JP6427361B2 - Conveying object storage facility - Google Patents

Description

  The present invention relates to a transported item storage facility for storing a plurality of transported objects in a plurality of containers.

  2. Description of the Related Art Conventionally, there has been used a transported item storage facility that transports a plurality of fruits (conveyed objects) to a predetermined position and stores the fruits in a container at the predetermined position. Moreover, various conveyance storage facilities are considered from the viewpoint of facilitation of storage of conveyances, etc., and applications for the conveyance storage facility have been made (see, for example, Patent Documents 1 to 7).

  FIG. 15 shows a conventional conveyed product storage facility 100. The transported item storage facility 100 stores a plurality of conveyors (conveying paths) 104 for transporting the fruit (conveyed object) 102 placed on the tray 110 and the fruit 102 placed on the tray 110 on the conveyor 104 in the carried-in container 108 And an unshown robot (conveyed object moving device).

  In addition, one conveyor 104 conveys the fruit 102 of the same equal rank, and if the conveyor 104 is different, the equal rank of the fruit 102 differs. The robot is equipped with a hand that holds the fruit 102 and moves it into the container 108.

  On the other hand, in recent years, the division of equal classes of fruits 102 is subdivided, and it is necessary to increase the number of conveyors 104 accordingly. For example, when the fruit 102 is a tomato, the number of equal classes is 28, and the number of conveyors 104 is 28. In this case, seven robots are provided, and one robot stores the fruit 102 on the four conveyors 104 in the container 108.

  However, in order for one robot to store the fruits 102 on the four conveyors 104 in the container 108, it is necessary to increase the movable range of the robot hand. For this reason, the movement mechanism for moving the hand becomes large in scale, the facility cost of the robot becomes high, and the facility cost of the entire transported object storage facility becomes high. For this reason, it is desirable to store the fruit 102 on the four conveyors 104 in the container 108 by a robot with a smaller movable range of the hand.

JP, 2011-46421, A JP, 2011-1112, A JP 2005-53486 A Japanese Patent Laid-Open No. 2002-104304 Unexamined-Japanese-Patent No. 2000-159205 JP 2000-142614 A JP-A-8-26212

  An object of the present invention is to provide a transported product storage facility capable of reducing the installation cost by storing a transported product on a transport path in a plurality of containers by a transported product moving device having a smaller movable range of a hand.

The conveyed product storage facility of the present invention is
A plurality of transport paths for transporting the transport object;
A transported product moving device having a hand that can move in a fixed movable range and hold and move a transported object on the transport path from above;
A plurality of container placing tables installed in a state of being arranged along a plane below the hand and on which the containers are placed;
A mounting table moving device for moving the container mounting table installed outside the movable range of the hand to the inside of the movable range of the hand among the container mounting tables arranged along the plane;
An operation of holding the conveyed product on the conveyance path on the hand, and storing the conveyed product in a container placed on a container mounting table installed or moved inside the movable range of the hand, A control device that causes the transported object moving device to perform;
It is characterized by including.
The state of being arranged along the plane includes a state of being arranged in the same plane direction and a state of being arranged in different planes in the direction perpendicular to the plane.
The container includes an assembled case as well as a box made of cardboard or resin.
Further, in the transported product storage facility of the present invention, in the transported product storage facility, the plurality of transport paths transport the transported products for which the same class has been sorted for each rank, and the transported product moving device The hand is characterized in that the hand holds the transported object on the transport path, and the transported object is stored in a container placed on a container mounting table corresponding to the same rank of the transported object.
The equal rank refers to a grade representing sugar content, gloss, appearance and the like, and a class representing dimensions such as "LL", "L", "M" and "S".
Further, in the transported product storage facility of the present invention, in the transported product storage facility, the direction in which the plurality of container mounting tables are arranged is a linear direction in plan view, and the mounting table moving device It is characterized in that the container mounting table disposed outside is moved in a linear direction to move inside the movable range of the hand.
In the conveyed product storage facility according to the present invention, the conveyed product moving device is a parallel link robot including three articulated arms arranged in parallel.
Further, according to the transported item storage facility of the present invention, in the transported item storage facility,
And an unloading conveyor for unloading the container filled with the transported object by the transported object moving device.
The container mounting table has a claw member for supporting the container above the unloading conveyor;
When the support of the container by the claw member is released, the container is transferred onto the unloading conveyor.
Further, the transported product storage facility of the present invention is characterized in that the transported product storage facility includes vertical moving means for moving the unloading conveyor up and down.

  According to the conveyed product storage facility of the present invention, the outside of the movable range of the hand which the conveyed product moving device has among the plurality of container mounting stands installed in a state where the mounting table moving device is arranged along the plane. In a state in which the container mounting table installed in the container is moved to the inside of the movable range of the hand, the conveyed product moving device transfers the container mounted on the container mounting table moved in the movable range of the hand. Store the transported items on the route. For this reason, it is not necessary to widen the movable range of the hand of the conveyed product moving device in order to store the conveyed product in the containers placed on the plurality of container mounting tables arranged along the plane. As a result, the conveyed product moving device can be made compact, and the equipment cost can be reduced.

It is a top view which shows the conveyed product storage installation concerning the present invention. It is a front view which shows the conveyed product storage installation of FIG. It is a side view which shows the operation | movement of the conveyed product storage installation of FIG. 1, and the figure (a) shows the state which four container mounting tables are arranged in a planar view linear direction and installed, and the figure (b) Shows a state where the container mounting bases 22-1 and 22-4 are moved to the inside of the movable range S of the hand 28. It is an enlarged front view which shows the action | operation of the conveyed product storage installation of FIG. 1, and shows the state which a delivery conveyor is located in an upper stage. It is an enlarged front view which shows the action | operation of the conveyed product storage installation of FIG. 1, and shows the state which a delivery conveyor is located in middle step. It is an enlarged front view which shows the action | operation of the conveyed product storage installation of FIG. 1, and shows the state which a delivery conveyor is located in a lower stage. It is a side view which shows the operation | movement of the conveyed product storage installation of FIG. 1, the figure (a) shows the state by which the container was clamped by the container mounting base, and the figure (b) the state which the container fell on the delivery conveyor. Indicates It is a side view which shows the operation | movement of the conveyed product storage installation of FIG. 1, the figure (a) shows the state by which the 2nd-stage container was pinched by the container mounting base, the figure (b) shows the 2nd-stage container Shows a state where it has dropped onto the first stage container. It is a top view which shows other embodiment of the conveyed product storage installation which concerns on this invention. It is a top view which shows the further another embodiment of the conveyed product storage installation concerning the present invention. It is a top view which shows the further another embodiment of the conveyed product storage installation concerning the present invention. It is a top view which shows the further another embodiment of the conveyed product storage installation concerning the present invention. It is a front view which shows other embodiment of the conveyed product storage installation concerning the present invention. It is a front view which shows other embodiment of the conveyed product storage installation concerning the present invention. It is a top view which shows the conventional conveyed product storage installation.

  Next, an embodiment of the present invention will be described in detail based on the drawings. In the drawings, reference numeral 12 denotes a conveyance storage facility of the present invention.

  The conveyed product storage facility 12 of the present invention, as shown in FIGS. 1 to 3, four (plural) which carry tomatoes (carried objects) 14 (14-1, 14-2, 14-3, 14-4). And conveyors (conveying paths) 16 (16-1, 16-2, 16-3, 16-4) and a hand that can move within a fixed movable range S and hold and move the tomato 14 on the conveyor 16 from above 28 (a plurality of robots (carried object moving devices) 30 having 28 and four arranged on the lower side of the hand 28 and arranged in a plane along a plane and having an open upper part (box) 18 Of the movable range S of the hand 28 among the container mounting bases 22 (22-1, 22-2, 22-3, 22-4) and the four container mounting bases 22 arranged along a plane. The container mounting bases 22-1 and 22-4 disposed on the outside can The table 14 is moved to the inside of the range S, and the tomato 14 on the conveyor 16 is held by the hand 28 and placed on the container table 22 installed or moved inside the movable range S of the hand 28. The container 18 includes a control unit (not shown) that causes the robot 30 to perform an operation of storing the tomato 14.

  Each conveyor 16 is a roller conveyor having a plurality of rollers, but may be a shooter. Each conveyor 16 carries the same equal-class tomato 14. For example, the conveyor 16-1 conveys a tomato 14-1 of class "LL", the conveyor 16-2 conveys a tomato 14-2 of class "L", and the conveyor 16-3 performs a class "M" The tomato 14-3 is transported, and the conveyor 16-4 transports the tomato 14-4 of class "S". However, this is only an example, and it has not been decided which conveyor 14 will carry which equal-class tomato 14.

  Each of the conveyors 16 is provided with a stopper 36 for stopping the transport of the tray 32 on which the tomatoes 14 are placed, on the side of the transport direction tip 34 of the tomatoes 14. The four conveyors 16 are arranged in parallel, without spacing or with a minimum spacing, and the two tomatoes 14 of the conveying direction tip 35 of at least four conveyors 16 are the hands 28 of the robot 30. It is comprised so that it may be included in the movable range S of. Therefore, two tomatoes 14 can be adsorbed and held by the suction device 38 provided with two hands 28.

  The four container mounting bases 22 are arranged in a linear direction (Y-axis direction) in plan view orthogonal to the conveyance direction (X-axis direction) of the conveyor 16. Among the four container mounting bases 22 installed in a state of being arranged in the Y-axis direction, the container mounting bases 22-1 and 22-4 arranged at the end in the Y-axis direction are of the hand 28 of the robot 30. It deviates from the movable range S.

  The container mounting bases 22-1 and 22-4 respectively move along a rail 40 extending in the Y-axis direction in a linear motion in the Y-axis direction, and the Y-axis direction with respect to the sliding frame 42 And a pair of claw members (shown in FIGS. 7 and 8) which are separated or approached. When the pair of claw members 44 are separated from the slide frame 42, the pair of claw members 44 are configured to approach each other, and the container 18 can be held by the pair of claw members 44. In addition, although the drive means which makes the claw member 44 separate or approach with respect to the sliding frame 42 is a cylinder, it is not particularly limited.

  The container mounting bases 22-2 and 22-3 installed at the central portion in the Y-axis direction have a pair of fixed frames 48 fixed to the horizontal frame 46 shown in FIG. And a pair of claw members 44 which are axially separated or approached. The container mounting bases 22-2 and 22-3 are provided at positions lower than the container mounting bases 22-1 and 22-4 as shown in FIG. 3, and the container mounting base 22-1 is a container mounting base 22. The container mounting table 22-4 is configured to be movable to the upper side of the container mounting table 22-3 to the upper side of -2. Correspondingly, the positions at which the container mounting bases 22-2 and 22-3 receive the container 18 are lower than the positions at which the container mounting bases 22-1 and 22-4 receive the container 18.

  The mounting table moving device 24 is composed of the rail 40 and driving means for moving the sliding frame 42 linearly along the rail 40 in the Y-axis direction, and the container mounting table 22-1 is configured by 22-2. The container 18 mounted on the four container mounting bases 22 is included in the movable range S of the hand 28 of the robot 30 by moving the container mounting base 22-4 upward to 22-3. It is configured to be able to The drive means for causing the sliding frame 42 to linearly move in the Y-axis direction along the rail 40 is not particularly limited, such as a linear motor or a cylinder.

  The robot 30 is a parallel link robot which is constituted by three articulated arms 50 arranged in parallel, and is disposed above the conveying direction leading end 35 of the four conveyors 16 and the container mounting bases 22-2 and 22-3. The parallel link robot is a robot which regulates the direction of the hand 28 which is a follower in the horizontal direction by pin-connecting the three articulated arms 50 and the hand 28 by the rotation shaft 51 in the horizontal direction. The tomato 14 can be reliably held from above by the vertically downward suction tool 38 having the vertical direction. The size of the movable range S of the hand 28 is mainly determined by the length of the articulated arm 50.

  The control device includes a CPU (or MPU), a memory, and an I / O port and the like for transmitting and receiving data to and from the mounting table moving device 24 and the robot 30 or the like.

  Further, the control device has a database in which the correspondence between each conveyor 16 and each container mounting table 22 is recorded, and the tomato 14 on each conveyor 16 is a container 18 on the container mounting table 22 corresponding to each conveyor 16. The robot 30 is caused to perform an operation of storing in the

  Here, a counter (not shown) for measuring the number of tomatoes 14 transported to the transport direction front end portion 35 of each conveyor 16 is provided, and the control device counts the number of tomatoes 14 transported to the transport direction front end portion 35. The robot 30 is caused to operate to store the tomato 14 on the conveyor 16 with the largest number of containers into the container 18.

  Further, when the hand 28 of the robot 30 holds the tomato 14-1 on the conveyor 16-1, the control device can store the tomato 14 in the container 18 mounted on the container mounting table 22-1. When the container mounting table 22-1 is moved to the inside of the movable range S of the hand 28 and the hand 28 of the robot 30 holds the tomato 14-4 on the conveyor 16-4, the container mounting table 22-1 is mounted on the container mounting table 22-4. The mounting table moving device 24 performs an operation of moving the container mounting table 22-4 inside the movable range S of the hand 28 so that the tomato 14 can be stored in the container 18.

  The carry-out device 200 (200-1, 200-2, 200-3, 200-4) includes a carry-out unit 204 and a carry-out conveyor 202 for carrying the container 18 out to the carry-out unit 204, as shown in FIGS. A cylinder that moves the pair of claw members 44 so as to be separated from each other in the Y-axis direction, releases that the container 18 is held (supported) by the claw members 44, and drops the container 18 onto the unloading conveyor 202 (support (Releasing means) 42, a guide 205 for restricting the container 18 to drop to a predetermined position on the unloading conveyor 202, and moving the unloading conveyor 202 up and down in the Z direction in three steps up and down to set the roller height h And up and down moving means 206 for fluctuating in three stages.

  Each of the unloading devices 200 is provided below the four container mounting bases 22. In response to the container mounting bases 22-2 and 22-3 being installed at a lower position than the container mounting bases 22-1 and 22-4, an unloading conveyor below the container mounting bases 22-2 and 22-3 The position of the upper middle stage 202 is configured to be lower than the position of the upper middle stage of the unloading conveyor 202 below the container mounting bases 22-1 and 22-4.

  Each delivery conveyor 202 is a roller conveyor having a roller 203 for delivering the container 18 in the positive direction of the X-axis, and is installed below each container mounting table 22. Vertical movement means 206 for moving the delivery conveyor 202 up and down includes a parallel crank mechanism 208 of slotted parallel rule type and a ball screw 212 for sliding the pin 210 of the parallel crank mechanism 208 in the X-axis direction. It is configured to be equipped. The parallel crank mechanism 208 can move up and down in parallel while maintaining the unloading conveyor 202 in a horizontal state.

  The operation of the conveyed product storage facility 12 configured as described above will be described below.

  The teaching of the robot 30 is performed before the transported object storage facility 12 operates to store the tomato 14 in the container 18.

  First, with the four container mounting tables 22 arranged in the Y-axis direction as shown in FIG. 1, the operator holds the container 18 once mounted on the four container loading tables 52. Each container loading table 22 is carried in, and as shown in FIG. 7, the containers 18 are loaded on the pair of claw members 44 of each container loading table 22. The support height H of the container 18 by the container mounting bases 22-1 and 22-4 is higher than the support height H of the container 18 by the container mounting bases 22-2 and 22-3. On the other hand, the operator places the two tomatoes 14 of the class corresponding to each conveyor 16 on the tray 32 at the conveyance direction leading end 35 of each conveyor 16 in the conveyance direction front end 35 of each conveyor 16. Place on Further, the operator operates the teaching box (not shown) to return the hand 28 of the robot 30 to the origin.

  Next, the operator operates the teaching box to move the hand 28 to the holding position of the tomato 14 on the one conveyor 16, and stores the holding position in the memory of the control device. Subsequently, the operator moves the hand 28 to the holding release position of the tomato 14 on the container 18 placed on each container mounting table 22 corresponding to the one conveyor 16, and the holding release position is controlled by the control device Store in the memory of There are a plurality of holding release positions to be stored. The hand 28 holds two tomatoes 14 at a time. For example, in the case of 16 tomatoes 14 stored in one container 18, there are eight positions at which the holding is released. The operator causes the control device to store the holding position and the plurality of holding and releasing positions of the tomato 14 for one conveyor 16 and the corresponding container mounting table 22, and then returns the hand 28 of the robot 30 to the origin.

  The teaching is performed four times in the case where the two tomatoes 14 on the four conveyors 16 are stored in the containers 18 on the four container mounting bases 22. In such teaching, a container in which the tomato 14 on the conveyor 16-1 or 16-4 is placed on the container placement table 22-1 or 22-4 installed outside the movable range S of the hand 28 The teaching for storing in 18 is performed in a state where the container mounting table 22-1 or 22-4 is moved to the inside of the movable range S of the hand 28 in the Y-axis direction.

  In this manner, the teaching for the hands 28 of the robot 30 to store the two tomatoes 14 on the four conveyors 16 into the containers 18 on the four container mounting bases 22 is completed. Below, the operation | movement which the conveyance thing storage installation 12 operate | moves, and the robot 30 accommodates the tomato 14 in the container 18 based on teaching data is demonstrated.

  First, as in the case of the teaching, the operator carries the containers 18 onto the four container mounting tables 22 respectively. On the other hand, four conveyors 16 are operated, and in each of the conveyors 16, the tomatoes 14 of the corresponding grade are transported to the transport direction leading end 35 while being placed on the tray 32. In addition, the hand 28 of the robot 30 initially returns to the origin.

  A counter (not shown) for measuring the number of tomatoes 14 is conveyed to the transport direction leading end 35 of each conveyor 16 and measures the number of tomatoes 14 pooled in each conveyor 16. Based on the measurement of the counter, the control device places the tomatoes 14 on the conveyor 16 having the largest number of tomatoes 14 transported to the transport direction leading end 35 on the container mounting table 22 corresponding to the conveyor 16 in order. Based on the teaching data, the robot 30 is caused to perform an operation of storing it in the container 18 placed.

  For example, as shown in FIG. 1, when the number of tomatoes 14 transported to the transport direction front end portion 35 of the conveyor 16-2 is 4 and the largest, the hand 28 of the robot 30 is the transport direction front end 34 of the conveyor 16-2. The two tomatoes 14-2 on the side are held and stored at a predetermined position based on the teaching data of the container 18 mounted on the container mounting table 22-2.

  By storing the two tomatoes 14-2 on the transport direction front end 34 side of the conveyor 16-2 in the container 18, the number of tomatoes 14 transported to the transport direction front end 35 of the conveyor 16-3 is three and the most. When the number increases, the hand 28 of the robot 30 holds the two tomatoes 14-3 on the side of the transport direction tip 34 of the conveyor 16-3, and the teaching data of the container 18 mounted on the container mounting table 22-3 is obtained. Store to the predetermined position based on.

  Next, when the hand 28 of the robot 30 stores the tomato 14 in the container mounting table 22-1 or 22-4 disposed outside the movable range S of the hand 28 of the robot 30, the container mounting table 22- When or just before holding the tomato 14 on the conveyor 16-1 or 16-4 corresponding to 1 or 22-4, the control device, as shown in FIG. 3 (b), the container mounting table 22-1 or 22 -4 is moved to the inside of the movable range S of the hand 28 in the Y-axis direction. At this time, the container mounting table 22-1 or 22-4 is located above the container mounting table 22-2 or 22-3. In addition, in FIG.3 (b), although both container mounting tables 22-1 and 22-4 are moved inside the movable range S of the hand 28, one of the container mounting tables 22-1 or 22-4 It is also possible to move only

  With the container mounting table 22-1 or 22-4 to be moved in the Y-axis direction moved to the inside of the movable range S of the hand 28, the robot 30 moves the conveyor 16-1 or 16-based on the teaching data. 4 holding the tomato 14 on the container mounting table 22-1 or 22-4 to store two tomatoes 14 in the container 18.

  The tomato 14 on the tray 32 is held by the hand 28 of the robot 30, and the empty tray 32 is sent to the tray carry-out conveyor 37 by the lowering of the stopper 36 and carried out.

  After storing the two tomatoes 14 in the container 18 mounted on the container mounting table 22-1 or 22-4, the tomatoes to the container 18 mounted on the container mounting table 22-2 or 20-3 When storing 14, the control device slides the container mounting table 22-1 or 22-4 in the positive or negative direction of the Y axis to open the upper side of the container mounting table 22-2 or 22-3 . After storing the two tomatoes 14 in the container 18 mounted on the container mounting table 22-1 or 22-4, the container 18 further mounted on the container mounting table 22-1 or 22-4 When storing individual tomatoes 14, the position of the container mounting table 22-1 or 22-4 is maintained.

  As described above, the tomatoes 14 on the tray 32 transported by the four conveyors 16 are sequentially stored in the containers 18 on the container mounting table 22 corresponding to the conveyors 16.

  Here, the operation of the carry-out device 200 when the filling of the tomato 14 into the one container 18 on the container mounting table 22 is completed will be described. As one example, the operation of the unloading device 200 provided below the container mounting table 22-4 when the filling of the tomato 14 into one container 18 on the container mounting table 22-4 is completed will be described below. The four carry-out devices 200 provided below the four container mounting bases 22 operate in the same manner. However, at the upper, middle, and lower three stages of the roller 203 moving up and down, the roller height h of the rollers 203 of the unloading devices 200-1 and 200-4 is higher than the roller height h of the unloading devices 200-2 and 200-3. Also high.

  When the filling of the tomato 14 into the container 18 on the container mounting table 22-4 is completed, as shown in FIGS. 4 and 7A, the container 18 on the container mounting table 22-4 has a pair of claw members. It is held by 44. The completion of the filling of the tomato 14 into the container 18 on the container mounting table 22-4 depends on the number of times the robot 30 stored the tomato 14 or the number of the tomato 14 in the container 18 detected by a sensor (not shown) , The controller recognizes.

  Thereafter, the pair of claw members 44 are separated from each other in the Y-axis direction, and the holding (support) of the container 18 by the pair of claw members 44 is released. When the holding of the container 18 by the pair of claw members 44 is released, the container 18 falls onto the roller 203 of the unloading conveyor 202, as shown in FIG. 7B. The falling distance is “support height H by container mounting table 22” − “roller height h of roller 203”. The container 18 is quickly transferred from the container mounting table 22-4 to the unloading conveyor 202 only by moving the pair of claw members 44 in the Y-axis direction.

  Next, the vertical movement means 206 is activated, and after the unloading conveyor 202 is lowered to the middle stage, the pair of claw members 44 are returned in the direction in which they approach each other, as shown in FIG. 5 and FIG. The next empty container 18 is carried in from the container loading stand 52 and placed on the container placement stand 22-4. Then, similarly to the storage of the tomato 14 in the container 18 on the roller 203, the storage of the tomato 14 in the container 18 on the container mounting table 22-4 is performed.

  When the filling of the tomato 14 into the container 18 placed on the container placement table 22-4 is completed, the pair of claw members 44 are separated from each other in the Y-axis direction, and as shown in FIG. The container 18 placed on the table 22-4 falls onto the container 18 placed on the roller 203 of the unloading conveyor 202, and the container 18 filled with tomatoes 14 is stacked in two stages.

  Next, the up-and-down moving means 206 is operated, and as shown in FIG. 6, the unloading conveyor 202 is lowered to the lower stage. Then, the roller 203 is rotationally driven, and the containers 18 stacked in two stages are unloaded to the unloading unit 204. The container 18 carried out to the carrying out unit 204 is transported to a later process by a conveyor (not shown) or the like and packaged. As an alternative to the unloading portion 204, a conveyor may be provided which extends in the Y-axis direction and transports to a later process.

  According to such a transportable object storage facility 12, the container mounting base 22 installed outside the movable range S of the hand 28 of the robot 30 among the four container mounting bases 22 arranged in the Y-axis direction. The container mounting table 22-1 or the container mounting table 22-1 in which the robot 30 is moved to the inside of the movable range S in a state where the mounting table moving device 24 moves -1 or 22-4 to the inside of the movable range S of the hand 28. The tomato 14-1 or 14-2 on the conveyor 16-1 or 16-4 is accommodated in the container 18 mounted on 22-4. Therefore, in order to store the tomato 14 in the containers 18 placed on the four container mounting tables 22 arranged in the Y-axis direction, the articulated arm 50 of the robot 30 is lengthened to move the movable range of the hand 28. There is no need to widen S. As a result, the robot 30 can be made compact, and the equipment cost can be reduced.

  Moreover, in order to store the containers 14 in the container 18 sequentially from the tomato 14 on the conveyor 16 in which the number of tomatoes 14 transported to the transport direction leading end portion 35 is the largest, There is no problem as in the case of storage. That is, since two tomatoes 14 are not transported to the transport direction front end portion 35 of one conveyor 16 which is going to store the tomatoes 14, two tomatoes at the transport direction front end portion 35 of the one conveyor 16 There is no need to wait for time until the conveyor 14 is transported, thereby making it unnecessary to configure the conveyor long in consideration of accumulation of a large amount of tomatoes 14 on the other conveyors 16. For this reason, the length of the conveyor 16 can be shortened, and the scale of the entire transported product storage facility 12 can be reduced, and the facility cost can be reduced.

  Further, the four container mounting bases 22 are arranged in the Y-axis direction which is a linear direction in plan view, and the container mounting bases 22-1 or 22-4 arranged outside the movable range S of the hand 28 are in a linear direction. Since the configuration is such that the Y axis direction is moved to the inside of the movable range S, the container mounting table 22-1 or 22- can be moved by the minimum movement distance of the container mounting table 22-1 or 22-4 in the Y axis direction. 4 can be moved to the inside of the movable range S. Therefore, the mechanism for moving the container mounting table 22-1 or 22-4 disposed outside the movable range S of the hand 28 to the inside of the movable range S can be compactly configured.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment. For example, the container mounting table 22-is configured such that the movable range S of the hand 28 is positioned at the central portion in the Y-axis direction, and the four container mounting tables 22 installed in a state of being arrayed in a linear direction in plan view. The movable range S of the hand 28 is not limited to moving in the movable range S of the hand 28 by moving 1 or 22-4 in the Y-axis direction, and as shown in FIG. It may be configured to be positioned, and the container mounting table 22-1 or 22-2 may be moved in the Y-axis direction to move inside the movable range S of the hand 28.

  Further, as shown in FIG. 10, in the case where the tomato 14 is stored in the container 18 placed on the container placement table 22-1 or 22-4, it is preferable that the tomatoes 14 are arranged in a linear direction in plan view. With the container mounting table 22-2 or 22-3 being moved in the X-axis positive direction and retracted among the container mounting tables 22, the container mounting table 22-1 or 22-4 is negative or positive in Y-axis direction. It may be configured to move in the direction to the inside of the movable range S of the hand 28 of the robot 30. In this case, the four container mounting bases 22 installed in the Y-axis direction may be installed in the same plane direction and have the same height.

  Further, as shown in FIG. 11, four container mounting bases 22 spread along the XY plane, and the container mounting bases 22-1 and 22-4 are arranged so as to be out of the movable range S of the hand 28 of the robot 30. When the tomato 14 is stored in the container 18 which is installed in a fixed state and mounted on the container mounting table 22-1 or 22-4, the container mounting table 22-1 or 22-4 in the negative direction of the X axis, It may be configured to move above the container mounting table 22-2 or 22-3 and inside the movable range S of the hand 28.

  Further, as shown in FIG. 12, the container mounting bases 22-1 and 22-4 are at positions rotated 90 ° with respect to the container mounting base 22-2 or 22-3, and the movable range of the hand 28 of the robot 30 In the case where the tomato 14 is stored in the container 18 installed in a state of being separated from the container S and mounted on the container mounting table 22-1 or 22-4, the container mounting table 22-1 or 22-4 is , And may be moved above the container mounting table 22-2 or 22-3 and within the movable range S of the hand 28.

  Furthermore, the conveyed product moving device is not limited to the robot 30 described above. For example, as shown in FIG. 13, it may be a conveyed product moving device 230 which moves the hand 28 by an XYZ orthogonal coordinate movement mechanism. The transported object moving device 230 moves the hand 28, the base frame 220, the Z axis moving frame 222 moving in the Z axis direction with respect to the base frame 220, and X moving in the X axis direction with respect to the Z axis moving frame 222. It comprises an axis movement frame 224 and a Y axis movement frame 226 which is moved in the Y axis with respect to the X axis movement frame 224 and the hand 28 is fixed.

  Further, in the conveyed product storage facility 12 of the present invention, as shown in FIG. 14, an upper conveyor belt 53 for carrying the empty container 18 into the container mounting tables 22-1 and 22-4, and the container mounting table 22-. A lower conveyor belt 55 may be provided to carry the empty containers 18 into 2 and 22-3. In this case, the upper conveyor belt 53 and the lower conveyor belt 55 extending in the Y-axis direction convey the empty container 18 in the Y-axis direction and position it by the rotation stopper 59, and the pusher 57 pushes the container 18 in the negative X-axis direction. Thus, the container 18 can be carried into the container mounting table 22.

  Further, the order in which the tomatoes 14 on the conveyor 16 are stored in the container 18 among the four conveyors 16 may be designated in advance by teaching, and the memory of the control device may record. For example, an operation of storing two tomatoes 14 transported to the transport direction front end 35 of the conveyor 16-1 into the container 18 placed on the container mounting table 22-1, the transport direction front end 35 of the conveyor 16-2 To store the two tomatoes 14 transported to the container mounting table 22-2 into the container 18 placed on the container mounting table 22-2, loading the two tomatoes 14 transported to the conveying direction leading end 35 of the conveyor 16-3 into the container The operation of storing in the container 18 placed on the placing table 22-3, the two tomatoes 14 conveyed to the conveying direction leading end 35 of the conveyor 16-4 to the container 18 placed on the container placing table 22-4 The robot 30 may be caused to perform in the order of the storing operation.

  In this case, when the control device recognizes that two tomatoes 14 are not transported to the transport direction front end 35 of any of the conveyors 16, the two tomatoes transported to the transport direction front end 35 of the conveyor 16 are The operation for storing the tomato 14 in the container 18 on the container mounting table 22 is made to pass through to the robot 30 and the two tomatoes 14 transported to the conveying direction leading end 35 of the conveyor 16 in the next order are placed on the container mounting table 22. The robot 30 may be operated to store the container 18 in the container 18. For example, when the control device recognizes that two tomatoes 14 are not transported to the transport direction front end 35 of the conveyor 16-2, the hand 28 holds the tomatoes 14 to the transport direction front end 35 of the conveyor 16-2. The robot 30 causes the operation to move to pass through and the two tomatoes 14 transported to the transport direction leading end 35 of the conveyor 16-3 in the next order are stored in the container 18 on the container mounting table 22-3. The robot 30 may perform the following operations.

  When the control device recognizes that two tomatoes 14 are not transported to the transport direction front end portion 35 of any of the conveyors 16 by performing such control, the transport direction front end of the conveyor 16 In order to make the robot 30 pass through the operation of storing the two tomatoes 14 transported to the section 35 into the container 18 on the container mounting table 22, the two tomatoes 14 are transported to the transport direction leading end 35 of the conveyor 16 By waiting for time until being done, a large amount of tomatoes 14 will not be accumulated on the other conveyors 16. For this reason, the conveyor 16 does not have to be configured long.

  In addition, the counter recognizes the number of two tomatoes 14 conveyed to the transport direction leading end 35 of the conveyor 16 in the fixed order mode in which the tomatoes 14 are stored in a fixed order for each conveyor 16, and the tomato 14 It may be configured to be able to select one of the change order modes of storing the tomatoes 14 from the conveyor 16 with a large number of.

12: Conveying object storage facility 14: Tomato (conveying object)
16: Conveyor (conveying path)
18: container (box)
22: container mounting table 24: mounting table moving device 28: hand 30: robot (conveyed object moving device)
34: transport direction tip 35: transport direction tip 36: stopper 38: adsorber 40: rail 42: sliding frame 44: claw member 48: fixed frame 50: articulated arm 51: rotating shaft 52: container loading table 200: Conveying device 202: Conveying conveyor 206: Vertical movement means 208: Parallel crank mechanism 230 Conveying object moving device C: Center of rotation S: Movable range

Claims (6)

A plurality of transport paths for transporting the transported objects and arranged without spacing from each other ;
A conveyed object moving device having a hand for moving to hold the conveyed objects on the conveying path can be moved in certain movable range,
A plurality of container placing tables installed in a state of being arranged along a plane below the hand and on which the containers are placed;
A mounting table moving device for moving the container mounting table installed outside the movable range of the hand to the inside of the movable range of the hand among the container mounting tables arranged along the plane;
The hand on the transport path is made to hold the conveyed product, and the conveyed product is stored in the container placed on the container mounting table moved to the inside of the movable range of the hand by the mounting table moving means. A control device that causes the transported object moving device to operate;
Only including,
A transported product storage facility comprising a plurality of transport paths and a plurality of container mounting tables provided for one transported product moving device . The plurality of transport paths transport the transported items, which have been sorted into equal classes, in equal classes.
The transported product moving device stores the transported product in a container in which the hand holds the transported product on the transport path and is placed on a container mounting table corresponding to the same rank of the transported product. The conveyance storage facility described in 1. The direction in which the plurality of container mounting bases are arranged is a linear direction in plan view,
The conveyed product storage according to claim 1 or 2, wherein the mounting table moving device moves the container mounting table disposed outside the movable range of the hand in a linear direction to move the container mounting table inside the movable range of the hand. Facility.   The conveyed product storage facility according to any one of claims 1 to 3, wherein the conveyed product moving device is a parallel link robot configured of three articulated arms arranged in parallel. And an unloading conveyor for unloading the container filled with the transported object by the transported object moving device.
The container mounting table has a claw member for supporting the container above the unloading conveyor;
The conveyed product storage facility according to any one of claims 1 to 4, wherein the container is transferred onto the carry-out conveyor by releasing the support of the container by the claw member.   The conveyed product storage facility according to claim 5, further comprising: vertically moving means for vertically moving the unloading conveyor.

Images