slicing tool 80 of the article supply device D, which will be described later, at substantially the same time, and the base end of the partition 21 of the article unloading tool 2 can be transferred. After the article B is transferred from the article take-out tool 20 to the article cut-out tool 80, the article B is cut out to the spiral chute 90 via the chute 91 according to the picking command, and the load is aligned. Is configured to.

The container removing device 30 includes a pantograph-type lifting device (not shown) provided on the carriage 50 of the stacker crane 60, and a fixed conveyor 31 mounted on the lifting device.
And a traveling conveyor 33 that can swing up and down on the container take-out side at the pivot 32 and that travels so as to advance to the fluidized shelf 70.

Further, the reversing device 40, the flow direction of the container 10 stored in the fluidized shelf 70 on the carriage 50 of the stacker crane 60, that is, a traveling platform 42 that travels along the front-back direction with reference to the fluidized shelf 70, A frame 43 erected on the traveling table 42, a rotating shaft 44 supported near the upper end of the frame 43, and a rotating shaft 44.
Of the first gripping hand 45 that holds the article take-out tool 20 by opening and closing in the axial direction (hereinafter, referred to as left-right direction) of the first gripping hand 45, and a guide member that is hung near the rotation shaft 44 side of the first gripping hand 45.
46, and a second gripping hand 47 that moves up and down along the guide member 46 while gripping the container 10, and superimposes the container 10 on the article take-out tool 20 gripped by the first gripping hand 45. . Of these, the first and second gripping hands 45, 4
The superposing device 41 is configured by the 7 and the guide member 46, and the reversing device 40 is configured to integrally rotate the superposing device 41 with the rotation shaft 44 as a fulcrum. The first gripping hand 45 includes a screw shaft 48 that is supported by the frame 43 in parallel with the rotating shaft 44, that is, a screw shaft 48 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.
It is configured to be opened and closed by driving. Also,
Inside the first gripping hand 45, an engaging projection (not shown) that engages with an engaging recess 25 formed in the vicinity of the base 24 on both sides of the opening end of the article take-out tool 20 is provided. The first gripping hand 45 is configured to surely grip the article take-out tool 20, and is configured not to drop the article take-out tool 20 during reversing. In addition, the second gripping hand 47
Is a gripping hand base 47 that moves up and down along the guide member 46.
It is configured by a parallelogram type link mechanism (not shown) having a as one side, and is configured to move in the left-right direction to a desired gripping interval and grip the container 10. A screw shaft (not shown) is provided inside the guide member 46.
Is provided, and the second gripping hand 47 is moved up and down by driving the screw shaft.

Further, the stacker crane 60 is configured to travel along the traveling rail 61 shown in FIG. 1 (a) arranged along the takeout opening 71 of each fluidized shelf 70, and the container takeout device mounted on the carriage 50. 30 and a reversing device 40 are provided so as to be able to move up and down.

Next, the fluidized shelf 70 which constitutes the storage facility C, the article cutting tool 80 and the spiral chute 90 which constitute the article supply device D will be described respectively.

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

Further, the article cutout tool 80 of the article supply device D is a housing 81 configured to store the articles B transferred from the article takeout tool 20 and cut out the articles B one by one. It is fixedly installed on the upper part of the chute 91 for guiding. And the partition of the article take-out tool 20
Corresponding to 21, it comprises a partition 82 for partitioning the articles B one by one, and a shutter 83 (see FIG. 4) for dropping the stored articles B one by one on a cutting chute 91. . In addition, an article take-out tool 80
A guide guide plate 84 is provided at the upper end of the article cutting tool 80 so that the 20 can be smoothly stacked.

Further, the spiral chute 90 has a plurality of chutes 91.
The article B cut out from each of the article cutting tools 80 is conveyed and supplied to a desired container or the like (not shown) via.

Further, in the space formed between the spiral chute 90 and the article cutting tool 80, under the condition that the article take-out tool 20 is stacked on the article cutting tool 80 by being inverted by the reversing device 40 of the article transfer device A. The empty container discharge conveyor 100 is arranged at substantially the same height as the container 10 in FIG. 1. The empty container 10 is transferred to the empty container discharge conveyor 100 by the second gripping hand 47, and the container 10 is moved to the system. It is configured to discharge to the outside.

Further, the article B shown in FIGS. 3B to 3D is a commodity stored in a flat plastic bottle,
Twelve articles B arranged in 4 × 3 rows are stored in the container 10. In addition, the plurality of articles B stored in the container 10 have a certain amount of clearance in the upper part thereof, and when the container 10 is overturned, the arrangement is likely to be disturbed, which is why the partitioning of the article take-out tool 20 is performed. 21 is formed so as to project from the base portion 24.

Further, when the container 10 is a cardboard box having an opening 11 on the top surface, a plastic container, or the like as shown in FIG. 3B, the container 10 may be directly supplied to the fluidized shelf 70. If it is packed in a cardboard box,
After forming the opening 11 by cutting the top surface in advance,
The fluid may be supplied to the fluidized shelf 70.

Next, an example of an article transfer mode by the above-described article transfer apparatus A using the article takeout tool of the present invention will be described.

A plurality of containers 10 each accommodating one type of article B are stored in each take-out opening 71 of the fluidized shelf 70 in the storage facility C.

On the other hand, the article B stored in the article take-out tool 20 is
When transferred to the article slicing tool 80, the reversing device 40 moves to a position facing the emptied article unloading tool 20 due to the traveling of the stacker crane 60 and the elevation of the carriage 50, and the container 10 is moved to the second gripping hand. The tip of 47 projects to the empty container discharge conveyor 100. That is, the second gripping hand 47
With the space between the and slightly smaller than the width of the container 10,
42 toward the empty container discharge conveyor 100, i.e.
If 0 is set as a reference, the empty container 10 is transferred to the empty container discharge conveyor 100 by moving backward. Further, when the container 10 is transferred, the first gripping hand 45 is located outside the engagement recess 25 of the article take-out tool 20, so 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 first gripping hand 45 moves in a clockwise direction in the side view shown in FIG.
After rotating 10 °, the traveling table 42 advances toward the fluidized shelf 70 to the position shown by the solid line in the figure, and the first gripping hand 45 moves
In that state, the first gripping hand 45 is further rotated by approximately 170 ° in the clockwise direction to the state shown by the solid line in FIG.

Further, as the stacker crane 60 travels and the carriage 50 moves up and down, the reversing device 40 moves to a desired position, and the container take-out device 30 takes out the container 10 stored in the desired take-out opening 71. That is, when the carriage 50 of the stacker crane 60 is stopped at a desired position, the traveling conveyor 33 advances toward the take-out opening 71, and the container take-out side is swung upward around the pivot point 32, whereby the container 10 is moved. When one is taken out, the traveling conveyor 33 moves backward and the container 10 is carried into the fixed conveyor 31 at a predetermined position.

After that, when the fixed conveyor 31 and the traveling conveyor 33 are raised to the centering position via a pantograph-type lifting device (not shown), the second gripping hand 47 supports the bottom surface of the taken-out container 10 while supporting it. Grip the sides and center. Second centering hand 47 after centering
Rises along the guide member 46 to lift the grasped container 10 to the vicinity of the base 24 of the article take-out tool 20 and project downward from the base 24 as shown in FIGS. 3 (c) and (d). The partition 21 is inserted into the container 10 and stopped. In addition, even if the arrangement of the articles B is disturbed due to the gap in the upper portion of the container 10, the partition 21 is inserted into the gap to ensure the original arrangement state of the articles and separate the articles. Further, when the article take-out tool 20 and the container 10 are superposed, as shown in FIG. 3 (c), if a gap δ of about 5 mm is opened, the article B is smoothly transferred from the container 10 to the article take-out tool 20. be able to.

As described above, the base 24 of the article removing tool 20 and the container 10
When the opening 11 is overlapped, the reversing device 40 is driven to reverse the article take-out tool 20 and the container 10 as shown in FIG. 1 (b). That is, the first and second gripping hands 45, 47 and the guide member 46 are reversed in the counterclockwise direction in FIG. 2 with the rotary shaft 44 as the fulcrum. This reversing operation will be described in more detail. After the first gripping hand 45 rotates counterclockwise by about 170 °, the traveling table 42 moves backward and the article take-out tool 20 in the reversing process is placed substantially above the article cutting tool 80. Then, the first gripping hand 45 further rotates counterclockwise by about 10 °, and the article take-out tool 20 and the container 10 are superposed on the article cutting tool 80. By this reversing operation, the articles B stored in the container 10 are partitioned one by one by the partition 21,
It is transferred to the article take-out tool 20.

When the article take-out tool 20 and the container 10 overlap each other on the article cutting tool 80, the first gripping hand 45 opens to release the article taking-out tool 20 and the second gripping hand 47 also opens.
After releasing 10, the traveling table 42 moves forward and stands by in preparation for the transfer of the next article B.

When the articles B stored in the article take-out tool 80 sequentially open the shutters 83 corresponding to the article rows and drop the articles B into the chute 91, and all the articles B are cut out from the article cut-out 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 transferred to the article cut-out tool 80.

As described above, the articles B transferred to the article slicing tool 80 are cut out in accordance with the desired number of picking commands, for example, by opening the shutter 83 and sequentially cutting out the articles B as shown in FIG. The article B is a desired container or the like (not shown) via the chute 91 and the spiral chute 90.
Is transported to. Since a plurality of chutes 91 are connected to one spiral chute 90 at different heights, a plurality of article slicing tools 80 from which a plurality of articles B of different types are provided at substantially the same time in one container. Etc. can be automatically sorted.

Thus, FIG. 4 is a view showing a second embodiment of the article take-out tool 20, and an article B having a different shape from the article B shown in FIG.
Article take-out tool 20 and article cut-out tool for transferring
It is a perspective view which shows the outline of the state which overlapped with 80, and has shown the state when the article B is cut out. In this example, the articles B are arranged in 4 × 2 rows and stored in the container 10.

The embodiment of the article take-out tool of the present invention, the example of the article transfer apparatus using the article take-out tool, and the article transfer mode have been described above, but the present invention is limited to these examples and modes. However, the same effect as that of the above-described embodiment can be obtained even if the article take-out tool 20 shown in FIG. 5 (a) and FIGS. 6 to 9 is used.

That is, FIG. 5 (a) is a diagram showing a third embodiment of the article take-out tool 20, and a perspective view showing the article take-out tool 20 for taking out the cylindrical article B shown in FIG. 5 (b). Is.
The article B shown in FIG. 5 (b) is different from the article B shown in FIG. 3 or 4 in the case where the article B has a cylindrical shape. It is an article that makes line contact in the entire region of the direction. Therefore, there is no gap between the adjacent articles B and B to allow the insertion of the partition 21, and the tip of the partition 21 shown in FIG. 3 or 4 cannot be inserted into the container 10 to partition the article B. Therefore, as shown in FIG. 5 (a), the article take-out tool 20 of this embodiment is one in which the tip end shape of the partition 21 is formed in a saw-tooth shape, and other points are shown in FIG. It has the same structure as the article take-out tool 20 shown in FIG. That is, the article take-out tool 20 shown in FIG. 5 (a) has a partition 21 in a plan view with respect to the gap 12 in the container 10 formed between the articles B.
Is formed so as to project from the opening of the portable housing 23 so that the tip of the article B can be inserted,
21 is formed to match the open end of the portable housing 23 so as to avoid that position, and is formed in a saw-tooth shape with a convex portion 21b and a concave portion 21c, respectively, as a whole, the partition 21 protrudes from the base portion 24. ing.

Further, FIG. 6 is a perspective view showing a fourth embodiment of the article take-out tool 20, and the article take-out tool 20 of the present embodiment is the same article B as the article B shown in FIG. 5 (b). All are configured in the same manner except that the partition 21 is applied and the tip shape of the partition 21 is different from those in the above-mentioned respective embodiments.

Further, FIG. 7 is a perspective view showing a fifth embodiment of the article take-out tool 20, which is applied to the bottle-shaped article B shown in the figure and has a large saw-tooth protrusion and a small saw-tooth protrusion at the tip. A partition 21 having parts and parts is provided alternately.

FIG. 8 is a perspective view showing a sixth embodiment of the article take-out tool 20, which is the same article B as the article B shown in FIG.
Is an article take-out tool 20 for taking out from the container 10,
Unlike the article take-out tool 20 shown in FIG. 4, a shutter 22 is provided in the vicinity of a base 24, and an article storage section 26 and a portable housing are provided.
Therefore, the article take-out tool 20 having the partition 21 formed by only the tip portion of the partition 21 shown in FIG. 4 is omitted. When the article take-out tool 20 and the container 10 are inverted as shown in FIG.
It is partitioned by and placed on the shutter 22, taken out by the article take-out tool 20 in the state of being stored in the container 10, and waits until the article is transferred to the article cut-out tool 80. That is, the container 10 plays the role of the portable housing 23 in each of the above-mentioned article take-out tools 20. Thus, when there is a transfer command to the article cutting tool 80, the shutter 22 is opened, and the article B stored in the container 10 is transferred to the article cutting tool 80.

FIG. 9 is a perspective view showing a seventh embodiment showing a modification of the article take-out tool 20 shown in FIG. 8. The article take-out tool 20 of the present example cuts out the articles B one by one. The article take-out tool 2 according to the present embodiment is provided with a shutter 22a for obtaining.
By using 0, the above-described article cutting tool 80 can be omitted.

The opening 11 of the container 10 may be provided on the side surface of the container 10, or the articles B may be stored in the container 10 in multiple stages.

Further, if the reversing device 40 is provided for each take-out opening 71, the stacker crane 60 can be omitted.

Of course, in the above-described article transfer mode using the article take-out tool of the present invention, even if the container 10 storing the article B to be transferred is stored in a place other than the fluidized shelf 70, the same applies. It goes without saying that the above-mentioned article transfer mode can be applied to the above.

〔The invention's effect〕

The article take-out tool according to the present invention is provided with a tip inserted into an opening of a container to partition an article housed in the container according to the arrangement of the housed state and a base end side of the partition so as to be openable and closable. Since the shutter is provided with a shutter, the articles stored in a fixed arrangement in a container such as a cardboard box or a plastic container having an opening are made to correspond to the arrangement state of the articles, and the arrangement is disturbed. Without, it can be taken out easily and efficiently from the container.

Then, by using a container having an opening provided on the top surface, it is possible to partition and take out articles contained in the container from above the opening in arbitrary quantities.

Moreover, since the articles stored in the container are partitioned one by one by the partition of the article take-out tool, an arbitrary number of articles can be picked.

[Brief description of drawings]

FIGS. 1 (a) and 1 (b) are perspective views showing an example of an article transferring apparatus using an article take-out tool according to an embodiment of the present invention, and the article transferring apparatus shown in FIG. 1 (a) is applied. FIG. 2B is a view showing a state in which the container and the article take-out tool of the present embodiment are inverted to the article cut-out tool side by the reversing device of the article transfer device, and FIG. FIG. 3A is a side view, FIG. 3A is a perspective view showing a first embodiment of an article take-out tool that constitutes an article transfer device, and FIG. 3B is a container that contains articles. FIG. 7 (c) is a front view showing the state in which the article take-out tool shown in FIG. 10 (a) and the container shown in FIG. 16 (b) are stacked by the stacking device, FIG. Is a side view of FIG. 4C, FIG. 4 is a view showing an article take-out tool of the second embodiment, and is shown in FIG. 3B. 5 is a perspective view showing a state in which a container accommodating an article having a shape different from that of the article and the article take-out tool are reversed and superposed on the article take-out tool, and FIG. 5 (a) shows the article take-out tool of the third embodiment. FIG. 6B is a perspective view showing a container accommodating an article to which the article take-out tool shown in FIG. 9A is applied, and FIG. 6 is a perspective view showing the article take-out tool of the fourth embodiment. FIG. 7 is a view showing an article take-out tool according to a fifth embodiment, and is a side view showing a state in which the article is suitable for the article take-out tool and is stacked on a container, and FIG. 8 is a sixth embodiment. FIG. 9 is a perspective view showing a state in which the article take-out tool is superposed on the article cut-out tool, and FIG. 9 shows a modified example of the article take-out tool shown in FIG. It is a figure which shows an article extraction tool. B: article 10 ... container 11 ... opening 20 ... article take-out tool 21 ... partition 22 ... shutter

Claims (1)

(57) [Claims] 1. An article take-out tool for taking out articles B stored in a container 10 having an opening 11 in a fixed arrangement in accordance with the arrangement of the articles B in the stored state, wherein the opening of the container 10 is provided. 11 includes a partition 21 into which the tip is inserted to partition the articles B stored in the container 10 according to the arrangement of the storage state thereof, and a shutter 22 which is openable and closable with respect to the base end side of the partition 21. In addition, a plurality of the partitions 21 are provided so as to be orthogonal to each other in the vertical and horizontal directions so as to partition the articles B housed in the container 10 one by one, and the outer end portion of the partition 21. The article take-out tool characterized in that each of them has a chamfer 21a.