JP6780407B2 - Holding device - Google Patents

Description

The present invention relates to a holding device for holding a flat plate-like member such as a pallet.

Conventionally, a picking system has been disclosed in which a self-propelled trolley supplies an empty pallet on which no luggage is placed to a plurality of palletizing stations from a pallet magazine in which the empty pallet is held, and pallets the luggage at the palletizing station. (See Patent Document 1).

Japanese Unexamined Patent Publication No. 2-193896

However, in the technique of Patent Document 1, since the empty pallet is held in the pallet magazine, a space for installing the pallet magazine is required. Further, since the self-propelled trolley supplies the empty pallet to the palletizing station, the picking robot needs to wait for picking only for the time until the empty pallet is supplied to the palletizing station. That is, the technique of Patent Document 1 has a problem that the space for storing a flat plate-shaped member such as a pallet is not sufficiently reduced and the time required for supplying the flat plate-shaped member is not sufficiently shortened.

Therefore, the present invention has been made in view of such a problem, and it is possible to sufficiently reduce the space for storing the flat plate-shaped member and the time required for supplying the flat plate-shaped member. Provide a holding device capable of providing.

In order to achieve the above object, the holding device according to one aspect of the present invention is a holding device that holds a flat plate-shaped member, and is a first support member that supports the flat plate-shaped member, and the flat plate-shaped member. A first support member rotatably connected to a portion of the conveyor on the first direction side substantially orthogonal to the transport direction on a first rotation axis along the transport direction, and the first support member From one posture of the first posture located below the upper surface of the transport path of the conveyor and the second posture of the first support member located above the upper surface of the transport path to the other posture. , A first drive unit for rotating the first support member.

According to this, when the first support member is in the second posture while supporting the flat plate-shaped member, the first support member can hold the flat plate-shaped member on the side of the conveyor on the first direction side. In this way, since the flat plate-shaped member can be held while securing the space on the conveyor transport path, the flat plate-shaped member can be stored in a small space. Further, when a flat plate-shaped member is required, the flat plate-shaped member can be supplied on the conveyor by setting the first support member in the first posture. Therefore, it is possible to sufficiently reduce the space for storing the flat plate-shaped member and shorten the time required for supplying the flat plate-shaped member.

Further, by controlling the conveyor and (i) the conveyor, the flat plate-shaped member is conveyed to a position facing the first support member in the first posture, and (ii) the first. 1 In a state where the flat plate-shaped member is located at a position facing the support member, the first support member is rotated from the first posture to the second posture by controlling the first drive unit. A controller and may be provided.

Therefore, the holding device can easily hold the flat plate-shaped member when the flat plate-shaped member is not held.

Further, a receiving member arranged on the first direction side of the conveyor and sandwiching the flat plate-shaped member together with the first supporting member in the second posture is provided, and the receiving member is provided together with the first supporting member. It may have a first guide mechanism for guiding the sandwiched flat plate-shaped member to a predetermined position in the transport direction.

Therefore, when the flat plate-shaped member is held by setting the first support member in the second posture, the flat plate-shaped member is held at a predetermined position even if the flat plate-shaped member is displaced from a predetermined position in the transport direction. Can be done. As a result, when the flat plate-shaped member held by the first support member is supplied onto the conveyor by setting the first support member in the second posture, the flat plate-shaped member is supplied to a predetermined position in the transport direction. be able to.

Further, a receiving member arranged on the first direction side of the conveyor and sandwiching the flat plate-shaped member together with the first support member in the second posture is provided, and the first support member is the second support member. In the posture, (i) it is in an upright state with the first rotating shaft side on the lower side with respect to the transport path, and (ii) it has a second guide mechanism for guiding the flat plate-shaped member on the receiving member side. The second guide mechanism is provided below the first support member in the second posture, and the second guide mechanism is lowered as the surface supporting the flat plate-like member approaches the receiving member. It may be composed of a second protrusion that is inclined along the direction toward.

According to this, when the first support member is in the second posture while the flat plate-shaped member is supported, the first support member and the receiving member form a flat plate while being guided to the receiving member side by the second guide mechanism. The shaped member is sandwiched. Therefore, the flat plate-shaped member can be stably held.

Further, a receiving member arranged on the first direction side of the conveyor and sandwiching the flat plate-shaped member together with the first supporting member in the second posture is provided, and the receiving member is provided together with the first supporting member. The first guide mechanism for guiding the sandwiched flat plate-shaped member to a predetermined position in the transport direction is provided, and the first support member is, in the second posture, (i) with respect to the transport path. It is in an upright state with the first rotating shaft side on the lower side, and (ii) has a second guide mechanism for guiding the flat plate-shaped member on the receiving member side, and the second guide mechanism is the first supporting member. In the second posture, a second projecting portion is provided below the first support member and is inclined in a downward direction as the surface supporting the flat plate-shaped member approaches the receiving member. It may be composed of.

Therefore, when the flat plate-shaped member is held by setting the first support member in the second posture, the flat plate-shaped member is held at a predetermined position even if the flat plate-shaped member is displaced from a predetermined position in the transport direction. Can be done. As a result, when the flat plate-shaped member held by the first support member is supplied onto the conveyor by setting the first support member in the second posture, the flat plate-shaped member is supplied to a predetermined position in the transport direction. be able to.

Further, when the first support member is in the second posture while the flat plate-shaped member is supported, the first support member and the receiving member are guided to the receiving member side by the second guide mechanism. A flat plate-shaped member is sandwiched. Therefore, the flat plate-shaped member can be stably held.

Further, the first guide mechanism is composed of a first protruding portion of the receiving member that protrudes from a position outside the predetermined position in the transport direction in a direction approaching the conveyor, and the first protruding portion is the said. The surface of the first protruding portion on the predetermined position side in the transport direction may be inclined along the outward direction of the receiving member in the transport direction as it approaches the conveyor.

Therefore, the first guide mechanism can be realized with a simple structure.

Further, when the first support member supports the flat plate-shaped member in the second posture, the lower portion of the flat plate-shaped member is supported, and the supporting surface becomes lower as it approaches the conveyor. A third guide mechanism that is inclined along the direction may be provided.

Therefore, when the first support member is in the second posture while the flat plate-shaped member is supported, the flat plate-shaped member is held in a state where the flat plate-shaped member is guided to the first support member side by the third guide mechanism. be able to. Therefore, the flat plate-shaped member can be stably held.

Further, by a second rotation shaft provided along the transport direction on the second direction side opposite to the first direction of the conveyor that supports the flat plate-shaped member and conveys the flat plate-shaped member. A second support member that is rotatably supported, a first posture in which the second support member is located below the upper surface of the transport path, and the portion is located above the upper surface of the transport path. A second drive unit that rotates the second support member from one posture with the second posture to the other posture is provided, and the first support member and the second support member are conveyed. They may be arranged at positions different from each other in the direction and within a region defined by the width of the flat plate member.

According to this, the first support member and the second support member are arranged at different positions in the transport direction. Therefore, even if the first support member and the second support member are in the first posture, it is possible to prevent the first support member and the second support member from interfering with each other. Further, flat plate-shaped members can be held on both sides of the conveyor transport path. Therefore, it is possible to store two flat plate-shaped members in a space-saving area where they overlap in the transport direction.

The holding device of the present invention can sufficiently reduce the space for storing the flat plate-shaped member and shorten the time required for supplying the flat plate-shaped member.

It is a top view of the picking system in an embodiment. It is a perspective view which shows the appearance of the holding device. It is a block diagram of a holding device. It is a top view and the side view of the holding device when the support member is in the first posture. It is a top view and a side view of the holding device when the support member is in a second posture. It is a figure for demonstrating the details of operation of each apparatus in a palletizing station. It is a figure for demonstrating the details of operation of each apparatus in a palletizing station. In the modified example, it is a top view and a side view of a holding device when the first support member and the second support member are in the first posture. It is a top view of the picking system and the schematic view of the holding device in the modification 7.

The transfer system according to the embodiment of the present invention will be described below with reference to the drawings. It should be noted that each figure is a schematic view and is not necessarily a strict drawing.

Moreover, the embodiment described below shows a specific example of the present invention. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components.

(Embodiment)
[Constitution]
First, the outline of the picking system 1 according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is a plan view of the picking system according to the embodiment.

In the picking system 1, for example, as shown in FIG. 1, the traveling vehicle 20 supplies the empty pallet 30 (flat plate-shaped member) from the automated warehouse 70 to the palletizing station 10. Then, the traveling vehicle 20 carries the actual pallet 40 on which the luggage 60 is placed on the empty pallet 30 to the automated warehouse 70 at the palletizing station 10. Here, the traveling vehicle 20 is an AGV (Automated Guided Vehicle) capable of moving to a place for loading articles on its own device or a place for unloading the loaded articles.

The empty pallet 30 may be a flat plate-shaped member or may be a plate-shaped member.

The palletizing station 10 includes a holding device 100, a conveyor 201, and a robot 300.

The holding device 100 is arranged on a first direction side different from the transport direction side of the conveyor 200 included in the holding device 100, and holds the empty pallet 30 on the conveyor 200 or supplies the holding empty pallet 30 onto the conveyor 200. It is a device to do. The detailed configuration of the holding device 100 will be described later.

The conveyor 201 is a device that conveys pallets and articles in a predetermined direction. In the present embodiment, the conveyor 201 is arranged side by side with the conveyor 200 included in the holding device 100 in the transport direction. Further, two holding devices 100 and two conveyors 201 are provided at one palletizing station 10, and the holding devices 100 and the conveyor 201 are arranged side by side in two rows with respect to one robot 300. The conveyors 200 and 201 are, for example, roller conveyors.

The robot 300 is a palletizing robot that picks a load 60 conveyed and supplied by a conveyor 50 and pallets it on an empty pallet 30. The conveyor 50 is, for example, a belt conveyor, a roller conveyor, or a chain conveyor.

[Configuration of holding device]
Next, the detailed configuration of the holding device 100 will be described.

FIG. 2 is a perspective view showing the appearance of the holding device. FIG. 3 is a block diagram of the holding device. FIG. 4 is a top view and a side view of the holding device when the support member is in the first posture. FIG. 5 is a top view and a side view of the holding device when the support member is in the second posture.

In FIG. 2, the vertical direction is the Z-axis direction, the transport direction is the X-axis direction, and the vertical direction and the direction substantially orthogonal to the transport direction are the Y-axis directions.

As shown in FIGS. 2 to 5, the holding device 100 includes a support member 110 and a driving unit 120. Further, the holding device 100 may further include a receiving member 130, a controller 140, and a conveyor 200.

The support member 110 is a member that supports the empty pallet 30. The support member 110 is a portion of the conveyor 200 for transporting the empty pallet 30 on the first direction side (minus side in the Y-axis direction) substantially orthogonal to the transport direction (X-axis direction), and the first rotation axis along the transport direction. It is rotatably connected by AX1. Specifically, the support member 110 is a long plate-shaped member, and one end thereof is rotatably connected to the side surface of the conveyor 200 on the minus side in the Y-axis direction in the X-axis direction.

As shown in FIGS. 4 and 5, the support member 110 rotates with respect to the first rotation axis AX1 so that the support member 110 has a first posture in which the support member 110 is located below the upper surface of the conveyor 200 transport path. Or the support member 110 may be in a second position above the top surface 211 of the transport path.

Here, FIG. 4A is a top view of the holding device 100 as viewed from above when the support member 110 is in the first posture. FIG. 4B is a side view of the holding device 100 as viewed from the X-axis direction when the support member 110 is in the first posture. FIG. 5A is a top view of the holding device 100 as viewed from above when the support member 110 is in the second posture. FIG. 5B is a side view of the holding device 100 as viewed from the X-axis direction when the support member 110 is in the second posture.

In the first posture, the support member 110 is, specifically, substantially parallel to the roller 210, as shown in FIG. 4B. That is, the support member 110 is arranged at a position where the upper portion thereof is lower than the upper surface of the transport path in a state of being substantially parallel to the roller 210. When the support member 110 is in the first posture, the support member 110 does not have to be substantially parallel to the transport path, and may be in a posture at an angle lower than the upper surface of the transport path.

In the second posture, the support member 110 is specifically in a posture substantially perpendicular to the roller 210 (that is, the transport path), as shown in FIG. 5 (b). That is, in the second posture, the support member 110 is in an upright state in which the first rotation shaft AX1 side is on the lower side with respect to the transport path. When the support member 110 is in the second posture, the support member 110 does not have to be upright with respect to the transport path, and is in a posture at an angle that does not interfere with the space through which the load transported on the transport path passes. Good.

The upper surface 211 of the transport path of the conveyor 200 is a virtual surface through which the bottom surface of the object passes when the object is transported on the transport path.

In the present embodiment, two support members 110 are provided, and as shown in FIG. 4A, each of the support members 110 is positioned between a plurality of rollers 210 included in the conveyor 200 in the first posture. It is located in. Further, the support member 110 may have a length that can support the empty pallet 30 (a length corresponding to the width of the empty pallet 30 in the Y-axis direction). Further, even if the support member 110 has a length over substantially the entire width of the roller 210 in the Y-axis direction in the first posture (for example, a length of 90% or more and less than 100% of the length of the roller 210). Good.

Further, the support member 110 has a guide mechanism 111 that guides the empty pallet 30 toward the receiving member 130 side (that is, the minus side in the Y-axis direction) in the second posture. The guide mechanism 111 is composed of a protrusion provided below the support member 110 in the second posture of the support member 110. The guide mechanism 111 is inclined in the Y-axis direction and the Z-axis direction along the downward direction as the upper surface 112 of the support member 110 approaches the receiving member 130 in the second posture. There is. The support member 110 is made of, for example, metal, resin, or the like.

The drive unit 120 rotates the support member 110 from one posture of the first posture and the second posture to the other posture. In the present embodiment, since the support member 110 is substantially parallel to the roller 210 in the first posture and substantially perpendicular to the roller 210 in the second posture, the drive unit 120 supports the support member 120. The member 110 is driven so as to rotate about 90 degrees. Further, in the present embodiment, the drive unit 120 only needs to be able to make the support member 110 in either the first posture or the second posture, and is in a posture other than the first posture and the second posture. It is not necessary to rotate the support member 110. Further, as shown in FIGS. 4 and 5, when the support member 110 is rotated from one posture of the first posture and the second posture to the other posture, the support member 110 is on the transport path. Rotate so as to pass through the space of. The drive unit 120 is composed of, for example, a motor.

The receiving member 130 is arranged on the minus side in the Y-axis direction of the conveyor 200, and sandwiches the empty pallet 30 together with the supporting member 110 in the second posture as shown in FIG. Specifically, the receiving member 130 is a flat plate-shaped member, and is fixed to the side surface of the conveyor 200 on the minus side in the Y-axis direction by two legs 133. The receiving member 130 has a guide mechanism 131 that guides the empty pallet 30 sandwiched together with the supporting member 110 to a predetermined position in the X-axis direction. The predetermined position is, for example, a position corresponding to the center of the holding device 100 in the transport direction. The predetermined position does not have to be a position corresponding to the center in the transport direction of the holding device 100, and if the empty pallet 30 can be held at a predetermined predetermined position of the holding device 100, the transport direction of the holding device 100 It may be the position of the end portion (that is, the end portion on the back side or the front side in the transport direction). Further, the predetermined position may be, for example, a position based on the position where the holding device 100 is attached to the conveyor 200 in the transport direction. The receiving member 130 is made of, for example, metal, resin, or the like.

Specifically, the guide mechanism 131 is provided at both ends of the receiving member 130 in the X-axis direction, and is composed of protruding portions. That is, the guide mechanism 131 is composed of a protruding portion of the receiving member 130 that protrudes in the direction approaching the conveyor 200 (plus side in the Y-axis direction) from a position outside the transport direction at a predetermined position.

Then, the guide mechanism 131 comes into contact with the empty pallet 30 when the empty pallet 30 is sandwiched with the support member 110 in the receiving member 130 (that is, in the guide mechanism 131, the surface on the center side of the holding device 100 in the transport direction). As the 132 approaches the conveyor 200, it is along the outward direction of the receiving member 130 in the X-axis direction (transportation direction), and is inclined with respect to the X-axis direction and the Y-axis direction. The surface 132 of the guide mechanism 131 is a surface of the guide mechanism 131 (protruding portion) on the predetermined position side in the transport direction.

Further, the receiving member 130 supports the lower portion of the empty pallet 30 when the supporting member 110 supports the empty pallet 30 in the second posture, and the supporting surface becomes lower as it approaches the conveyor 200. It may have a guide mechanism 134 that is inclined along it. Specifically, the guide mechanism 134 includes a first inclined surface 135 and a second inclined surface 136 that is more gently inclined than the first inclined surface 135 on the positive side in the Y-axis direction with respect to the first inclined surface 135. Have. The position of the boundary between the first inclined surface 135 and the second inclined surface 136 in the Z-axis direction is substantially the same as the position of the end portion of the guide mechanism 111 of the support member 110 on the Z-axis direction in the second posture. .. As described above, since the guide mechanism 134 has the first inclined surface 135 and the second inclined surface 136 having different inclination angles, the empty pallet 30 is formed at the boundary between the first inclined surface 135 and the second inclined surface 136. It has a structure that makes it easy to hold the corners of the.

The guide mechanism 134 may not have the first inclined surface 135 and the second inclined surface 136, or may have only the second inclined surface 136.

Next, the configuration of the conveyor 200 will be described.

The conveyor 200 has a plurality of rollers 210, a support base 220, legs 230, and guides 240 and 250.

The plurality of rollers 210 are members on a cylinder that rotate by a rotation axis parallel to the Y-axis direction, and by rotating, the loaded load or the empty pallet 30 is conveyed in the X-axis direction. The plurality of rollers 210 are arranged at predetermined intervals in the X-axis direction.

The support base 220 is a member that supports both ends of the plurality of rollers 210 in the rotation axis direction. Specifically, the support base 220 has two wall portions 221 and 222 that sandwich the plurality of rollers 210 in the Y-axis direction. Of the two wall portions 221 and 222, the wall portion 221 on the minus side in the Y-axis direction has a groove portion 223 whose upper side is open at a position where the support member 110 is arranged in the X-axis direction. The depth of the groove portion 223 is a depth that does not interfere with the support member 110 in the second posture.

The leg portion 230 is a member that is arranged between the support base 220 and the floor surface and supports the support base 220.

The guide portion 240 is arranged on the wall portion 222 at the end of the support base 220 on the positive side in the Y-axis direction, and has an inclined surface 241 in which the surface on the negative side in the Y-axis direction is inclined upward. The guide portion 240 projects upward from the upper surface of the roller 210 and is arranged at a position on the plus side in the Y-axis direction of the roller 210.

A plurality of guide portions 250 are arranged side by side in the X-axis direction on the wall portion 221 at the end of the support base 220 on the minus side in the Y-axis direction. The guide portion 250 is arranged at a position in the X-axis direction other than the position where the support member 110 is arranged. That is, the guide portion 250 is arranged in the region excluding the groove portion 223 of the wall portion 221. Each of the plurality of guide portions 250 has an inclined surface 251 whose surface on the positive side in the Y-axis direction is inclined in an upward direction.

The controller 140 controls the operation of the drive unit 120 and the operation of the conveyor 200. Specifically, the controller 140 controls the conveyor 200 to convey the empty pallet 30 to a position facing the support member 110 in the first posture. Then, the controller 140 rotates the support member 110 from the first posture to the second posture by controlling the drive unit 120 in a state where the empty pallet 30 is located at a position facing the support member 110. The controller 140 is realized, for example, by a memory that stores a processor and a control program.

[Operation example]
Next, the operation of each device in the palletizing station 10 of the picking system 1 will be described with reference to FIGS. 6A and 6B.

6A and 6B are diagrams for explaining the details of the operation of each device in the palletizing station. In addition, in FIG. 6A and FIG. 6B, an example in which one row of holding devices 100 and the conveyor 201 are arranged side by side for one robot 300 will be described for convenience.

As shown in FIG. 6A (a), first, the empty pallet 30 is supplied from the conveyor 200 of the holding device 100 to the conveyor 201. At this time, the holding device 100 is not holding the empty pallet 30, and the support member 110 is in the first posture.

Next, as shown in FIG. 6A (b), the robot 300 picks the load 60 conveyed and supplied by the conveyor 50 and pallets it on the empty pallet 30. At this time, the traveling vehicle 20 may move to the side of the conveyor 200 of the holding device 100 with the empty pallet 30 placed on it.

Next, as shown in FIG. 6A (c), the traveling vehicle 20 supplies the empty pallet 30 to the conveyor 200 of the holding device 100. In the holding device 100 supplied with the empty pallet 30, the controller 140 controls the conveyor 200 to convey the empty pallet 30 to a position facing the support member 110 in the first posture. During this time, the robot 300 may continue to pick the load 60 conveyed and supplied by the conveyor 50 and palletize it on the empty pallet 30.

Next, as shown in FIG. 6A (d), in the holding device 100, the support member is controlled by controlling the drive unit 120 in a state where the empty pallet 30 is located at a position where the controller 140 faces the support member 110. The 110 is rotated from the first posture to the second posture. As a result, the holding device 100 holds the empty pallet 30 on the side of the conveyor 200. In this way, since the holding device 100 temporarily holds the empty pallet 30 supplied from the traveling vehicle 20, the transport path on the conveyor 200 is vacant. In this way, since the holding device 100 can hold the empty pallet 30 on the side of the conveyor 200, the empty transport path on the conveyor 200 can be used even when the empty pallet 30 is supplied. Further, the traveling vehicle 20 may stand by on the side of the conveyor 200 of the holding device 100.

During this period, the robot 300 may continue to pick the load 60 conveyed and supplied by the conveyor 50 and palletize it on the empty pallet 30. Therefore, the robot 300 can palletize the load to another empty pallet 30 while the empty pallet 30 is being supplied by the traveling vehicle 20.

Next, as shown in FIGS. 6B (e) and 6B, the actual pallet 40 in which the luggage 60 is palletized by the robot 300 passes through the conveyor 200 of the holding device 100 from the conveyor 201 and runs in standby. It can be mounted on the car 20. Even if the conveyors 200 and 201 up to the robot 300 have one line as in the present embodiment, the empty pallet 30 supplied by the traveling vehicle 20 is applied to the holding device 100 provided on the side of the conveyor 200. Can be held once. Therefore, the traveling vehicle 20 can immediately receive the actual pallet 40 obtained by palletizing the luggage 60 with respect to the other empty pallets 30 after supplying the empty pallets 30. Therefore, even if the installation space of the conveyors 200 and 201 is set to the minimum space of one line, the empty pallet 30 can be efficiently supplied to the robot 300 and the actual pallet 40 can be efficiently conveyed to the traveling vehicle 20.

Next, as shown in FIG. 6B (g), the traveling vehicle 20 travels on the traveling path after the actual pallet 40 is placed, and moves to the automated warehouse 70 (see FIG. 1). Further, in the holding device 100, after the actual pallet 40 has passed over the conveyor 200 of the holding device 100, the controller 140 controls the drive unit 120 to change the support member 110 from the second posture to the first posture. Rotate. As a result, the holding device 100 places the empty pallet 30 on the conveyor 200.

Then, as shown in FIG. 6B (h), the holding device 100 supplies the empty pallet 30 onto the conveyor 201 by the controller 140 controlling the conveyor 200, and returns to the state of FIG. 6A (a). ..

[Effects, etc.]
As described above, in the present embodiment, the holding device 100 is a holding device 100 that holds the empty pallet 30 on which the luggage 60 is placed, and includes a support member 110 and a drive unit 120. The support member 110 supports the empty pallet 30. The support member 110 is rotatably connected to a portion of the conveyor 200 that conveys the empty pallet 30 on the minus side in the Y-axis direction that is substantially orthogonal to the transfer direction on the first rotation axis AX1 along the transfer direction. The drive unit 120 rotates the support member 110 from one posture of the first posture and the second posture to the other posture. The first posture is a posture in which the support member 110 is located below the upper surface of the conveyor 200 of the conveyor 200. The second posture is a posture in which the support member 110 is located above the upper surface of the transport path.

According to this, when the support member 110 is in the second posture while supporting the empty pallet 30, the support member 110 can hold the empty pallet 30 on the negative side in the Y-axis direction of the conveyor 200. .. In this way, since the empty pallet 30 can be held while securing the space on the transport path of the conveyor 200, the empty pallet 30 can be stored in a small space. When the empty pallet 30 is required, the empty pallet 30 can be supplied onto the conveyor 200 by setting the support member 110 in the first posture. Therefore, it is possible to sufficiently save the space for storing the empty pallet 30 and shorten the time required for supplying the empty pallet 30.

Further, since the holding device 100 can temporarily hold the empty pallet 30, the order of the empty pallet 30 and the actual pallet 40 flowing on the conveyor 200 can be easily changed.

Further, in the present embodiment, the holding device 100 further includes a conveyor 200 and a controller 140. By controlling the conveyor 200, the controller 140 conveys the empty pallet 30 to a position facing the support member 110 in the first posture. Further, the controller 140 rotates the support member 110 from the first posture to the second posture by controlling the drive unit 120 in a state where the flat plate-shaped member is located at a position facing the support member 110.

Therefore, the holding device 100 can easily hold the empty pallet 30 when the empty pallet 30 is not held.

Further, in the present embodiment, the holding device 100 further includes a receiving member 130. The receiving member 130 is arranged on the minus side in the Y-axis direction of the conveyor 200, and sandwiches the empty pallet 30 together with the supporting member 110 in the second posture. The receiving member 130 has a guide mechanism 131. The guide mechanism 131 guides the empty pallet 30 sandwiched with the support member 110 to a predetermined position in the transport direction. In the second posture, the support member 110 is in an upright state with the first rotation shaft AX1 side on the lower side with respect to the transport path. Further, the support member 110 has a guide mechanism 111. The guide mechanism 111 guides the empty pallet 30 toward the receiving member 130 in the second posture. The guide mechanism 111 is composed of a second protruding portion provided below the support member 110 in the second posture of the support member 110. The second protrusion is inclined in the downward direction as the upper surface 112 approaches the receiving member 130.

Therefore, when the empty pallet 30 is held by setting the support member 110 in the second posture, the empty pallet 30 can be held at a predetermined position even if the empty pallet 30 is displaced from a predetermined position in the transport direction. it can. As a result, by setting the support member 110 in the second posture, when the empty pallet 30 held by the support member 110 is supplied onto the conveyor 200, the empty pallet can be supplied to a predetermined position in the transport direction. it can.

When the support member 110 is in the second posture while the empty pallet 30 is supported, the support member 110 and the receiving member 130 are empty while the empty pallet 30 is guided to the receiving member 130 side by the guide mechanism 111. The pallet 30 is sandwiched. Therefore, the empty pallet 30 can be stably held.

Further, in the present embodiment, the holding device 100 further includes a guide mechanism 134. The guide mechanism 134 supports the lower part of the empty pallet 30 when the support member 110 supports the empty pallet 30 in the second posture, and the supporting surface is lowered as it approaches the conveyor 200. It is tilted.

Therefore, when the support member 110 is in the second posture while the empty pallet 30 is supported, the empty pallet 30 can be held while the empty pallet 30 is guided to the support member 110 side by the guide mechanism 134. .. Therefore, the empty pallet 30 can be stably held.

[Modification example]
[Modification 1]
In the above embodiment, the guide mechanism 131 is composed of a first protruding portion whose surface on the predetermined position side is inclined along the outward direction in the transport direction of the receiving member 130 as it approaches the conveyor 200. However, it is not limited to this. For example, the guide mechanism may be composed of an extrusion device that pushes out a predetermined position in the transport direction along the transport direction, and a wall surface that is provided facing the extruder and regulates at a predetermined position. In this case, for example, the extruder is composed of a gas cylinder, a hydraulic cylinder, a ball screw, and the like.

[Modification 2]
In the above embodiment, the receiving member 130 is provided with the guide mechanism 131, and the supporting member 110 is provided with the guide mechanism 111, but the present invention is not limited to this. For example, a holding device having a structure in which the receiving member 130 is provided with the guide mechanism 131 and the supporting member 110 is not provided with the guide mechanism 111 may be adopted. Further, for example, a holding device having a configuration in which the receiving member 130 is not provided with the guide mechanism and the supporting member 110 is provided with the guide mechanism 111 may be adopted.

[Modification 3]
In the above embodiment, in the holding device 100, the support member 110 is rotatably connected to the minus side in the Y-axis direction of the conveyor 200, and the receiving member 130 is connected, but the present invention is not limited to this. .. For example, as shown in FIG. 7, a holding device 100A having a structure in which support members 110 are rotatably connected to both sides of the conveyor 200A in the Y-axis direction and receiving members 130 are connected may be adopted. FIG. 7 is a top view and a side view of the holding device when the first support member and the second support member are in the first posture in the modified example. Specifically, FIG. 7A is a top view of the holding device 100A as viewed from above when the first support member 110A and the second support member 110B are in the first posture. FIG. 7B is a side view of the holding device 100A as viewed from the X-axis direction when the first support member 110A and the second support member 110B are in the first posture.

The holding device 100A includes a first support member 110A, a first drive unit 120A, a second support member 110B, a second drive unit 120B, a first receiving member 130A, a second receiving member 130B, and a conveyor 200A. To be equipped with.

The first support member 110A is rotatably supported by the first rotation shaft AX1 provided along the transport direction on the minus side in the Y-axis direction of the conveyor 200A.

The first drive unit 120A rotates the first support member 110A from one posture of the first posture and the second posture to the other posture.

The second support member 110B is rotatably supported by the second rotation shaft AX2 provided along the transport direction on the positive side in the Y-axis direction of the conveyor 200A.

The second drive unit 120B rotates the second support member 110B from one posture of the first posture and the second posture to the other posture.

The first receiving member 130A is arranged on the minus side in the Y-axis direction of the conveyor 200A, and sandwiches the empty pallet 30 together with the first supporting member 110A in the second posture.

The second receiving member 130B is arranged on the positive side in the Y-axis direction of the conveyor 200A, and sandwiches the empty pallet 30 together with the second supporting member 110B in the second posture.

Here, the first support member 110A and the second support member 110B are located at different positions in the transport direction (X-axis direction), and are defined by the width of the empty pallet 30 (empty shown in FIG. 7). It is arranged at a position in the area of the broken line indicating the pallet 30). Specifically, the first support member 110A is located between the second roller 210 and the third roller 210 and the fifth roller 210 of the conveyor 200A, counting from the positive end in the X-axis direction. It is arranged between the roller 210 and the sixth roller. Further, the second support member 110B is between the third roller 210 and the fourth roller 210 and the sixth roller 210 counting from the end on the plus side in the X-axis direction among the plurality of rollers 210 of the conveyor 200A. It is located between the 7th rollers. As described above, the total of four support members 110A and 110B of the first support member 110A and the second support member 110B are arranged within the width of the empty pallet 30 in the X-axis direction, and each of them is arranged within the width of the empty pallet 30. They are located at different positions in the direction.

As described above, since the first support member 110A and the second support member 110B are arranged at different positions in the transport direction, the first support member 110A and the second support member 110B are set as the first postures. Also, it is possible to prevent the first support member 110A and the second support member 110B from interfering with each other. Further, the empty pallets 30 can be held on both sides of the conveyor 200A with the transport path in between. Therefore, two empty pallets 30 can be stored in the area where they overlap in the transport direction in a space-saving manner.

The first support member 110A and the second support member 110B have the same configuration as the support member 110 of the embodiment. Further, the first drive unit 120A and the second drive unit 120B have the same configuration as the drive unit 120 of the embodiment. Further, the first receiving member 130A and the second receiving member 130B have the same configuration as the receiving member 130 of the embodiment. Therefore, detailed description of these configurations will be omitted.

Further, the conveyor 200A is different from the conveyor 200 of the embodiment in that the number of the plurality of rollers 210 is increased by one to eight. Further, in the conveyor 200A, as compared with the conveyor 200 of the embodiment, a groove portion 224 is provided at a position corresponding to the transport direction of the second support member 110B on the wall portion 222A on the positive side in the Y-axis direction of the support base 220A. The difference is that the guide portion 250B is arranged at a position in the X-axis direction other than the position where the second support member 110B is arranged. The configuration of the conveyor 200A other than the above points is the same as that of the 200 embodiment, and detailed description thereof will be omitted.

[Modification example 4]
In the above-described embodiment or modifications 1 to 3 thereof, the holding devices 100 and 100A are configured to include the conveyors 200 and 200A, but may not include the conveyors 200 and 200A, and may be a general conveyor. It may be configured so that it can be retrofitted to the side of the.

[Modification 5]
In the above-described embodiment or modifications 1 to 4 thereof, the holding devices 100 and 100A are configured to include the controller 140, but may not include the controller 140. Further, in the case of the configuration not including the controller 140, the holding device may be controlled by an external controller.

[Modification 6]
In the above-described embodiment or modifications 1 to 5 thereof, the holding devices 100 and 100A convey the empty pallet 30 to a position facing the support member 110 in the first posture by controlling the conveyor 200 by the controller 140. However, it is not limited to this. For example, the empty pallet 30 may be stopped at a position facing the support member 110 in the first posture by providing a stopper that can move back and forth on the conveyor 200. That is, the empty pallet 30 may be stopped at a position where the empty pallet 30 supplied to the conveyor 200 faces the support member 110 in the first posture by putting the stopper out to the transport path. Further, when the empty pallet 30 is supplied from the conveyor 200 to another conveyor 201, the stopper may be retracted from the transport path.

[Modification 7]
In the above-described embodiment or modifications 1 to 6 thereof, the holding device 100 is configured to be connected to the side of the conveyor 200, but the object to be connected is not limited to the conveyor 200. For example, as in the picking system 1A shown in FIG. 8, the vehicle 20 may be connected to the side surfaces (that is, the front surface and the rear surface) in the front-rear direction. The picking system 1A according to the modified example 7 may use a conveyor that does not have the function of the holding device 100 instead of the holding device 100 as compared with the picking system 1 according to the embodiment.

Note that FIG. 8 is a plan view of the picking system and a schematic view of the holding device in the modified example 7. FIG. 8A is a plan view of the picking system according to the modified example 7. FIG. 8B is a schematic view of the holding device 100B in the modified example 7.

In FIG. 8A, the two conveyors 201a and 201b arranged side by side in the transport direction are composed of a conveyor 201a arranged on the robot 300 side and a conveyor 201b arranged on the path side of the traveling vehicle 20. Will be done. The configurations of the conveyor 201a and the conveyor 201b are the same as the configuration of the conveyor 201.

As shown in FIG. 8B, in the holding device 100A of FIG. 7, a holding device 100B having a configuration in which the traveling vehicle 20 is provided instead of the conveyor 200A may be adopted. In FIG. 8B, the first support member 110A and the second support member 110B are arranged on both sides of the traveling vehicle 20 in the front-rear direction (traveling direction), but the first support member 110A and the second support member 110B are supported on one side of the traveling vehicle 20. A configuration in which the member 110 is arranged may be adopted.

[Modification 8]
Further, in the picking system 1 of the above-described embodiment, it is assumed that two conveyors, that is, the conveyor 200 included in the holding device 100 and the conveyor 201, are arranged in the transport direction, but the present invention is not limited to this. One conveyor 201 may be further arranged on the path side of the conveyor 200 provided in the above. That is, three conveyors 201, 200, and 201 may be arranged side by side with the conveyors 201 provided on both sides of the conveyor 200 included in the holding device 100 in the transport direction. With the picking system having such a configuration, when the actual pallet 40 passes through the conveyor 200 and waits for delivery on the conveyor 201 arranged on the path side, the holding device 100 is emptied on the conveyor 200. The pallet 30 can be supplied, and the work efficiency can be improved.

Although the loading system according to one or more aspects of the present invention has been described above based on the embodiment, the present invention is not limited to this embodiment. As long as it does not deviate from the gist of the present invention, one or more of the present embodiments may be modified by those skilled in the art, or may be constructed by combining components in different embodiments. It may be included within the scope of the embodiment.

INDUSTRIAL APPLICABILITY The present invention is useful as a holding device that can sufficiently reduce the space for storing the flat plate-shaped member and shorten the time required for supplying the flat plate-shaped member.

1, 1A Picking system 10 Palletizing station 20 Traveling vehicle 30 Empty pallet 40 Actual pallet 50 Conveyor 60 Luggage 70 Automatic warehouse 100, 100A, 100B Holding device 110 Support member 110A First support member 110B Second support member 111, 131, 134 Guide Mechanism 112 Surface 120 Drive unit 120A 1st drive unit 120B 2nd drive unit 130 Receiving member 130A 1st receiving member 130B 2nd receiving member 132 Surface 133 Leg 135 1st inclined surface 136 2nd inclined surface 140 Controller 200, 200A, 201 Conveyor 210 Roller 211 Top surface 220, 220A Support base 221, 222, 222A Wall part 223, 224 Groove part 230 Leg part 240, 250, 250B Guide part 300 Robot

Claims (7)

A holding device that holds a flat plate-shaped member.
A first support member that supports the flat plate-shaped member, and a portion of a conveyor that conveys the flat plate-shaped member on the first direction side that is substantially orthogonal to the transport direction, at a first rotation axis along the transport direction. The first support member that is rotatably connected and
One of a first posture in which the first support member is located below the upper surface of the conveyor and a second posture in which the first support member is located above the upper surface of the conveyor. A first drive unit that rotates the first support member from one posture to the other,
A receiving member arranged on the first direction side of the conveyor and sandwiching the flat plate-shaped member together with the first support member in the second posture is provided .
The receiving member is a holding device having a first guide mechanism that guides the flat plate-shaped member sandwiched with the first supporting member to a predetermined position in the transport direction . A holding device that holds a flat plate-shaped member.
A first support member that supports the flat plate-shaped member, and is located at a portion of a conveyor that conveys the flat plate-shaped member on the first direction side that is substantially orthogonal to the transport direction, at a first rotation axis along the transport direction. The first support member that is rotatably connected and
One of a first posture in which the first support member is located below the upper surface of the conveyor and a second posture in which the first support member is located above the upper surface of the conveyor. A first drive unit that rotates the first support member from one posture to the other, and
Disposed in the first direction side of the conveyor, and a receiving member sandwiching the plate-shaped member together with the first support member of the second orientation,
In the second posture, the first support member is (i) in an upright state with the first rotation shaft side on the lower side with respect to the transport path, and (ii) the flat plate on the receiving member side. It has a second guide mechanism that guides the members.
In the second guide mechanism, the first support member is provided under the first support member in the second posture, and as the surface supporting the flat plate-shaped member approaches the receiving member, the second guide mechanism moves downward. Consists of a second protrusion that is inclined along the direction
Hold apparatus. A holding device that holds a flat plate-shaped member.
A first support member that supports the flat plate-shaped member, and is located at a portion of a conveyor that conveys the flat plate-shaped member on the first direction side that is substantially orthogonal to the transport direction, at a first rotation axis along the transport direction. The first support member that is rotatably connected and
One of a first posture in which the first support member is located below the upper surface of the conveyor and a second posture in which the first support member is located above the upper surface of the conveyor. A first drive unit that rotates the first support member from one posture to the other, and
Disposed in the first direction side of the conveyor, and a receiving member sandwiching the plate-shaped member together with the first support member of the second orientation,
The receiving member has a first guide mechanism that guides the flat plate-shaped member sandwiched with the first support member to a predetermined position in the transport direction.
In the second posture, the first support member is (i) in an upright state with the first rotation shaft side on the lower side with respect to the transport path, and (ii) the flat plate on the receiving member side. It has a second guide mechanism that guides the members.
In the second guide mechanism, the first support member is provided under the first support member in the second posture, and as the surface supporting the flat plate-shaped member approaches the receiving member, the second guide mechanism moves downward. Consists of a second protrusion that is inclined along the direction
Hold apparatus. The first guide mechanism is composed of a first protruding portion of the receiving member that protrudes in a direction approaching the conveyor from a position outside the predetermined position in the transport direction.
The first protruding portion is inclined in the transport direction along the outward direction of the receiving member in the transport direction as the surface of the first protruding portion on the predetermined position side approaches the conveyor. The holding device according to claim 1 or 3 . A holding device that holds a flat plate-shaped member.
A first support member that supports the flat plate-shaped member, and is located at a portion of a conveyor that conveys the flat plate-shaped member on the first direction side that is substantially orthogonal to the transport direction, at a first rotation axis along the transport direction. The first support member that is rotatably connected and
One of a first posture in which the first support member is located below the upper surface of the conveyor and a second posture in which the first support member is located above the upper surface of the conveyor. A first drive unit that rotates the first support member from one posture to the other, and
When the first support member supports the flat plate-shaped member in the second posture, the lower portion of the flat plate-shaped member is supported, and the supporting surface becomes lower as it approaches the conveyor. It is equipped with an inclined third guide mechanism.
Hold apparatus. further,
With the conveyor
(I) By controlling the conveyor, the flat plate-shaped member is conveyed to a position facing the first support member in the first posture, and (ii) at a position facing the first support member. A controller for rotating the first support member from the first posture to the second posture by controlling the first drive unit in a state where the flat plate-shaped member is located is provided.
The holding device according to any one of claims 1 to 5. further,
The conveyor that supports the flat plate-shaped member and conveys the flat plate-shaped member is rotatable by a second rotating shaft provided along the conveying direction on the second direction side opposite to the first direction. The second support member to be supported and
From one posture to the other, a first posture in which the second support member is located below the upper surface of the transport path and a second posture in which the portion is located above the upper surface of the transport path. A second drive unit for rotating the second support member is provided.
From claim 1, the first support member and the second support member are arranged at different positions in the transport direction and within a region defined by the width of the flat plate-shaped member. 6. The holding device according to any one of 6 .

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