JP3827553B2 - Container transport method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, a container stack that is configured by stacking containers and is in a first position is held by a container holder of a container holding mechanism of a container transfer device, and the container holding mechanism is transferred by a position control mechanism of the container transfer device. Then, the present invention relates to a container transport method in which the container stack is transported to a second position by releasing the holding of the container stack by the container holder.
[0003]
[Prior art]
According to Japanese Patent Application No. 7-291980 (see Japanese Patent Application Laid-Open No. 9-109080), the present applicant has a container holding mechanism that can hold a container stack formed by stacking containers such as paper cups vertically. A container transporter (hereinafter referred to as “the above-mentioned known container transporter”) has already been proposed. According to the known container transporter, a plurality of container stacks stored in a box such as a cardboard box having an opening surface on the upper surface so that the stacking direction thereof is in the vertical direction are gripped by the container holding mechanism. And it can convey in order one by one to the predetermined location of the container holder of a filling machine.
[0004]
[Problems to be solved by the invention]
However, when the container stack is transported by the known container transporting machine, the uppermost container of each container stack gripped by the container holding mechanism is exposed to the outside through the opening surface of the box. Therefore, garbage and dust enter the top container during and after the container transport process (especially between opening the box and holding the container stack by the container holding mechanism). It is.
[0005]
In addition, since only one container stack is transported in a single container transport process by the known container transport machine, a large number of container transport processes are required to transport all the container stacks in the box. Necessary and, for this, are inefficient.
[0006]
In the present invention, the above-mentioned drawbacks of the container transport method by the known container transport machine can be effectively corrected with a simple configuration.
[0007]
[Means for Solving the Problems]
  In the present invention, a container stack that is configured by stacking containers and is in a first position is held by a container holder of a container holding mechanism of a container transfer device, and the container holding mechanism is transferred by a position control mechanism of the container transfer device. Then, in the container transport method in which the container stack is transported to the second position by releasing the holding of the container stack by the container holder, the container holder is in the stacking direction of the containers. Is a container transport method in which the container stack is held by approaching the container stack from a direction orthogonal to a fixed side longitudinal member having a fixed side container stack holding portion and a movable side container stack. The container holder is provided with a movable side-like longitudinal member having a holding part and is movable back and forth, and one fixed side container stack holding part and a forward movement position. The one by the said movable container stack holder to form a single container stack receiving space, the container stack receiving space the movable container stack holder from the forward position inAlong an arcBy moving backward, the holding of the container stack is released. In this case, it is preferable to transport a plurality of the container stacks at a time using a container transport device having a container holding mechanism in which a plurality of the container holders are arranged in parallel to each other. The container stack at at least one of the first position and the second position is housed in a box having an opening surface on one surface, and the container stack has the stacking direction. Is preferably housed in the box so as to be parallel to the opening surface. Further, by rotating the container holder between the time when the container stack is held by the container holder and the time when the holding is released, the container stack held by the container holder is horizontally Alternatively, the direction is preferably changed from the vertical state to the vertical or horizontal state.
[0008]
  In addition, the present inventionFor carrying out the method of transporting containers by means ofIs thatFirstAccording to the above aspect, in a container transport device including a container holding mechanism having a container holder capable of holding a container stack configured by stacking containers and a position control mechanism capable of transferring the container holding mechanism, The container holderparallelThe interval between the plurality of container holders is changed between the time when the container stack is held by the container holder and the time when the holding is released. Configured to be able toIt may be. With this configuration, the mutual interval between the plurality of container stacks can be changed before and after the transfer, so the mutual interval before the transfer of the multiple container stacks and the mutual interval after the transfer Can be different from each other as necessary.
[0009]
  In addition, the present inventionFor carrying out the method of transporting containers by means ofIs thatSecondAccording to the above aspect, in a container transport device including a container holding mechanism having a container holder capable of holding a container stack configured by stacking containers and a position control mechanism capable of transferring the container holding mechanism, The container holder includes a longitudinal member having a container stack retaining portion, and the longitudinal member is attached and supported by an attachment portion at an intermediate portion in the length direction thereof.May. In this case, the container holder includes at least one position restricting member capable of at least partially closing an end portion of the container stack accommodating space formed by the elongated member, and the position restricting member includes the sealing member. It is possible to reciprocate between a blocking position for enabling and a blocking releasing position for releasing the blocking, and the position regulating member in the blocking releasing position is retracted to both ends in the longitudinal direction of the longitudinal member. It is preferable.According to this structure, when a container stack having a horizontal stacking direction before transport is transported so that the stacking direction is vertical or inclined after transport, the container stack is removed from the container holder. It can be reliably transported so that it does not drop unexpectedly.
[0010]
  In addition, the present inventionFor carrying out the method of transporting containers by means ofIs thatThirdAccording to the above aspect, in a container transport device including a container holding mechanism having a container holder capable of holding a container stack configured by stacking containers and a position control mechanism capable of transferring the container holding mechanism, The container holder is a first movable member having a fixed-side longitudinal member having first and second container stack holders, and a third container stack holder that can face the first container stack holder. A side longitudinal member, and a second movable side longitudinal member having a fourth container stack holding portion that can face the second container stack holding portion, and the first container stack holding portion and the first container stack holding portion. A first container stack housing space can be formed by the three container stack holding portions, and a second container stack can be formed by the second container stack holding portion and the fourth container stack holding portion. Which was constructed so that the volume space can be formedIt may be. If comprised in this way, the container holder of a simple structure can be provided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
  Next, the first of the present inventionAnd secondThe embodiments will be described by dividing into each embodiment with reference to the drawings.
[0013]
First embodiment
First, referring to FIGS. 1 to 9, the first embodiment of the present invention will be described for the entire configuration of the container transport system, each configuration of the container holding mechanism of the container transport device and its position control mechanism, and each operation of the container transport device. This will be explained in terms of items.
[0014]
(1) Overall container transport system configuration
As shown in FIG. 1, the container transport system according to the first embodiment is configured to supply a large number of container stacks 2 housed in a box 1 such as a cardboard box to an apparatus (for example, a container stack 2 supplied). (Filling machine for liquid food etc.) The container hopper 5 of the container 4 is transported one by one or a plurality (two in the illustrated embodiment) by the container transporter 3 as a container transport device. It is. In this case, the length in the stacking direction of the container stack 2 may be substantially the same as or slightly smaller than the length of the internal space of the box 1 in the stacking direction.
[0015]
As shown in FIG. 1, the container stack 2 is configured by sequentially stacking containers 6 up and down, and more specifically, almost the whole of the upper container 6 except for the upper end of the upper container 6 is placed in the lower container 6. For example, 50 pieces may be stacked in a columnar shape. The container 6 may be various containers such as a paper cup (so-called paper cup) and a synthetic resin cup. The shape of the container 6 may be any shape such as a circular shape (specifically, a truncated cone shape) or a rectangular shape (specifically, a truncated pyramid shape). Furthermore, an annular collar portion (that is, an annular protruding portion) 6a may be formed on the upper end portion of the container 6 like a normal circular paper cup.
[0016]
As shown in FIG. 1, a large number (for example, several dozens) of container stacks 2 are packed in the box 1 in a state where they are juxtaposed in the left-right direction so as to be substantially parallel to each other and stacked one above the other. These container stacks 2 may be packed in a staggered manner in the box 1 so that the storage space is minimized and does not lose shape during transportation. In this case, even if the height of each container 6 is, for example, several centimeters, the vertical direction (that is, the stacking direction) of each container stack 2 obtained by stacking, for example, 50 such containers 6 vertically. The height is usually 40-60 centimeters.
[0017]
As shown in FIG. 1, the box 1 may have a substantially rectangular parallelepiped shape having an opening surface 1a on one surface, and is disposed in a substantially horizontal state so that the opening surface 1a becomes a substantially horizontal upper surface. May have been. Each container stack 2 is stored in the box 1 in a laid-down state (in other words, the stacking direction of the containers 6 is substantially parallel to the opening surface 1a). There is almost no risk of dust and dust entering the containers 6 stacked on top. However, the upper end (and the lower end) of each container stack 2 is preferably opposed to the common side surface of the box 1 as shown in FIG. Furthermore, the box 1 can be positioned in the horizontal direction by positioning means 7 such as a corner member.
[0018]
The container transporter 3 may be configured as a robot (ie an electronic, electrical and / or mechanical device that can be completely self-controlled). Specifically, as shown in FIG. 1, the container transporter 3 controls the container holding mechanism 11 as a robot hand unit that can hold the container stack 2 and the movement position of the container holding mechanism 11. And a position control mechanism 12. Note that details of the container holding mechanism 11 and its position control mechanism 12 will be described later in order.
[0019]
As shown in FIG. 1, the device 4 to which the container stack 2 is supplied includes a plurality of (four in the illustrated embodiment) container hoppers 5 extending substantially vertically or inclined to some extent and these containers. A plurality of cylindrical projecting portions 15 each having a plurality of dropping openings 13 disposed so as to face each other below the hopper 5 are provided. The container stack 2 is held in the container hopper 5 with its upper end and lower end directed upward and downward, respectively. Each container stack 2 passes through the drop opening 13 when the pair of left and right shutter members 14a and 14b provided at the lower end of the container hopper 5 are opened toward the left outer side and the right outer side, respectively. It is sent to a predetermined container holding position (not shown) of the device 4. In addition, the container hopper 5 has a lower end portion from an upper end portion so that the container stack 2 is stably held in the container hopper 5 and is reliably fed to the predetermined container holding position through the drop opening 13. Preferably, it is inclined slightly outward (i.e., forward).
[0020]
(2) Configuration of container holding mechanism 11
As shown in FIG. 2 and the like, the container holding mechanism 11 is capable of holding the container stack 2 and a pair of front and rear container holders 21 arranged in parallel so as to be substantially parallel to each other, and these container holders 21. And a mechanism main body 22 capable of supporting and operating.
[0021]
As shown in FIGS. 3 and 7, the mechanism main body 22 has an attachment member 23 attached to the fifth arm 98 of the position control mechanism 12 shown in FIG. 1, and the attachment member 23 attached to the upper side thereof. And a support substrate 24. Under the support substrate 24, a pair of front and rear first bearing members 25a and 25b and a pair of front and rear second bearing members 26a and 26b are provided on the left and right sides, respectively. Further, a pair of left and right guide shafts 27 and 28 are supported by the first and second bearing members 25a and 25b and 26a and 26b, respectively.
[0022]
As shown in FIGS. 5 and 7, a pair of left and right guide shafts 27 and 28 includes a pair of front and rear moving members 31 and 32 made of a substantially L-shaped plate or the like. The guide shafts 27 and 28 are attached so as to extend over the guide shafts 27 and 28 by sliding or the like. Each of the guide shafts 27 and 28 includes two pairs of front and rear position restricting members 33a, 33b, 33c, 33d and 34a that can restrict the moving positions of the moving members 31 and 32 in the front and rear direction. 34b, 34c, and 34d are provided, respectively.
[0023]
As shown in FIG. 7 and the like, a cylinder 36 of a cylinder mechanism 35 composed of an air cylinder or the like is attached to one moving member 31. The piston 37 of the cylinder mechanism 35 is attached to the other moving member 32. Therefore, the first state in which the pair of moving members 31 and 32 abut on the front side position restricting members 33a and 34a and the rear side position restricting members 33d and 34d by the expansion and contraction operation of the cylinder mechanism 35, respectively, A second state is obtained in which the moving members 31 and 32 are in contact with the position restricting members 33b and 34b and 33c and 34c, respectively, at the intermediate positions. In the first state, the distance between the pair of moving members 31 and 32 is the largest. In the second state, the distance between the pair of moving members 31 and 32 is the smallest.
[0024]
As shown in FIGS. 3 and 5, a pair of front and rear support frames 41 and 42 made of a substantially inverted U-shaped plate or the like are attached to the lower side of the pair of moving members 31 and 32. In the mechanism main body 22, the structure of each part attached to the pair of front and rear support frames 41 and 42 is substantially the same for each support frame 41 and 42. Only the structure of each attached part will be described.
[0025]
As shown in FIG. 3 and the like, cylinders 45 of a cylinder mechanism 44 including an air cylinder are attached to the lower side of the upper plate portion 41a of the support frame 41, respectively. One end of a first connecting lever 47 is attached to a piston 46 of the cylinder mechanism 44 by a connecting pin 40 so as to be rotatable. Further, the intermediate portion of the first connecting lever 47 is rotatably supported by a support shaft 48 spanned between a pair of left and right bottom plate portions 41 b and 41 c of the support frame 41. Further, one end of the second connecting lever 49 is rotatably connected to the other end of the first connecting lever 47 by a connecting pin 50.
[0026]
A pair of left and right guide plates 52 and 53 are mounted on the inner side of the left and right hanging plate portions 41b and 41c of the support frame 41 as shown in FIGS. 2, 3, 9 and the like (in the case of the illustrated embodiment). Are attached by 51). The pair of guide plates 52 and 53 may be substantially arc-shaped plates, and substantially arc-shaped guide surfaces 52a and 52b and 53a and 53b are formed on both upper and lower side surfaces, respectively. . Further, a pair of left and right moving members 54 and 55 that move in a substantially arc shape along the length of the arc of the pair of left and right guide plates 52 and 53 engage with the guide plates 52 and 53. ing.
[0027]
The pair of left and right moving members 54 and 55 are connected to each other by a connecting shaft 56 as shown in FIGS. Each moving member 54, 55 is provided with at least two moving elements 57 that move along the guide surfaces 52a, 52b or 53a, 53b of the respective guide plates 52, 53. In the illustrated embodiment, these moving elements 57 are rollers that roll on the guide surfaces 52a, 52b or 53a, 53b of the respective guide plates 52, 53. These rollers 57 are provided in pairs (four in total) on each of the moving members 54 and 55. Further, the other end of the second connecting lever 49 is rotatably attached to the connecting shaft 56.
[0028]
On the outside of the pair of left and right hanging plate portions 41b and 41c of the support frame 41, as shown in FIGS. 64 cylinders 65 and 66 are respectively attached. Further, auxiliary mounting plates 67, 68 extending substantially horizontally so as to be positioned below the cylinder mechanisms 63, 64 project from the lower ends of the outsides of the pair of hanging plate portions 41b, 41c.
[0029]
Each of the pair of front and rear container holders 21 includes a pair of front and rear longitudinal plates 71 and 72 extending substantially in the left-right direction as shown in FIGS. A pair of left and right position restricting members 73 and 74 that can face both left and right end portions of 71 and 72, respectively. Each one of the longitudinal plates 71 constitutes a container stack holding part, and is connected to a pair of left and right connecting plates 75 and 76 provided below the auxiliary mounting plates 67 and 68, respectively. Attached at an intermediate portion of the outer peripheral surface and fixed to a pair of front and rear support frames 41 and 42, respectively. Each of the other longitudinal plates 72 is attached to a pair of left and right attachment ears 77 formed at the lower ends of the pair of left and right moving members 54 and 55 so as to extend in the front-rear direction at an intermediate portion of the outer peripheral surface thereof. It has been. Each of the long plates 71 and 72 is supported at two locations (that is, the connecting plates 75 and 76 or the pair of attachment ears 77), but may be supported at one location or three or more locations. . Each of the longitudinal plates 71 and 72 is supported on the outer peripheral surface at an intermediate portion in the length direction (that is, a portion other than both end portions) and at an intermediate portion in the width direction. Therefore, when the elongate members 71 and 72 approach the side surface portion 2a of the container stack 2 in the box 1 from the inner peripheral surface side as will be described later, the supporting portions (that is, the connecting plates 75 and 76, the pair of pairs) There is no fear that the mounting ears 77 and the like will get in the way.
[0030]
The pair of front and rear longitudinal members 71 and 72 are curved in a substantially arc shape in a direction substantially perpendicular to the longitudinal direction. The radius of the first virtual circle including the inner peripheral surfaces of the longitudinal members 71 and 72 (corresponding substantially to the outer peripheral circle of the envelope surface of the container stack 2 shown in FIG. 9A) is the container stack 2 May be substantially the same as or slightly larger than the radius of the second imaginary circle formed of the maximum diameter portion of the side surface portion. The center O1 of the first virtual circle may substantially coincide with the centers of the third and fourth virtual circles including the guide surfaces 52a, 52b and 53a, 53b of the guide plates 52, 53, respectively. Further, the lengths of the longitudinal members 71 and 72 may be substantially the same as or slightly larger or slightly smaller than the height of the container stack 2 in the stacking direction, and one length of the internal space of the box 1 (the stacking direction of the container stack 2). The length of the internal space of the box 1 in FIG.
[0031]
Each of the pair of left and right position restricting members 73 and 74 may be formed of a substantially L-shaped plate, one half of which constitutes a substantially Y-shaped position restricting portion 73a and 74a, and the other half is attached. The plate portions 73b and 74b are configured. The auxiliary mounting plates 67 and 68 are formed with a pair of front and rear mounting portions 78 and 79 that face each other. A pair of left and right connecting levers 81 and 82 are pivotally supported by the pair of attachment portions 78 and 79 by a shaft 80. In addition, connection ear portions 81a and 82a are formed in the vicinity of the base ends of the connection levers 81 and 82, respectively. The pistons 83 and 84 of the cylinder mechanisms 63 and 64 are connected to the connection ears 81a and 82a, respectively. Further, attachment plate portions 73b and 74b of position restricting members 73 and 74 are attached to the free ends of the connecting levers 81 and 82, respectively.
[0032]
(3) Configuration of position control mechanism 12
As shown in FIG. 1, the position control mechanism 12 includes an articulated arm member 91 in which the container holding mechanism 11 is supported at the tip thereof, and an operation control unit (not shown) that automatically controls the operation of the arm member 91. )).
[0033]
As shown in FIG.
(A) a base 92 fixed to the floor;
(B) A turntable 93 that can rotate (that is, rotate) along the horizontal direction on the base 92 with a first axis L1 extending in a substantially vertical direction as a rotation center;
(C) A second shaft L2 extending substantially in the horizontal direction is used as a central axis, and a base end portion is pivotally supported on the upper end portion of the turntable 93, and the second shaft L2 can be rotated about the second shaft L2. 1 arm 94,
(D) A base end portion is pivotally supported by the tip end portion of the first arm 94 with the third axis L3 extending in the substantially horizontal direction as an axis, and is rotated around the third axis L3. Second arm 95,
(E) The base end portion of the second arm 95 has a base end portion so that the second arm 95 can rotate (that is, rotate) about the fourth axis L4 extending substantially in the length direction of the second arm 95. A third arm 96 supported,
(F) The base end portion of the third arm 96 is pivotally supported by the tip end portion of the third arm 96 with the fifth axis L5 extending in a direction substantially orthogonal to the length direction of the third shaft 96 as an axis. A fourth arm 97 that can rotate about the fifth axis L5 as a rotation center;
(G) The base end of the fourth arm 97 is positioned at the distal end of the fourth arm 97 so that the fourth arm 97 can rotate (that is, rotate) about the sixth axis L6 extending substantially in the length direction. A supported fifth arm 98,
Each is equipped. The attachment member 23 of the container holding mechanism 11 is detachably attached to the distal end portion side of the fifth arm 98 with a bolt, a nut, or the like. Note that the first to sixth axes L1 to L6 may all mean virtual axes.
[0034]
Therefore, as shown in FIG. 1, the container holding mechanism 11 performs desired three-dimensional motion within the reach of the arm member 91 by controlling the six axes including the turntable 93 and the first to fifth arms 94 to 98. Can be done. In addition, the container holding mechanism 11 supported at the tip of the arm member 91 can be replaced with a different type depending on the type of the container stack 2 and / or the container 6.
[0035]
In the operation control means (not shown), various kinds of information necessary for taking out the container stack 2 packed in the box 1 from the box 1 (that is, the shape of the box 1 storing the container stack 2, Size, the shape and size of the containers 6, the number of containers 6 stacked on the top and bottom of each container stack 2, how to arrange the container stack 2 in the box 1), and the container stack 2 taken out from the box 1 Position information necessary for transporting to a predetermined location (in the case of the illustrated embodiment, a container hopper 5 such as a filling machine 4) is input in advance. Therefore, when the operation control means (not shown) automatically controls the arm member 91 with a step motor, a hydraulic cylinder, or the like, the container holding mechanism 11 supported on the tip of the arm member 91 becomes the positioning means 7. Are sequentially conveyed to a predetermined position facing a predetermined container stack 2 in the box 1 positioned at a predetermined position or a predetermined position facing a container hopper 5 such as a filling machine 4.
[0036]
(4) Operation of container transporter
As shown in FIG. 1, when a large number of container stacks 2 housed in a box 1 are started to be transported by a container transporter 3 to a container hopper 5 such as a filling machine 4, the container holding mechanism 11 includes the operation control means ( The initial state described in the following items (a) to (c) is set.
(A) As shown in FIG. 7 and the like, the cylinder mechanism 35 is in the backward movement state, and the piston 37 is shortened toward the cylinder 36, and for this reason, the pair of moving members 31, 32 (as a result, The mutual space | interval of a pair of container holder 21) is small.
(B) As shown in FIG. 9 (B), the cylinder mechanism 44 is in the backward movement state, and the piston 46 extends toward the side opposite to the cylinder 45. The member 72 is close to a position where the member 72 is substantially in contact with the fixed-side longitudinal member 71.
(C) As shown in FIG. 4 and the like, the cylinder mechanisms 63 and 64 are in the backward movement state, and the pistons 83 and 84 extend toward the opposite side of the cylinders 65 and 66. Position restricting portions 73a and 74a of the restricting members 73 and 74 are retracted obliquely upward on the inward side from both ends of the longitudinal members 71 and 72.
In the initial state described in the above items (a) to (c), the operation control means (not shown) automatically controls the arm member 91 as shown in FIG. The holder 21 is brought close to the pair of container stacks 2 in the box 1 from the opening surface 1a of the box 1, and the inner peripheral surfaces of the pair of longitudinal members 71 and 72 of the pair of container holders 21 are set to these. The side surface portions 2a of the pair of container stacks 2 are substantially brought into contact with each other. In this case, the pair of container stacks 2 are not necessarily adjacent to each other. However, in the illustrated embodiment, the mutual distance between the pair of container holders 21 substantially matches the mutual distance between the pair of adjacent container stacks 2. Accordingly, since the pair of container holders 21 approaches the pair of container stacks 2 adjacent to each other, the pair of longitudinal members 71 and 72 are respectively connected to the side surface portions 2a of the pair of container stacks 2 from the inner peripheral surface side. Approach and almost touch. Further, in this contact state, the length direction of the longitudinal members 71 and 72 of the container holder 21 substantially coincides with the stacking direction of the containers 6 in the container stack 2. Each of the pair of container holders 21 is transferred from the outside of the box 1 in a direction substantially perpendicular to the stacking direction of the containers 6 in the container stack 2 (preferably, the opening surface 1a). Approach 2
[0037]
Next, when the cylinder mechanism 44 is in the forward movement state, the piston 46 is shortened toward the cylinder 45 as shown in FIG. 9A, so the first connecting lever 47 uses the support shaft 48 as a fulcrum in FIG. 9B. It rotates counterclockwise. Accordingly, the pair of moving members 54 and 55 are pushed from the left side to the right side in FIG. 9B via the second connecting lever 49, so that as shown in FIG. Guided and moved in an arc. Therefore, the movable-side longitudinal member 72 moves forward in a direction away from the stationary-side longitudinal member 71 substantially along the outer circumferential circle of the envelope surface of the container stack 2. Therefore, the container stack 2 is surrounded by the pair of longitudinal members 71 and 72 over a range larger than 180 °, and can be gripped by the pair of longitudinal members 71 and 72.
[0038]
In the state shown in FIG. 9 (A), one peripheral side end of the fixed-side longitudinal member 71 is passed through the inner peripheral surface of the longitudinal member 71 to the other peripheral end, and then a pair of longitudinal members It reaches one circumferential side end of the movable longitudinal member 72 through the interval between the circumferential members 71, 72, and further passes through the inner circumferential surface of the longitudinal member 72 from the one circumferential side end to the other circumferential side end. The angle θ1 formed with respect to the center O1 of the first imaginary circle in the substantially arc-shaped portion extending to is greater than 180 °. Therefore, when the container holding mechanism 11 rises and the pair of longitudinal members 71 and 72 lifts the container stack 2, the lower gap between the pair of longitudinal members 71 and 72 (that is, the stationary longitudinal member) There is no possibility that the container stack 2 spills out from the gap between the one circumferential end of 71 and the other circumferential end of the movable longitudinal member 72. The angle θ1 is about 210 ° in the illustrated embodiment, but is preferably in the range of 190 ° to 300 ° from the viewpoint of practicality, and in the range of 200 ° to 250 °. More preferably.
[0039]
In the state shown in FIG. 9B in which the movable longitudinal member 72 is moved backward, the other peripheral edge of the movable longitudinal member 72 extends from the one peripheral edge of the stationary longitudinal member 71. An angle θ2 formed with respect to the center O1 of the first imaginary circle at the substantially arc-shaped portion reaching the peripheral edge is smaller than or substantially equal to 180 °. Therefore, when the container holder 21 approaches the container stack 2 in the box 1, the one peripheral side end of the fixed-side longitudinal member 71 and the other peripheral side end of the movable-side longitudinal member 72 are Since there is no fear of being caught by a part of the side surface portion 2 a of the container stack 2, the inner peripheral surfaces of the pair of longitudinal members 71 and 72 can always reliably contact the side surface portion 2 a of the container stack 2. The angle θ2 is about 170 ° in the illustrated embodiment, but is preferably in the range of 120 ° to 180 ° from the viewpoint of practicality, and in the range of 150 ° to 175 °. More preferably.
[0040]
When the movable longitudinal member 72 moves away from the fixed longitudinal member 71 as described above, the gap between the pair of longitudinal members 71 and 72 is as shown in FIG. growing. However, the angle formed by the increasing gap with respect to the center O1 of the first imaginary circle is only (θ2−θ1). Therefore, even if the gap between the pair of longitudinal members 71 and 72 is increased as described above, the pair of longitudinal members 71 and 72 does not hinder the gripping of the side surface portion 2a of the container stack 2.
[0041]
Next, the operation control means (not shown) operates the arm member 91 to raise the container holding mechanism 11, so that each of the pair of container holders 21 includes a pair of longitudinal members 71 and 72. In a state where the two side surface portions 2a are gripped, the container 6 is pulled out from the box 1 in a direction substantially perpendicular to the stacking direction of the containers 6 in the container stack 2 (preferably, the opening surface 1a). The pair of container holders 21 of the container holding mechanism 11 are transferred to the vicinity of the container hopper 5 such as the filling machine 4 by the arm member 91.
[0042]
By the time the container holder 21 is transferred from the box 1 to the vicinity of the container hopper 5, the cylinder mechanisms 63, 64, and 35 of the container holding mechanism 11 are respectively moved forward. The time when the cylinder mechanisms 63 and 64 are in the forward movement state is preferably immediately after the pair of longitudinal members 71 and 72 are taken out from the box 1. When the cylinder mechanisms 63 and 64 are moved forward, the pistons 83 and 84 are shortened toward the cylinders 65 and 66, so that the connecting levers 81 and 82 (and thus the position regulating members 73 and 74) are connected to the shaft 80. Are pivoted counterclockwise and clockwise in FIG. For this reason, as shown in FIG. 3, the position restricting portions 73a and 74a of these position restricting members 73 and 74 are container stack accommodation spaces (a pair of longitudinal members formed by a pair of longitudinal members 71 and 72). 71, 72, and a substantially cylindrical space including the first imaginary circle, which substantially coincides with the envelope surface of the container stack 2). To do.
[0043]
As shown in FIG. 4, when the cylinder mechanisms 63 and 64 are in the backward movement state, the position restricting portions 73a and 74a of the position restricting members 73 and 74 (as a result, the entire position restricting members 73 and 74) are long. It is located above between the first and second virtual surfaces W1 and W2 (that is, the inward side) extending upward from both ends of the shaped members 71 and 72 substantially orthogonally to the length direction thereof. Therefore, when the container holder 21 is inserted into the box 1 or taken out from the box 1, there is no possibility that the position regulating members 73 and 74 are unnecessarily caught on the box 1 or the container stack 2.
[0044]
When the cylinder mechanism 35 in the backward movement state shown in FIG. 7 enters the forward movement state, the piston 37 extends toward the side opposite to the cylinder 36 as shown in FIG. The mutual distance is the largest. The increased mutual distance substantially matches the mutual distance between the pair of container hoppers 5 such as the filling machine 4. In this case, the pair of container hoppers 5 do not necessarily have to be adjacent to each other. However, in the illustrated embodiment, the increased distance between the pair of container holders 21 substantially matches the distance between the pair of adjacent container hoppers 5.
[0045]
Furthermore, the arm member 91 is configured so that the pair of container holders 21 are substantially parallel to the pair of container hoppers 5 before the pair of container holders 21 are transferred from the box 1 to the vicinity of the pair of container hoppers 5. In order to make them face each other, the container holding mechanism 11 is rotated by a predetermined angle. The pair of container holders 21 that are in a substantially horizontal state so as to be substantially parallel to the opening surface 1a of the box 1 are in a substantially vertical state so as to be substantially parallel to the container hopper 5 (however, the container hopper It is preferable to rotate until it is slightly inclined as in (5). Therefore, the predetermined angle may be about 90 °, and in this case, the container stack 2 has a position regulating member in which the bottom of the lowest container 6 is the lowest in the container stack accommodating space 99. It is preferable that the position is restricted by the position restricting portion 73a of 73 and prevented from falling downward. Therefore, any one of the pair of position restricting members 73 and 74 and its operating mechanism (such as the cylinder mechanism 63 or 64) can be omitted as necessary.
[0046]
The pair of container holders 21 are transferred by the arm member 91 and accommodate the pair of container stacks 2 in the pair of container hoppers 5 as shown in FIG. In this case, the container stack 2 is placed on the pair of shutter members 14a and 14b of the container hopper 5 or brought just above it. Further, since the position restricting portion 73a of the position restricting member 73 exists only in a half portion on the near side of the lower end surface of the container stack accommodating space 99, the position restricting portion 73a is located in front of the shutter members 14a and 14b of the container hopper 5. Thus, the shutter members 14a and 14b do not overlap vertically.
[0047]
Next, since the cylinder mechanisms 45, 63, and 64 are respectively in the backward movement state, an operation opposite to that in the forward movement state is performed. Accordingly, the pair of container stacks 2 is released from being held by the pair of longitudinal members 71 and 72. At the same time or before and after this, the blocking of the both ends of the container stack housing space 99 by the position restricting portions 73a and 74a of the position restricting members 73 and 74 is also released. At this point, the pair of shutter members 14 a and 14 b provided in the pair of container hoppers 5 are opened, and the pair of container stacks 2 are sent to a predetermined container holding position such as the filling machine 4 through the drop opening 13. But you can. However, in the illustrated embodiment, as shown in FIG. 1, after the same process as described above is repeated to store the container stack 2 in the remaining container hoppers 5, The shutter members 14a and 14b are opened simultaneously.
[0048]
Subsequently, according to automatic control by the operation control means (not shown), the process is returned to the initial state described in the items (a) to (c), and then substantially the same steps as those described above are sequentially repeated, and the box 1 All of the remaining container stacks 2 are sequentially accommodated in the container hopper 5.
[0049]
Second embodiment
The container transport machine according to the second embodiment is substantially the same as the above-described first embodiment except that the specific configuration of the container holding mechanism 11 as a hand portion of the robot is different. Therefore, in the following, the container holding mechanism 11 will be described, and description of the other parts of the container transporter will be appropriately omitted. In the second embodiment, the same reference numerals are given to the same parts as those in the first embodiment, and the detailed description thereof is appropriately omitted.
[0050]
As shown in FIG. 10 and the like, the container holding mechanism 11 includes a pair of front and rear container holders 21 that can respectively hold the container stack 2, and a mechanism main body that can support and operate these container holders 21. 22.
[0051]
As shown in FIGS. 10 and 11, the mechanism main body 22 has a mounting plate 101 attached to the fifth arm 98 of the position control mechanism 12 shown in FIG. 1 and a support on which the mounting plate 101 is attached to the upper surface. There is provided a plate 102 and a support substrate 103 which is attached to the upper end surface of the plate 102 and is constructed by sticking two plates together in a substantially vertical state. In the mechanism main body 22, the respective parts provided on the left and right sides of the support substrate 103 are configured point-symmetrically with the support substrate 103 as the center of symmetry. And a description of the configuration of each part on the left side is appropriately omitted.
[0052]
A pair of front and rear guide plates 104 and 105 are attached to the left and right sides of the support substrate 103. These guide plates 104 and 105 may be formed of substantially arc-shaped rods or the like, and substantially arc-shaped guide surfaces 104a and 104b and 105a and 105b are formed on both upper and lower side surfaces, respectively. Further, the guide plates 104 and 105 have a portion in the vicinity of the upper end portions of the pair of front and rear moving members 106 and 107 that reciprocate in a substantially arc shape along the substantially arc-shaped length direction of the guide plates 104 and 105. Each is engaged.
[0053]
Intermediate portions of the pair of front and rear moving members 106 and 107 are connected to each other by a connecting link 108 as shown in FIG. The pair of moving members 106 and 107 and the connecting link 108 constitute a link mechanism. In addition, a pair of attachment ears 111 are formed at the lower ends of the pair of front and rear moving members 106 and 107 so as to extend substantially in the left-right direction. A pair of longitudinal members 112 and 114 are attached to these attachment ears 111 at an intermediate portion of the outer peripheral surface thereof. The pair of remaining longitudinal members 113 and 115 are similarly attached to an attachment ear (not shown) provided similarly on the left side of the support substrate 103.
[0054]
The longitudinal members 112 to 115 respectively correspond to the movable longitudinal member 72 in the first embodiment described above. However, a substantially L-shaped cross-section and a longitudinal attachment portion 117 are connected to the circumferential end of the substantially arc-shaped and longitudinal container stack gripping portion 116. A pair of front and rear longitudinal members 118 and 119 are arranged between the pair of front and rear longitudinal members 112 and 113 and between the pair of front and rear longitudinal members 114 and 115. These longitudinal members 118 and 119 correspond to the stationary-side longitudinal member 71 in the first embodiment described above. However, each of the longitudinal members 118 and 119 has a pair of front and rear container stack holding portions 121 and 122 that are substantially arc-shaped in the width direction facing the container stack holding portions 116 of the longitudinal members 112 to 115, respectively. And a longitudinal connecting portion 123 that connects the pair of container stack holding portions 121 and 122. Each of the longitudinal members 118 and 119 is attached to the lower end of the support substrate 103 at the longitudinal connection portion 123. Further, the left and right ends of the container stack holding portions 116 of the movable longitudinal members 112 to 115 and the container stack holding portions 121 and 122 of the stationary longitudinal members 118 and 119 are provided with tongues for position regulation. 124 and 125 are provided, respectively.
[0055]
As shown in FIGS. 10 and 11, a cylinder 128 of a cylinder mechanism 127 made up of an air cylinder or the like is attached to the lower side of the front end portion of the support plate 102 via a substantially inverted U-shaped attachment 126. . One moving member 106 is attached to the piston 129 of the cylinder mechanism 127 via the connecting shaft 130 between the connecting link 108 and the attaching portion 117.
[0056]
According to the container holding mechanism 11 shown in FIGS. 10 and 11 configured as described above, as shown in FIG. 11, a plurality of arrays arranged so as to be substantially parallel to each other and have a substantially constant distance from each other. The side surface portion 2a of the container stack 2 can be gripped and conveyed to a predetermined position.
[0057]
That is, as shown in FIG. 11B, the pair of container holders 21 includes four container holders 116 when the container stack holders 116 of the movable-side longitudinal members 112 to 115 are raised and moved backward. The side surface portion 2a of the container stack 2 is approached. The container stack holder 116 of the movable longitudinal members 112 to 115 and the container stack holders 121 and 122 of the fixed longitudinal members 118 and 119 are respectively connected to the container stack 2 from the inner peripheral surface side thereof. Close to the side part and almost touching. In this case, each of the pair of container holders 21 is substantially perpendicular to the stacking direction of the containers 6 in the container stack 2 (preferably, the arrangement direction of the plurality of container stacks 2 (in other words, the left-right direction in FIG. 11)). The container stack 2 approaches and substantially contacts.
[0058]
Next, when the cylinder mechanism 127 is moved forward, the piston 129 extends to the opposite side of the cylinder 128 as shown in FIG. For this reason, since one moving member 106 is pushed by this piston 129, it is guided by the guide plate 104 and moves forward in a substantially arc shape. Therefore, the longitudinal member 112 moves forward in a substantially arc shape downward along with the moving member 106. Therefore, as shown in FIG. 11 (A), the two container stacks 2 have their side surface portions 2a formed by the container stack holding part 116 of the movable member 112 on the movable side and the container stack holding part 121 of the movable member 118 on the fixed side. It is ready to be gripped. In this case, the left and right end portions of the container stack accommodating space 99 formed by the container stack holding portions 116 and 121 are at least partially blocked by the position-regulating tongues 124 and 125.
[0059]
At the same time, since the moving member 107 connected to the moving member 106 by the connecting link 108 performs the same operation as the moving member 106, the movable longitudinal member 114 attached to the moving member 107 also moves downward. It moves forward in a substantially arcuate shape. Accordingly, the remaining two container stacks 2 can also be held by the container stack holding part 116 of the movable-side longitudinal member 114 and the container stack holding part 121 of the fixed-side moving member 119, as shown in FIG. It becomes a state. Also in this case, the left and right end portions of the container stack housing space 99 formed by the container stack holding portions 116 and 121 are at least partially sealed by the position-regulating tongues 124 and 125.
[0060]
Next, the container stack 2 held by the container holding mechanism 11 as described above is placed at a predetermined position (for example, on a substantially horizontal mounting table) by the mechanism main body 22 as in the case of the first embodiment described above. It is conveyed to. Then, when the cylinder mechanism 127 enters the backward movement state, an operation opposite to that in the forward movement state is performed. Accordingly, the container stack 2 is released from being held by the longitudinal members 112 to 115, 118, and 119.
[0061]
In the second embodiment described above, the distance between the pair of container holders 21 arranged in parallel so as to be substantially parallel to each other is made constant. However, as in the case of the first embodiment described above, the distance between the pair of container holders 21 can be increased (the first state) or can be decreased (the second state). In addition, the interval between the pair of container stack accommodating spaces 99 of the container holders 21 arranged in parallel so as to be substantially parallel to each other may be increased (the first state) or may be decreased. (The second state) may be possible.
[0072]
  In the above, the first of the present inventionAnd secondThe embodiment of the present invention has been described in detail.And secondThe present invention is not limited to the embodiments described above, and various changes and modifications can be made based on the gist of the invention described in the claims.
[0073]
  For example,FirstIn this embodiment, the container stack 2 housed in the box 1 is transported to a place other than the inside of the box 1. However, conversely, the container stack 2 at a place other than the inside of the box 1 may be transported to the inside of the box 1. Further, the container stack 2 stored in the box 1 is transported to the inside of another box (for example, a larger box or a smaller box) and stored in the box 1 or different. You may store in the state arranged in.
[0075]
Further, one or more cylinder mechanisms of the cylinder mechanisms 35, 44, 63, 64, 127 in the first and second embodiments described above may be hydraulic cylinders in addition to the air cylinders. Another reciprocating drive source such as a solenoid plunger may be used.
[0076]
Further, the positional relationship between the piston and the cylinder in one or a plurality of cylinder mechanisms 35, 44, 63, 64, 127 in the first and second embodiments described above may be reversed.
[0078]
  Furthermore, the above-mentioned firstAnd secondIn this embodiment, if the length of the longitudinal container stack holding portion forming the container stack accommodating space can be adjusted, it can be used in common for a plurality of types of container stacks having different lengths in the stacking direction.
[0079]
【The invention's effect】
According to the present invention, the container stack can be automatically and repeatedly transported, which is more efficient than the case where the container stack is transported manually.
[0080]
  Further, according to the present invention, the container holder is the stacking direction.Orthogonal directionThe container stack can be held close to the container stack from, for example, the container stack arranged side by side in the box can be relatively easily held by the container holder. As compared with the case of a known container transporter, it is possible to effectively prevent dust and dust from entering the uppermost container of the container stack.
[0081]
  In addition, according to the present invention, since the movable parts can be reduced as compared with the case where both the longitudinal members are reciprocated together, it is possible to use a container transport device with a simple structure and few failures.
[0082]
  Further, according to the invention described in claim 2, since a plurality of container stacks can be simultaneously transported by a single container transporting process, the container stacks can be transported more efficiently.
[0083]
  Also,Claim 4According to the invention described in the above, since the orientation of the container stack can be changed before and after the conveyance, it is possible to give a variety to the state before and after the conveyance of the container stack. is there.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a use state of a container transport device according to a first embodiment of the present invention.
FIG. 2 is a perspective view of a container holding mechanism of the container transporter shown in FIG.
FIG. 3 is a front view of the container holding mechanism shown in FIG. 2 in a container holding state.
4 is a front view similar to FIG. 3 of the container holding mechanism shown in FIG. 3 in a state where the side surface portion of the container stack is gripped.
FIG. 5 is a side view of the container holding mechanism shown in FIG.
6 is a side view of the container holding mechanism shown in FIG. 5 similar to FIG. 5 in a state where the distance between a pair of container holders is increased.
7 is a cross-sectional view taken along line VII-VII in FIG.
8 is a cross-sectional view taken along line VIII-VIII in FIG.
FIG. 9A is a cross-sectional view taken along line IX-IX in FIG.
  FIG. 9B is a cross-sectional view taken along line IX-IX in FIG. 3 in a state where the container holder shown in FIG. 9A releases the grip of the side surface portion of the container stack from the container holding state.
FIG. 10 is a perspective view of a container holding mechanism of a container transport machine according to a second embodiment of the present invention.
FIG. 11A is a right side view of the container holding mechanism shown in FIG. 10 in a container holding state.
  FIG. 11 (B) is a right side view similar to FIG. 11 (A) in a state where the four container holders of the container holding mechanism shown in FIG.
[Explanation of symbols]
1 box
1a Opening surface
2 Container stack
2a Side part
3 Container transporter (container transport device)
4 Filling machine
5 Container hopper
6 containers
11 Container holding mechanism
12 Position control mechanism
21 Container holder
71 Longitudinal member on the fixed side
72MovableSide longitudinal member
73 Position restriction member
74 Position restriction member
75 Connecting plate (mounting part)
76 Mounting ear (Mounting part)
77 Connecting plate (mounting part)
99 Container stack accommodation space
111 Mounting ear (Mounting part)
112 Movable side longitudinal member
113 Longitudinal member on the movable side
114 Movable longitudinal member
115 Movable longitudinal member
118 Fixed Longitudinal Member
119 Fixed side elongated member

Claims (4)

A container stack configured by stacking containers and in a first position is held by a container holder of a container holding mechanism of a container transport device;
After the container holding mechanism is transferred by the position control mechanism of the container transfer device, the container stack is transferred to the second position by releasing the holding of the container stack by the container holder. In the container transport method,
A container transport method in which the container holder approaches the container stack from a direction perpendicular to the stacking direction of the containers and holds the container stack,
A fixed-side longitudinal member having a stationary-side container stack holding portion and a movable-side longitudinal member having a movable-side container stack holding portion are provided in the container holder,
One container stack housing space is formed by one fixed container stack holding portion and one movable container stack holding portion in the forward movement position,
The container transport method characterized in that the holding of the container stack is released by the movable side container stack holding part returning in an arc shape along the container stack accommodating space from the forward movement position. . The container transport device having a container holding mechanism in which a plurality of the container holders are arranged in parallel so as to be parallel to each other is used to transport a plurality of the container stacks at a time. 2. The container conveying method according to 1. The container stack at at least one of the first position and the second position is housed in a box having an opening surface on one surface,
The container transport method according to claim 1 or 2 , wherein the container stack is stored in the box so that the stacking direction is parallel to the opening surface. By rotating the container holder between the time when the container stack is held by the container holder and the time when the holding is released, the container stack held by the container holder is moved horizontally or vertically. container transport method according to claim 1, 2 or 3 to the state, characterized in that so as to redirect the vertical or horizontal position.

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