JP6571227B2 - Nesting state cancel device - Google Patents

Description

  The present invention relates to a nesting state cancellation device.

  When goods such as food are delivered to a store, a bottomed shallow dish container is used. Such containers are returned to the factory or the like in a state where a plurality of such containers are stacked in the height direction after delivery of the commodities is completed.

  Here, as a container used for delivery of merchandise, a container capable of nesting capable of lowering the total bulkiness when stacked alternately may be adopted rather than when stacked in the same direction. When such a nesting-compatible container is used, the truck bed can be used effectively when the containers are stacked and transported to a factory or the like, and the distribution cost can be reduced.

  Here, when the containers stacked in the nesting state and returned to the factory as described above are to be stored again, the nesting state must be released (the container group is separated and the orientation of each container is To the original state). In other words, when stacking containers in a state in which products are stored, it is necessary to secure a height inside the container that is higher than the height of the products to be stored. For this reason, it is necessary to return the container orientation. .

  In Patent Document 1, the container group (container group stacked in a nesting state) returned to the factory or the like is staged (the stacking state is released), and then the work of automatically aligning the containers in one direction is automatically performed. A nesting state canceling device is disclosed. If the apparatus disclosed in Patent Document 1 is used, the burden on the operator can be reduced and the cost can be reduced.

JP-A-08-108923

  However, in the nesting state canceling device disclosed in Patent Document 1, a leveling station, a direction changing station, and a direction re-inspection station are provided in this order in the extending direction of the conveyor. It has become.

  There is a demand for such a nesting state canceling device that is more compact and can be installed in a narrow place.

  The present invention has been made to solve the above-described problems, and can reliably release the nesting state while reducing the amount of work by the operator, and can be installed in a narrow place. An object is to provide a possible nesting state canceling device.

A nesting state release device according to an aspect of the present invention is a device that receives a plurality of containers stacked in a nesting state and releases the nesting state, and is stacked in the nesting state that has been transferred to a predetermined position. A plurality of containers that can be moved up and down in the vertical direction, and a lower container positioned at a lower end in the vertical direction among the plurality of containers stacked in the nesting state up to the first height position by the lifting means. In the raised state, the direction detecting means for detecting the direction of the lower end container in plan view, and the remaining containers excluding the lower end container among the plurality of containers stacked in the nesting state in the height direction. A height holding means for holding, and a state in which the remaining container is held by the height holding means. The lower end container is lowered to a second height position lower than the first height position by the elevating means, and the swiveling means capable of turning the lowered lower end container by a predetermined angle in plan view And a control means for receiving the input of the detection result relating to the orientation by the orientation detection means and controlling the lifting means and the turning means based on the input result, the control means comprising the detection result When the orientation of the lower end container is determined to be the first orientation based on the above, the turning by the turning means is not performed, the state where the lower end container can be carried out from the predetermined position, and the orientation of the lower end container is the second orientation. When it is determined that the orientation is in the direction, after the turning is performed by the turning means, the lower end container is brought into a state where it can be carried out from the predetermined position.

  In the nesting state canceling apparatus according to the above aspect, the control means that detects the orientation of the lower end container by the orientation detection means in a state where the lower end container is raised to the first height position, and receives the detection result input. When it is determined that the lower end container needs to be turned, the lower end container can be turned at the second height position.

  Moreover, in the nesting state cancellation | release apparatus which concerns on the said aspect, since a lower end container can be discharged | emitted in the state which hold | maintained the said remaining container in the height direction, it can also be performed.

  Furthermore, the nesting state canceling apparatus according to the above aspect is configured to be able to execute container orientation detection, leveling, and turning as necessary without moving the container from the predetermined position in the horizontal direction. Therefore, the area of the area required for installation in the apparatus can be made smaller than the apparatus disclosed in Patent Document 1.

  Therefore, the nesting state canceling device according to the above aspect can cancel the nesting state while reducing the amount of work by the worker, and can also be installed in a narrow place.

Nesting state release device according to another aspect of the present invention is the above embodiments, the control unit, when the direction of the lower container is determined to be the first orientation, wherein the pre-Symbol bottom container The elevating means is controlled so as to be lowered from the predetermined position to a height position at which it can be carried out without being stopped at the second height position.

  In the nesting state canceling device according to the above aspect, when the control unit determines that the lower end container does not need to be turned based on the detection result input from the direction detection unit, the lower end container is stopped at the second height position. It is comprised so that it may descend | fall to the height position which can be conveyed, without making it. For this reason, in the nesting state cancellation | release apparatus which concerns on the said aspect, useless time can be reduced and the time concerning work can be shortened.

Nesting state release device according to another aspect of the present invention is the above embodiments, each of the plurality of containers, has a rectangular shape in plan view, each of the plurality of containers, that put on the side wall outer surface one side of the long side direction are color in a different color to the other side, the direction detection unit is a color sensor for detecting the orientation in plan view in the lower container by the color difference in the sidewall outer surface.

  In the nesting state canceling device according to the above aspect, since the color sensor is adopted as the direction detecting means, it is ensured that the color of the location where color detection is performed by the color sensor is defined for each container. The direction can be detected. Therefore, in the nesting state canceling device according to the above aspect, the manufacturing cost of each container can be suppressed.

  The nesting state canceling apparatus according to another aspect of the present invention is the above aspect, further comprising a turning table that contacts the outer surface of the bottom wall of the lower end container during the raising and lowering and turning. And a first latching means for abutting and latching on both end walls of the lower end container.

  In the nesting state canceling device according to the above aspect, the lower end container can be hooked by the first hooking means of the turning table, so that the lower end container can be prevented from being displaced with respect to the turning table during turning.

  The nesting state canceling device according to another aspect of the present invention is the above aspect, wherein the bottom wall of the lower end container has a hole portion that penetrates the bottom wall, and the swivel table includes the bottom wall of the lower end container. The main surface on the outer surface side has second hooking means for hooking the hole.

  In the nesting state canceling device according to the above aspect, the lower end conveyor can be hooked also by the second hooking means of the swivel table, so that the lower end container is prevented from shifting with respect to the swivel table during the turn as described above. can do.

  The nesting state releasing device according to another aspect of the present invention is the above aspect, wherein the plurality of containers stacked in the nesting state are such that the lower end container is lower than the first height position by the elevating means, In the state of being lowered to a third height position higher than the second height position, the height holding means holds the remaining container in the height direction, and the lower end container is moved to the third height position. In the state at the height position, the container located at the lower end in the vertical direction among the remaining containers becomes the first height position.

  In the nesting state canceling device according to the aspect described above, in a state where the lower end container is separated and the remaining container is held by the height holding means, the container positioned at the lower end of the remaining container has the first height. To be located. Therefore, in the nesting state cancellation device according to the above aspect, the orientation of the container located at the lower end of the remaining containers is detected in a state where the remaining containers are held by the height holding unit. Thus, in the nesting state canceling apparatus according to the above aspect, when the necessity of turning of the lower end container is determined and turning is performed, the next container is already positioned at the lower end in the vertical direction of the remaining containers. The orientation of the container) is detected, the working time can be shortened, and higher working efficiency can be ensured.

  In the nesting state release device according to each of the above aspects, the nesting state can be reliably released while reducing the amount of work by the worker, and can also be installed in a narrow place.

It is a model side view which shows the structure of the nesting state cancellation | release apparatus which concerns on embodiment. It is a model front view which shows the structure of a nesting state cancellation | release apparatus. It is a schematic top view which extracts and shows the turning table of the nesting state cancellation | release apparatus and its periphery. It is a block diagram which shows the control structure in a nesting state cancellation | release apparatus. It is a schematic plan view which shows the structure of the upper surface in a turning table. (A) is a schematic side view which shows the structure of a container, (b) is a schematic bottom view which shows the structure of the bottom face of a container. (A) is a schematic side view which shows the state before laminating | stacking two containers, (b) is a schematic side view which shows the state which laminated | stacked two containers. It is a schematic side view which shows each process which concerns on nesting state cancellation | release using a nesting state cancellation | release apparatus in order of (a) to (d). It is a schematic side view which shows each process which concerns on the nesting state cancellation | release using a nesting state cancellation | release apparatus in order of (a) to (c).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The form described below is one embodiment of the present invention, and the present invention is not limited to the following form except for the essential configuration.

  In the drawings used below, the Z direction is the vertical direction, and the X direction is the container loading / unloading direction.

[Embodiment]
1. Configuration of Nesting State Canceling Device 1 The configuration of the nesting state canceling device 1 according to the present embodiment will be described with reference to FIGS. In addition, the nesting state cancellation | release apparatus 1 which concerns on this embodiment is an apparatus for nesting corresponding containers.

  As shown in FIG. 1, the nesting state cancellation apparatus 1 includes a main frame 2, a lower frame 3, and an upper frame 5. The main frame 2 is composed of a square pipe and a plate material, and is provided along a plane (horizontal plane) in a direction orthogonal to the Z direction.

  The lower frame 3 is composed of a square pipe and is joined to the main frame 2 on the −Z side. The upper frame 5 is also composed of a square pipe, and is joined to the main frame 2 on the + Z side.

  The nesting state release device 1 is connected to the conveyors 6 and 7 provided on the main frame 2, the lifter 10 provided on the lower frame 3, the turning actuator 13 connected to the lifter 10, and the turning actuator 13. A turning table 12, chucks 14 and 15 attached to the upper frame 5, and a color sensor 20 that is also fixed to the upper frame 5 are provided.

  The conveyor 6 and the conveyor 7 are juxtaposed on the main frame 2 in a state of being separated from each other in the Y direction. A conveyor motor 8 for driving is connected to the conveyors 6 and 7. The conveyors 6 and 7 can transport containers placed thereon in the X direction.

  In the nesting state canceling apparatus 1 according to the present embodiment, a plurality of overlapped containers are loaded from the −X side, and the containers whose nesting state is canceled are sequentially transported to the + X side.

  The lifter 10 has a shaft 26 that raises and lowers the turning actuator 13 and the turning table 12 in the Z direction.

  The turning actuator 13 is fixed to the + Z side end of the shaft 26.

  The turning table 12 is fixed to the + Z side of the turning actuator 13 and can turn.

  As shown in FIG. 2, the chuck 14 is joined to the chuck cylinder 18, and the chuck 15 is joined to the chuck cylinder 19. The chucks 14 and 15 are moved in the Y direction while being interlocked with each other by driving the chuck cylinders 18 and 19.

  As shown in FIGS. 1 and 2, the color sensor 20 is fixed to the upper frame 5 and is provided so that the color of an opposing portion in the container can be detected.

  As shown in FIG. 3, guide plates 29 and 30 are provided at portions outside the conveyors 6 and 7 in the Y direction. The guide plates 29 and 30 are provided at positions slightly above (+ Z side) the upper surfaces of the conveyors 6 and 7.

  A position sensor 31 is attached to the guide plate 30, and a reflecting plate 33 is attached to the guide plate 29. The position sensor 31 is an optical sensor, and is provided to detect a container carried in by driving the conveyors 6 and 7 and stop the container at a predetermined position. The position sensor 31 also detects a container that is discharged after the nesting state is released.

  The reflecting plate 33 is disposed at a position corresponding to the position sensor 31.

  As shown in FIG. 1, the nesting state canceling device 1 includes a control box 21 fixed to the main frame 2 and the lower frame 3. The control box 21 accommodates a power supply circuit, a controller, and the like.

2. Configuration Related to Control in Nesting State Canceling Device 1 The configuration related to control in the nesting state canceling device 1 will be described with reference to FIG. FIG. 4 is a block diagram showing a control configuration in the nesting state canceling apparatus 1.

  As shown in FIG. 4, the nesting state cancellation apparatus 1 includes a controller 210 that executes control of the apparatus based on a program stored in advance. The controller 210 is accommodated in the control box 21 shown in FIG.

  The controller 210 is connected to signal lines for receiving detection results (detection information) from the color sensor 20 and the position sensor 31. Detection information from the color sensor 20 and the position sensor 31 for the controller 210 is always input when the power of the nesting state canceling apparatus 1 is in the ON state.

  The controller 210 is also connected to the lifter 10, the turning actuator 13, the conveyor motor 8, and the chuck cylinders 18 and 19, and executes these controls. The controller 210 executes these controls based on the detection results input from the color sensor 20 and the position sensor 31. Specific control by the controller 210 will be described later.

3. Detailed Structure of the Turning Table 12 The detailed structure of the turning table 12 will be described with reference to FIG. FIG. 5 is a schematic plan view showing the configuration of the upper surface (+ Z side surface) of the turntable 12.

As shown in FIG. 5, the turntable 12 has a rectangular shape in plan view from the Z direction. And the upper surface 12a of the turning table 12 is arrange | positioned along the horizontal surface orthogonal to a Z-axis. The upper surface 12a of the turntable 12, the container is placed, turning rot the pivot axis _{Ax 12} around is possible.

  As shown in FIG. 5, the turntable 12 has a hook 121 extending toward the + X side and a hook 122 extending toward the −X side. As shown in the enlarged portion of FIG. 5, the hook 121 has a configuration in which a straight extension portion 121 a extending in the X direction and a rising portion 121 b raised from the tip portion of the straight extension portion 121 a to the + Z side are integrally provided. Have The hook 122 has the same configuration as the hook 121.

  The hooks 121 and 122 are arranged along the outer surfaces of both end walls facing the X direction in the container with a fine gap. This will be described later.

  Further, as shown in FIG. 5, the turntable 12 has pins 123 and 124 fixed to the upper surface 12a. As shown in the enlarged portion of FIG. 5, the pin 123 protrudes to the + Z side. The pin 124 also protrudes from the upper surface 12a to the + Z side, like the pin 123.

  In the state where the container is placed on the upper surface 12a, the pin 123 is configured such that the protruding portion 123a enters and engages with a hole provided in the bottom wall of the container. Similarly, the pin 124 enters and engages with a hole provided in the bottom wall of the container. These will also be described later.

4). Structure of target container 500 and stacking (nesting) of containers 500 and 501
The configuration of the container 500 targeted by the nesting state cancellation apparatus 1 will be described with reference to FIGS. 6 and 7. FIG. 6A is a schematic side view showing the configuration of the container 500, and FIG. 6B is a schematic bottom view showing the configuration of the bottom wall 500 a of the container 500. FIG. 7 is a schematic side view showing a configuration when the container 500 is stacked on the container 501.

  The container 500 is formed using a resin material, and a bottom wall 500a, two end walls 500b and 500c, and two side walls 500d and 500e are integrally formed. The container 500 has a rectangular shape in a plan view from the Z direction, and is a bottomed shallow dish-shaped container having an opening on the + Z side. Note that the container 500 employed in this embodiment is a nesting-compatible container.

  As shown in FIG. 6B, the bottom wall 500a of the container 500 has a plurality of holes 500f. In FIG. 6B, the hole 500f is illustrated as being formed only in a partial region of the bottom wall 500a of the container 500. However, in the actual container 500, the plurality of holes 500f are not formed. Formed on the entire surface.

  These holes 500f are provided on the bottom wall 500a of the container 500 so that dust or the like hardly remains. 6B, when the container 500 is placed on the swivel table 12, as indicated by arrows B and C, the pins 123 and 124 enter some of the holes 500f and enter the swivel table 12. On the other hand, it plays a role of hooking the container 500.

  As shown in FIG. 6A, when the container 500 is placed on the turntable 12, the hooks 121 and 122 of the turntable 12 are fine with respect to the outer surfaces of the two end walls 500b and 500c. Along the gap. In FIG. 6A, as indicated by an arrow A, the hook 121 extends along the end wall 500b. The same applies to the hook 122. In the present embodiment, the container 500 is hooked on the turning table 12 by providing the hooks 121 and 122 on the turning table 12 as described above.

  As described above, the container 500 targeted by the nesting state canceling apparatus 1 according to the present embodiment is a nesting-compatible container. That is, the container 500 is a container having directionality in the X direction.

  As shown in FIG. 6A, the + X side portion of the container 500 is darkly colored (dark color portion 500h) so as to indicate the direction of the container 500, and the -X side portion. Are lightly colored (light color portion 500i). Note that the color of the dark color portion 500h is, for example, red, and the color of the light color portion 500i is, for example, yellow.

Next, as shown in FIG. 7A, in the container 500, the opening side portion (opening side portion 500j) has a larger cross-sectional size than the bottom wall side portion (bottom wall side portion 500k). Yes. The height of the container 500 is _{H 1.}

A container 501 having the same structure as the container 500 is prepared. In other words, which has a dark color 501h and the light portion 501i, and a open side 501j and the bottom wall side 501k, height to prepare the container 501 of the _{H 1.}

  As shown in FIG. 7A, the containers 500 are stacked from the top of the container 501. When the containers 500 and 501 are stacked, the light color portion 501i of the container 501 comes below the dark color portion 500h of the container 500, and the dark color portion 501h of the container 501 comes below the light color portion 500i of the container 500. Next, the directions of the containers 500 and 501 are defined.

As shown in FIG. 7B, when the container 500 and the container 501 are stacked, the bottom wall side portion 500k of the container 500 is accommodated inside the opening side portion 501j of the container 501. Therefore, the total height _{H 2} of the and the container 500 was superposed container 501, the height obtained by adding the height of the open side 500j at the height _{H 1} and container 500 of the container 501, stacked This is the total height H _{2 of} the containers 500 and 501.

5. Nesting State Canceling Operation of Containers 500 to 502 Hereinafter, the nesting state canceling operation of three stacked containers 500 to 502 will be described as an example with reference to FIGS. 8 and 9. FIG. 8 is a schematic side view showing steps of nesting state cancellation using the nesting state cancellation device in the order of (a) to (d), and FIG. 9 is nesting state cancellation using the nesting state cancellation device. It is a schematic side view which shows each process which concerns on the order of (a) to (c).

(1) Loading process of containers 500 to 502 As shown in FIG. 8A, stacking is performed in a nesting state by driving conveyors 6 and 7 (in FIG. 8A, illustration of conveyors 6 and 7 is omitted). The containers 500 to 502 are conveyed from the −X side to the + X side as indicated by an arrow D and are carried into the nesting state canceling apparatus 1. The stacked form of the containers 500 to 502 is a nesting state in which the directions in the X direction are staggered as described above. That is, the containers 500 to 502 are a dark color portion 500h, a light color portion 501i, and a dark color portion 502h in order from the bottom on the + X side, and a light color portion 500i, a dark color portion 501h, and a light color portion in order from the bottom on the -X side. 502i. Thus, a part of the container 501 on the −Z side is inserted into the container 500, and a part of the container 502 on the −Z side is inserted into the container 501.

The controller 210 (see FIG. 4) starts from the time when the result indicating that the containers 500 to 502 are detected from the position sensor 31 (see FIGS. 3 and 4), or from the time when the result is obtained. At a time point delayed by a predetermined time, the conveyor motor 8 also issues a command to stop driving. As a result, the conveyors 6 and 7 stop in a state where the turning axis Ax ₁₂ (see FIG. 5) of the turning table 12 and the center of the bottom wall 500a of the container 500 substantially coincide with each other.

As shown in FIG. 8A, when the containers 500 to 502 are carried into the nesting state canceling apparatus 1, the lifter 10 is not driven (standby state at the lower limit), and the turntable 12 is located at a height level HL ₀ which is on the −Z side with respect to the upper surfaces of the conveyors 6 and 7.

(2) Ascent Process of Containers 500 to 502 As shown in FIG. 8B, the controller 210 issues a drive command to the lifter 10 (see FIG. 1 and the like) after the conveyors 6 and 7 stop driving.

  The lifter 10 that has received the drive command from the controller 210 raises the turntable 12 to the + Z side as indicated by the arrow E. As described with reference to FIG. 6, the turning table 12 and the container 500 are hooked by the hooks 121 and 122 and the pins 123 and 124.

The turning table 12 is raised to the height level HL ₁ and the rotation drive of the motor 11 is stopped. Here, the height level HL ₁ of the turntable 12 is a level at which the container 500 becomes a height position (first height position) at which the color sensor 20 can detect the color of the side wall 500d. That is, in a state where the turntable 12 is stopped at the height levels HL _1, dark color portion 500h of the color sensor 20 container 500 to detect the level Lcs (see. FIG. 1, etc.) is to be positioned. As a result, the color sensor 20 sends a color detection result (detection result of red) to the controller 210.

(3) Step of Maintaining Height of Containers 501 and 502 As shown in FIG. 8C, the controller 210 (see FIG. 4) that acquired the color detection result of the dark color portion 500h in the container 500 is connected to the lifter 10. On the other hand, a drive command is issued, and the turning table 12 is lowered to the height level HL ₂ as indicated by the arrow F. Then, the controller 210 issues a drive command to the chuck cylinders 18 and 19 to sandwich the side wall of the container 501 between the chucks 14 and 15.

The containers 501 and 502 are held at the height level when the side walls of the container 501 are sandwiched between the chucks 14 and 15 (see FIG. 2). Note that the side wall of the container 501 sandwiched and held by the chucks 14 and 15 is positioned at the detection level Lcs of the color sensor 20. That is, the height level HL _2, such that the container 501 becomes the height position of the detection level Lcs of the color sensor 20, a height position at which the container 500 is positioned in the lower end (third height position). Accordingly, the color sensor 20 sends a signal (detection result) indicating that the color (yellow) of the light color portion 501i of the container 501 has been detected to the controller 210.

(4) Lowering Step of Container 500 As shown in FIG. 8D, when the controller 210 determines that the container 500 needs to be turned based on the detection result from the color sensor 20, as shown by the arrow G the turntable 12 is lowered to the height level HL _3. The height level HL ₃ of the turning table 12 is a height position (second height position) at which the container 500 placed on the turning table 12 does not interfere with the container 501 and the conveyors 6 and 7 in the Z direction. It is a level that becomes.

(5) Turning Step of Container 500 As shown in FIG. 9A, the controller 210 determines that the dark color portion 500h of the container 500 is located on the + X side based on the detection result from the color sensor 20 (the container 500 is If it is determined that the rotation direction is the second direction, the turning table 12 is turned (rot). That is, the controller 210 issues a drive command to the turning actuator 13 in a state where the turning table 12 is held at the height level HL ₃ , and turns the turning table 12 180 ° in plan view. Accordingly, in the container 500, the dark color portion 500h faces the + X side, and the light color portion 500i faces the -X side.

(6) Unloading step of container 500 As shown in FIG. 9B, the controller 210 issues a drive command to the lifter 10 after the turning of the turning table 12, and the turning table 12 as indicated by the arrow H. Is lowered to the height level HL ₀ . The height level HL ₀ of the turning table 12 is a height level at which the turning table 12 is on the −Z side with respect to the upper surfaces of the conveyors 6 and 7, and the height at which the turning table 12 is unlocked from the container 500. Is a level.

The controller 210, after the turntable 12 has fallen to the height level HL _0, (In FIG. 9 (b), optional. Shown) conveyor 6,7 issues a drive command to the conveyer motor 8 drives the. As a result, the container 500 is carried out of the nesting state canceling apparatus 1 as indicated by an arrow I.

  As described above, the controller 210 determines that the container 500 has been unloaded from the nesting state canceling apparatus 1 based on the detection results of the position sensors 31 and 32.

(7) Separation of container 501 As shown in FIG. 9C, when the controller 210 determines that the container 501 does not need to be turned (the container 501 is in the first direction), After executing the step (3), the step (6) is executed without stopping the turning table 12 at the height level HL ₃ .

As described above, in the nesting state release apparatus 1 according to the present embodiment, the containers 500 to 502 can be carried in and out and the nesting state can be released according to the height levels HL ₀ to HL _{3 of the} turning table 12. . Therefore, since the nesting state canceling apparatus 1 can automatically cancel the nesting state, the amount of work by the operator can be reduced, and the nesting state canceling apparatus 1 can also be installed in a narrow place.

[Modification]
In the nesting state canceling apparatus 1 according to the above embodiment, the container orientation is determined by the color of the side wall of the container, but the present invention is not limited to this. For example, a distinguishable mark may be attached to one side in the longitudinal direction on the outer surface of the side wall of the container, and the container orientation may be determined by determining the presence or absence of the mark with an image sensor provided on the apparatus side.

  Moreover, in the nesting state cancellation | release apparatus 1 which concerns on the said embodiment, although the concrete structure of the lifter 10 was not mentioned, various lifters can be employ | adopted. For example, a lifter having a linear motor, a lifter using an air cylinder, or the like may be employed.

  In the nesting state canceling apparatus 1 according to the above embodiment, the chucks 14 and 15 are opened and closed by driving the chuck cylinders 18 and 19, but the present invention is not limited to this. For example, a structure in which a link mechanism is interposed between the chuck cylinder and the chuck may be employed.

  Moreover, in the nesting state cancellation | release apparatus 1 which concerns on the said embodiment, although carrying in / out of the container was performed by the conveyors 6 and 7, this invention is not limited to this. For example, the container may be configured to be loaded and unloaded by pressing the container with a cylinder or the like, or an operator may be loaded and unloaded.

  Moreover, in the nesting state cancellation | release apparatus 1 which concerns on the said embodiment, although it decided not to confirm the orientation of the container again just before conveying a container, this invention is not limited to this. For example, another color sensor may be provided on the guide plates 29 and 30, and the orientation of the container immediately before discharge may be confirmed with the color sensor.

  In the nesting state canceling apparatus 1 according to the above embodiment, two types of hooking means (hooks 121 and 122 and pins 123 and 124) are provided to hook the container. You are not limited to this. For example, only one of the latching means may be used, and other latching means may be employed. As another example of the latching means, one or a plurality of suction pads may be provided on the upper surface of the turning table, and the container may be latched by suction using the suction pads.

  In the nesting state canceling apparatus 1 according to the above embodiment, the containers 500 to 502 are carried in from the + X side and carried out to the −X side, but the present invention is not limited to this. For example, the direction of carry-in and carry-out may be the same, or a container can be loaded from the + Z side.

1 Nesting state release device 6, 7 Conveyor 10 Lifter (lifting means)
12 Turning table (table)
13 Turning actuator (turning means)
14, 15 Chuck (height holding means)
18, 19 Chuck cylinder 20 Color sensor (Direction detection means)
31 Position sensor (container detection means)
121, 122 hook (first hooking means)
123, 124 pins (second hooking means)
210 Controller (control means)
500, 501, 502 Container 500a Bottom wall 500b, 500c End wall 500d, 500e Side wall 500f Hole 500h, 501h, 502h Dark color part 500i, 501i, 502i Light color part 500j, 501j Open side part 500k, 501k Bottom wall side part HL ₀ height level HL ₁ height level HL ₂ height level HL ₃ height level

Claims (6)

In a nesting state canceling device that accepts the loading of a plurality of containers stacked in a nesting state and cancels the nesting state,
Lifting means capable of vertically moving a plurality of containers stacked in the nesting state carried into a predetermined position;
In the state where the lower end container located at the lower end in the vertical direction among the plurality of containers stacked in the nesting state is raised to the first height position by the elevating means, the orientation of the lower end container in plan view Orientation detection means for detecting
Among the plurality of containers stacked in the nesting state, a height holding means for holding the remaining containers excluding the lower end container in the height direction;
In a state where the remaining container is held by the height holding means, the lower end container is lowered to a second height position lower than the first height position by the elevating means, and the lowered container is lowered. Turning means capable of turning the lower end container by a predetermined angle in plan view;
Control means for receiving an input of a detection result relating to the orientation by the orientation detection means, and controlling the elevating means and the turning means based on the input result;
With
When the control means determines that the direction of the lower end container is the first direction based on the detection result, the control means does not perform the turning by the turning means, and can be carried out from the predetermined position, When it is determined that the orientation of the lower end container is the second orientation, after the turning means performs the turning, the lower end container is brought into a state where it can be carried out from the predetermined position.
Nesting state release device. The nesting state canceling device according to claim 1,
Wherein when the orientation of the lower container is determined to be the first orientation, high capable unloaded before Symbol lower container from the predetermined position without stopping in the second height position Controlling the elevating means to descend to the vertical position;
Nesting state release device. The nesting state canceling device according to claim 1 or 2,
Each of the plurality of containers has a rectangular shape in plan view,
Wherein each of the plurality of containers, one side of the long side direction that put on the side wall outer surface are color in a different color to the other side,
The orientation detection means is a color sensor that detects an orientation of the lower end container in a plan view based on a color difference on the outer surface of the side wall.
Nesting state release device. The nesting state canceling device according to claim 3,
Further comprising a turning table that contacts the outer surface of the bottom wall of the lower end container at the time of raising and lowering and turning.
The swivel table has first latching means that abuts and latches on both end walls of the lower end container,
Nesting state release device. The nesting state canceling device according to claim 4,
The bottom wall of the lower end container has a hole passing through the bottom wall,
The swivel table has second hooking means for hooking the hole on the main surface of the bottom wall outer surface side of the lower end container.
Nesting state release device. A nesting state canceling device according to any one of claims 1 to 5,
The plurality of containers stacked in the nesting state are lowered to a third height position where the lower end container is lower than the first height position and higher than the second height position by the lifting means. The remaining container is held in the height direction by the height holding means,
In the state where the lower end container is at the third height position, the container located at the lower end in the vertical direction among the remaining containers becomes the first height position.
Nesting state release device.

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