JP3835224B2 - Picking equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a picking apparatus for taking out articles stacked in multiple stages in units of layers.
[0002]
[Prior art]
Conventionally, as an apparatus for taking out articles stacked in multiple stages on a pallet in units of layers, there is an unloading apparatus as described in JP-A-10-316245. This is because the upper layer of the article 1 stacked in multiple stages is clamped by a pair of pressing tools 2 as shown in FIG. 12 (a), and the pallet 3 is moved by the pallet lifting / lowering device 4 as shown in FIG. 12 (b). It is an apparatus for separating the clamped article group and the article group at the lower level by lowering.
[0003]
[Problems to be solved by the invention]
However, depending on the product factory, when the articles are stacked in multiple stages on the pallet at the time of factory shipment, the articles are temporarily fixed using an adhesive such as hot melt in order to prevent the collapse of the load. Therefore, in the conventional method as described above, there is an article that cannot be separated because the adhesion to the lower article in the clamped article group is not strong in the clamped article group, such as the hatched article shown in FIG. It may occur.
[0004]
The present invention is intended to solve the above-described problems, and a single layer without leaving a part of an article even in an article group in which articles are fixed with an adhesive and stacked in multiple stages. Alternatively, an object of the present invention is to provide a picking apparatus that can pick an article group in units of a plurality of layers.
[0005]
[Means for Solving the Problems]
In order to achieve such an object, the present invention has the following configuration.
(1) A gap between a gripping means for gripping an article group formed by gathering a plurality of articles from four or two sides of the side, and an article group gripped by the gripping means and a lower article group. And a conveying means for inserting a load receiving platform having a wedge-shaped tip by making the diameter of the driving roller at the most distal end of a plurality of driving roller groups provided in parallel smaller than the other driving rollers. Picking device characterized by
(2) A gap between a gripping means for gripping an article group formed by gathering a plurality of articles from four or two sides of the side, and an article group gripped by the gripping means and a lower article group. A conveying means for inserting a load receiving base having a wedge-shaped tip by making the diameter of the driving roller at the most distal end of a plurality of driving roller groups provided in parallel smaller than the other driving rollers, and the gripping means A picking apparatus comprising: tilting means for tilting the group of articles gripped in step 1 or the group of articles lower than the group of articles.
[0006]
Note that, according to the configuration described in (1) above, due to the wedge effect when the load receiving table having the wedge-shaped tip portion is inserted into the gap between the gripped article group and the lower article group, both the article groups It is possible to reliably peel off the adhesion between the two and completely separate them so that the gripped article group can be placed on the load receiving table without leaving any part.
[0007]
In addition, with the configuration described in (2) above, it is possible to easily peel off the adhesion between the two article groups by relatively tilting the grasped article group and the lower article group. .
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below.
[0009]
(First embodiment)
FIG. 1 is a front view showing a configuration example of a picking apparatus according to a first embodiment of the present invention, and FIG. 2 is a plan view thereof. 3 and 4 are front views showing the operation.
[0010]
The picking apparatus according to the present embodiment includes a pallet lifter 12 on which a pallet 13 for stacking articles 6 is placed, a gripping means 9 for the articles 6, and a transport means 14 for inserting a load receiving table 14a. .
[0011]
The pallet lifter 12 is configured to move up and down a pallet 13 on which the articles 6 are stacked in a layered manner by a driving device (not shown).
[0012]
The gripping means 9 is configured such that a gripping member 7 for gripping the article 6 in four directions is attached to each side on the inside of a rectangular gripping frame 5 via an actuator 8, and the gripping frame 5 is vertically It is attached to the main body frame 11 via the actuator 10 so as to be able to move to the top of the article 6. Here, the actuators 8 and 10 may be any one that performs expansion and contraction operations such as an electric cylinder, an air cylinder, and a hydraulic cylinder.
[0013]
The conveying means 14 includes a plurality of driving rollers 16 arranged in parallel inside a pair of roller frames 15, and a leading end roller 17 having a diameter smaller than that of the driving roller 16 is provided at the top of the driving roller group. The load receiving table 14a is configured to be able to run on a pair of rails 19 provided horizontally below the grip frame 5 by a pair of driving devices 18 respectively provided on the pair of roller frames 15. Yes.
[0014]
Next, the operation of picking the uppermost layer of the article 6 on the pallet 13 in the picking apparatus of the present embodiment configured as described above will be described.
[0015]
When the pallet 13 on which the articles 6 are stacked in multiple stages is transferred onto the pallet lifter 12, the pallet lifter 12 starts to rise. When the side surface of the article 6 to be taken out reaches the height of each gripping member 7 of the gripping means 9, the pallet lifter 12 stops. Here, the actuator 8 is actuated to press each gripping member 7 against the side surface of the article 6 and grip it in all directions. Next, the pallet lifter 12 is lowered to peel off the adhesion between the article group gripped on each side by each gripping member 7 and the article group below it. At this time, as shown in FIG. 3, when the adhesion between some articles is not peeled off, the loading table 14 a is horizontally moved by the driving device 18, and the tip roller 17 of the loading table 14 a is pushed into the bottom surface of the left article. As shown in FIG. 4, the article is scooped up on the receiving tray 14a.
[0016]
In the present embodiment as described above, the load receiving platform 14a is provided with the tip roller 17 having a smaller diameter than the drive roller 16 at the top of the drive roller group, and has a wedge-shaped tip. Yes. Therefore, the wedge effect when inserting the load receiving table 14a into the gap between the gripped article group and the article group below it securely peels off the adhesion between the article groups and completely separates them. The group of articles thus gripped can be placed on the load receiving table 14a without leaving all of them.
[0017]
In the present embodiment, an example is shown in which the uppermost layer of the article 6 is gripped and one layer is picked, but the same applies to the case where a plurality of layers including the uppermost layer are picked at the same time.
[0018]
(Second Embodiment)
FIG. 5 is a front view showing a configuration example of a picking apparatus according to the second embodiment of the present invention, and FIG. 6 is a plan view thereof. 7 to 9 are front views showing the operation.
[0019]
The picking device according to the present embodiment tilts the gripping article group by tilting the gripping means 9 and the pallet lifter 12 on which the pallet 13 for stacking the articles 6 is placed, the gripping means 9 of the article 6. It comprises a tilting means 23 to be moved and a conveying means 14 for inserting the load receiving table 14a.
[0020]
Since the pallet lifter 12, the gripping means 9, and the conveying means 14 are the same as those in the first embodiment described above, the same parts as those in FIGS. Only the different parts will be described.
[0021]
The tilting means 23 is configured as follows. That is, support arms 22 that are rotatable about the rotation shaft 21 are attached to the distal ends of a pair of brackets 20 provided on the main body frame 11. The support arms 22 are fixed to the corner portions of the grip frame 5 respectively. The actuator 23 a that tilts the grip frame 5 is attached between the main body frame 11 and the grip frame 5.
[0022]
In the present embodiment, in the gripping means 9, a stopper 24 for preventing collapse of the load is provided on the upper portion of the gripping member 7 on the main body frame 11 side. Furthermore, a load collapse prevention stopper 26 is provided below the bracket 20 via an actuator 25 attached to the main body frame 11. The actuators 23a and 25 may be any one that performs expansion and contraction operations such as an electric cylinder, an air cylinder, and a hydraulic cylinder.
[0023]
Next, the operation of picking the uppermost layer of the article 6 on the pallet 13 in the picking apparatus of the present embodiment configured as described above will be described.
[0024]
When the pallet 13 on which the articles 6 are stacked in multiple stages is transferred onto the pallet lifter 12, the pallet lifter 12 starts to rise. When the side surface of the article 6 to be taken out reaches the height of each gripping member 7 of the gripping means 9, the pallet lifter 12 stops. Here, the actuator 8 is actuated to press each gripping member 7 against the side surface of the article 6 and grip it in all directions. Next, the actuator 23a is actuated to incline the gripping means 9 as shown in FIG. 7, and peel off the adhesion between the group of articles gripped on each side by each gripping member 7 and the group of articles below it. At this time, as shown in FIG. 8, when the adhesion between some articles is not peeled off, the load receiving table 14 a is horizontally moved by the driving device 18, and the tip roller 17 of the load receiving table 14 a is pushed into the bottom surface of the left article. As shown in FIG. 9, the article is scooped up on the receiving tray 14a.
[0025]
In the present embodiment as described above, the load receiving table 14a has the same configuration as that of the first embodiment described above, and can be placed on the load receiving table 14a without leaving all the clamped articles. Since the tilting means 23 of the gripping means 9 is provided and the gripped article group is tilted with respect to the lower article group, the adhesion between the article groups can be easily peeled off.
[0026]
Also in this embodiment, an example in which the uppermost layer of the article 6 is grasped and one layer is picked is shown, but the same applies to the case where a plurality of layers including the uppermost layer are picked at the same time.
[0027]
(Third embodiment)
In the second embodiment described above, the gripped article group is tilted and separated from the lower article group. However, a third embodiment is shown in FIGS. 10 and 11. As described above, the tilting means 28 for tilting the table 27 on which the pallet 13 is placed may be provided on the pallet lifter 12 so that the lower article group is tilted with respect to the gripped article group.
[0028]
10 and 11, the parts denoted by the same reference numerals as those in FIGS. 5 to 9 are configured in the same manner as in the second embodiment, and the description thereof is omitted.
[0029]
In the case of this embodiment, after gripping the article 6 with the gripping means 9, the actuator 28a of the tilting means 28 is actuated to tilt the pallet 13 as shown in FIG. Separate the group of articles. Then, the pallet lifter 12 is lowered to return the pallet 13 to a horizontal position, and a gap between the gripped article group and the separated article group at a lower level is provided. At this time, if there is any leftover of the article, the article receiving portion 14a is inserted and the remaining article is scooped up on the receiving stand 14a.
[0030]
This embodiment also has the same effect as the second embodiment described above. That is, since the tilting means 28 for tilting the table 27 on which the pallet 13 is placed is provided on the pallet lifter 12, the lower article group is tilted with respect to the grasped article group. The adhesion between the two article groups can be easily peeled off, and all the grasped article groups can be placed on the load receiving table 14a without leaving them.
[0031]
【The invention's effect】
According to the picking device of the present invention described above, even when the articles are temporarily fixed with an adhesive, the wedge-shaped tip is inserted into the gap between the gripped article group and the lower article group. Due to the wedge effect when inserting the load receiving table, it is possible to reliably peel off the adhesion between the two article groups, and to completely separate them so that all of the gripped article groups can be placed on the load receiving table.
[0032]
Further, by tilting one of the grasped article group or the article group below it, the adhesion between both article groups can be easily peeled off.
[Brief description of the drawings]
FIG. 1 is a front view showing a first embodiment of the present invention. FIG. 2 is a plan view showing the first embodiment of the present invention. FIG. 3 is a front view showing an operation in the first embodiment of the present invention. FIG. 4 is a front view showing the operation of the first embodiment of the present invention. FIG. 5 is a front view showing the second embodiment of the present invention. FIG. 6 is a plan view showing the second embodiment of the present invention. FIG. 7 is a front view showing an operation in the second embodiment of the present invention. FIG. 8 is a front view showing an operation in the second embodiment of the present invention. FIG. 9 is an operation in the second embodiment of the present invention. FIG. 10 is a front view showing a third embodiment of the present invention. FIG. 11 is a front view showing an operation in the third embodiment of the present invention. FIG. 12 is a front view of an unloading device in the prior art. Figure [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Goods 2 Pressing tool 3 Pallet 4 Pallet raising / lowering device 5 Grasping frame 6 Goods 7 Grasping member 8 Actuator 9 Grasping means 10 Actuator 11 Main body frame 12 Pallet lifter 13 Pallet 14 Conveying means 14a Loading platform 15 Roller frame 16 Driving roller 17 End roller 18 Drive device 19 Rail 20 Bracket 21 Rotating shaft 22 Support arm 23 Tilt means 23a Actuator 24 Stopper 25 Actuator 26 Stopper 27 Stand 28 Tilt means 28a Actuator

Claims (2)

Parallel to the gap between the gripping means for gripping an article group composed of a plurality of articles from four or two sides of the side and the article group gripped by the gripping means and the article group below it And a conveying means for inserting a load receiving base having a wedge-shaped tip by making the tip roller at the top of the plurality of drive roller groups provided smaller in diameter than the other drive rollers. Picking device. Parallel to the gap between the gripping means for gripping an article group composed of a plurality of articles from four or two sides of the side and the article group gripped by the gripping means and the article group below it A conveying means for inserting a load receiving base having a wedge-shaped tip by making the tip roller at the foremost part of a plurality of drive roller groups provided smaller in diameter than the other drive rollers , and gripped by the gripping means A picking device comprising a tilting means for tilting a group of articles or a group of articles lower than the group of articles.

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