JP6845550B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device for transshipping articles. The transfer device of the present invention is suitable as a cargo handling device for palletizing.

For example, as for printed matter and beverages, a certain number of items are packed together, and a plurality of the packed items are stacked on a pallet and transported. Further, at the transport destination, the packages stacked on the pallet are unloaded.

The work of stacking the transported items on the pallets and the work of loading and unloading the stacked transported items were exclusively performed manually.
However, since this work is hard work, a transfer device for palletizing that performs these operations by machine has been proposed.

Most of the transfer devices for palletizing use robots as in Patent Documents 1 and 2.

Japanese Unexamined Patent Publication No. 2011-132019 Japanese Unexamined Patent Publication No. 2011-251837

Most of the transfer devices for palletizing in the prior art employ robots as described above. The robot palletizing device has a high degree of freedom in the manipulator and is highly versatile, but the control is complicated. In addition, since the number of motors to be mounted is large and the number of parts is large, it takes time and effort to assemble and maintain.

The present invention pays attention to the above-mentioned problems of the prior art, and develops a transfer device that can be used for palletizing, has a simple structure, is easy to control, and is easy to assemble and maintain. Is the subject.

The invention according to claim 1 for solving the above-mentioned problems is a transfer device for taking out and / or loading articles, which has a main body and a moving table, and the moving table stands by by power. between the position and the outside of the projecting position are reciprocally moved, said moving table has conveying means you rotating on the upper surface side, the the moving base lower surface of the Ri resistance reducing means have to empty rolling, On the upper surface side of the moving table, there is a rotating body for transport that constitutes the transporting means, and on the lower surface side of the moving table, there is a rotating body for traveling that constitutes the resistance reducing means. The endless member has a member, and the rotational force of the driving member is conducted to the transporting rotating body and the traveling rotating body by the endless member, and the endless member rotates the transporting rotating body and the traveling rotating body in opposite directions. It has been engaged so as to be transfer device according to claim Rukoto.
Further, a related invention is a transfer device for taking out and / or loading an article, which has a main body and a moving table, and the moving table is powered by power to move between a standby position of the main body and an outer overhanging position. It is a transfer device capable of reciprocating, characterized in that the moving table has a conveying means for rotating or traveling on the upper surface side, and a self-propelled or idling resistance reducing means on the lower surface side of the moving table. ..

The transfer device of the present invention has a moving table that can be moved from the standby position of the main body to the outer overhanging position by power. In addition, the moving table has a transport means that rotates or travels on the upper surface side.
As the transport means that rotates here, for example, there are rollers and rollers. Further, as an example of the traveling means for transporting, an article is placed on a belt or a chain and transported.

When taking out an article from a group of articles stacked by the transfer device of the present invention, the moving table is moved and the moving table is pushed into the bottom of the article to be taken out.
For example, when articles are stacked in three stages on a pallet or the like and the third (top) article is taken out, the bottom of the article to be taken out and the bottom (second from the bottom) of the article to be taken out. Push the moving table between the articles. Here, since the transfer device of the present invention has a resistance reducing means for self-propelling or idling on the lower surface side, the frictional resistance between the transfer device and the article in the second stage is small.
Further, at the same time as pushing the moving table, the transport means provided on the upper surface side of the moving table is driven to pull the article to be taken out to the upper surface side of the moving table.
As a result, the tip of the moving table gradually enters between the third-stage article and the second-stage article in an interrupting manner, and the article to be taken out is pulled onto the moving table. Finally, the article moves from the top of the original member to the mobile platform.
Subsequently, the moving table is moved from the overhanging position to the standby position, and the goods are unloaded from the pallet or the like.

When an article is loaded on a pallet or the like by the transfer device of the present invention, the transfer device is operated in the reverse manner to the above.
In this case, an empty pallet or a pallet with some goods already loaded is installed at the overhanging position.
Further, the moving table is made to stand by at the standby position, and one or a plurality of articles are loaded on the moving table in that state, for example, in a flat position. Then, the moving table on which the article is placed is moved to the overhanging position.
When the moving table moves to the overhanging position and reaches the pallet, the transport means provided on the upper surface side is driven to push the article on the moving table out of the moving table. Also, in synchronization with this, the moving table is slowly returned to the standby position side. As a result, the goods on the moving table move onto the pallet, and the moving table leaves the pallet and returns to the standby position.

Further, in the invention according to claim 1 , there is a transport rotating body constituting the transport means on the upper surface side of the moving table, and a traveling rotating body constituting the resistance reducing means is provided on the lower surface side of the moving table. Yes, it has a drive member that is rotated by power and an endless member, and the rotational force of the drive member is conducted by the endless member to the transport rotating body and the traveling rotating body, and the endless member is the transport rotating body. it characterized in that the body and the travel rotary member is engaged so as to rotate in opposite directions.

In the transfer device of the present invention, the resistance reducing means also rotates, so that the resistance when the moving table enters the bottom of the article is small.

The invention according to claim 5 has a transport rotating body constituting the transport means on the upper surface side of the moving table, and a traveling rotating body constituting the resistance reducing means on the lower surface side of the moving table. The transport rotating body and the traveling rotating body rotate in opposite directions and have a leading rotating body, the diameter of the leading rotating body is smaller than that of the transport rotating body, and the position of the leading rotating body is on the moving table. The transfer device according to any one of claims 1 to 4, wherein the head portion is below the transport rotating body, and the head portion rotating body rotates in the same direction as the transport rotating body. is there.

In the transfer device of the present invention, the head portion rotating body is located at the head portion of the moving table and below the transport rotating body.
Since the leading rotating body has a small diameter, it can easily slip into the lower end of the article to be taken out. Further, since the leading rotating body rotates in the same direction as the transport rotating body, the end portion of the article is lifted to form a gap under the article.
And the moving table advances in the gap. As a result, the article to be taken out is in an oblique posture and rides on the transport means on the upper surface side.
After that, the article is drawn into the transport means and transferred to the mobile platform.

The invention according to claim 2 is a transfer device for taking out and / or loading articles, which has a main body and a moving table, and the moving table is powered by power to move between a standby position of the main body and an outer overhanging position. The moving table can move back and forth between them, and the moving table has a transporting means that rotates on the upper surface side, and a resistance reducing means that spins on the lower surface side of the moving table, and the moving table can move up and down in part or in whole. a transfer apparatus you characterized in that some or all of the moving base to raise the moving platform it is possible to float against the moving base of the lower ones.

For example, the moving table is swung to take a standard posture in which the moving table is substantially horizontal, and an inclined posture in which the front side in the moving direction faces upward. The lower surface of the moving table lands in the standard posture, and the moving table floats up with respect to the lower object in the inclined posture.
Alternatively, the moving table is raised and lowered as a whole to create a state in which the lower surface of the moving table lands and a state in which the lower surface of the moving table is raised.
By making the moving table in a raised state, there is little resistance when moving the moving table to the standby position.

The invention according to claim 3 is a transfer device for taking out and / or loading articles, which has a main body and a moving table, and the moving table is powered by power to move between a standby position of the main body and an outer overhanging position. The moving table can be reciprocated between the two, and the moving table has a transporting means that rotates on the upper surface side, and a resistance reducing means that idles on the lower surface side of the moving table. The traveling rail has a traveling wheel that is supported by the moving table and engages with the traveling rail, and one end side of the traveling rail is rotatably supported, and the traveling rail swings in the vertical direction by power to swing the moving table. it is transfer apparatus it said.

The transfer device of the present invention can change the posture of the moving table with a simple structure.

According to the fourth aspect of the present invention, the traveling wheel is on the front end side of the moving table and rotates freely, the driving body is on the rear end side of the moving table, and the moving table is moved by the driving body. The transfer device according to claim 3 , which is characterized by this.

According to the transfer device of the present invention, the moving table runs smoothly.

The transfer device of the present invention has a simple structure, is easy to control, and is easy to assemble and maintain.

It is a perspective view of the transfer device and its peripheral device of embodiment of this invention. It is a perspective view of the transfer apparatus of embodiment of this invention. It is an exploded perspective view of the transfer device of FIG. (A) is a perspective view of a transfer means and a resistance reducing means of the moving table of the transfer device of FIG. 2, (b) is a perspective view of a transfer roller, and (c) is a perspective view of a traveling roller. It is a mechanical diagram of the transport means and resistance reduction means of the moving table of the transfer device of FIG. 2, (a) shows the whole, and (b) is an enlarged view of the tip portion thereof. It is the A direction arrow view of FIG. (A) to (c) are explanatory views showing the basic operation of the transfer device of FIG. 2, and show an overall view of the transfer device and swinging means, respectively. (A) to (c) are explanatory views illustrating the operation of each part when the pallet-shaped article is carried out by the transfer device of FIG. 2 with the passage of time. (D) to (f) are explanatory views illustrating the operation of each part when the pallet-shaped article is carried out by the transfer device of FIG. 2 with the passage of time, and show the operation following FIG. (A) to (c) are explanatory diagrams illustrating a state in which the moving table advances, the moving table hits between the vertically stacked articles, and then the articles are pulled into the moving table with the passage of time. is there. (D) and (e) are explanatory views illustrating a state in which the moving table advances following FIG. 10 and articles are drawn into the moving table with the passage of time. It is a perspective view which shows the packing style of the article actually loaded on a pallet. (A) to (c) are explanatory views showing a state in which the article group loaded in the packing form of FIG. 12 is collectively carried out from the article group loaded in the uppermost stage by the transfer device of FIG. .. (D) and (e) are explanatory views showing a state in which the article group loaded in the packing form of FIG. 12 is collectively carried out from the article group loaded in the uppermost stage by the transfer device of FIG. The state following FIG. 13 is shown. It is a perspective view of the transfer device and its peripheral equipment which shows the state of the preparatory stage when loading an article on a pallet. (A) and (b) are explanatory views showing a state when an article is loaded into the packing form of FIG. 12 by the transfer device of FIG. (C) and (d) are explanatory views showing a state when an article is loaded into the packing form of FIG. 12 by the transfer device of FIG. 2, and show a state following FIG. (A) to (d) are explanatory views showing a state in which articles are loaded on a pallet in multiple stages by the transfer device of FIG. 2 using a simple model. (E) to (h) are explanatory views showing a state of loading articles in multiple stages on a pallet by the transfer device of FIG. 2 with a simple model, and show a state following FIG. FIGS. (A) to (D) are explanatory views showing a state in which articles are loaded on a pallet in multiple stages by a transfer device according to another embodiment of the present invention using a simple model. (E) to (h) are explanatory views showing a state when articles are loaded in multiple stages on a pallet by the transfer device of another embodiment of the present invention with a simple model, and show the state following FIG. 21.

Hereinafter, embodiments of the present invention will be further described.
The transfer device 1 of the present embodiment is a device for taking out an article 3 stacked on a pallet (other member) 2 or the like as shown in FIG. 1, and is a cargo handling device for palletizing.
The transfer device 1 of the present embodiment is arranged between the pallet mounting table 5 and the attached conveyor 6 as shown in FIG. 1, and is for loading and unloading articles 3 from a group of articles stacked on the pallet 2. is there.

The transfer device 1 of the present embodiment has a main body portion 10 and a moving table 11 as shown in FIG. It also has an elevating means (not shown).
The main body 10 has a frame member 20, and a pair of traveling rails 12 are arranged in parallel with the frame member 20 at intervals. In the present embodiment, the traveling rail 12 is channel steel and is arranged so that the recesses face each other. As is known, the channel steel has a shape in which a web connects two flange portions, and in the present embodiment, the inside of the flange portion functions as a traveling path.

As shown in FIG. 3, the main body portion 10 is divided into a standby portion region 15 and an overhanging portion region 16. For convenience of explanation, the direction toward the overhanging portion region 16 side of the main body portion 10 may be referred to as the front side, and the direction toward the standby portion region 15 may be referred to as the rear side.
As shown in FIG. 3, the end of the traveling rail 12 on the standby portion region 15 side (rear side) is pivotally fixed to the frame member 20 by the pin 21. The other end side (front side) of the traveling rail 12 is not fixed to the frame member 20 and is a free end.
Therefore, the traveling rail 12 can swing up and down about the pin 21 on the rear side as shown in FIGS. 7 (b) and 7 (c).
The free end side of the traveling rail 12 is connected by a holding bar 18.

A rack forming member 17 is provided in the portion of the traveling rail 12 and the standby portion region 15.
In this embodiment, the rack forming member 17 is a linear toothed belt.
The overhanging portion region 16 of the frame member 20 is an region sandwiched between the two traveling rails 12, and is a large space penetrating vertically.

A swinging means 22 for swinging the traveling rail 12 is provided at the tip of the frame member 20 on the overhanging portion region 16 side.
In the present embodiment, the swinging means 22 is composed of a girder motor 23 and a cam 25 rotated by the girder motor 23 as shown in FIG.
The gard motor 23 is integrally fixed to the frame member 20, and the cam 25 is in contact with the traveling rail 12.

Next, the moving table 11 will be described.
The moving table 11 is a member having a large area and a thin thickness as a whole, and has a large number of transport rollers (transport means) 26, a large number of traveling rollers (resistance reducing means) 27, and a drive roller 28 as shown in FIG. I have.
Then, the endless belt 30 engages with the transfer roller 26, the traveling roller 27, and the drive roller 28, and conducts the rotational force of the drive roller 28 to the transfer roller 26, the traveling roller 27 to rotate them. Further, the moving table 11 has a leading roller (leading rotating body) 42.
That is, the moving table 11 has a frame-shaped member 37 as shown in FIG. 3, and a large number of strip-shaped roller supporting members 32 are supported in the frame surrounded by the frame-shaped member 37. A large number of transport rollers (transport means) 26 and a large number of traveling rollers (resistance reducing means) 27 are rotatably supported by the roller support member 32.

As shown in FIG. 4B, the transfer roller 26 has a plurality of transfer roller pieces 31 inserted through the common shaft 50. Each transport roller piece 31 of the transport roller 26 is attached to the common shaft 50 so as not to rotate relative to each other. Therefore, each transport roller piece 31 rotates synchronously.
Each transport roller piece 31 of the transport roller 26 has a cylindrical shape.

As for the traveling roller (resistance reducing means) 27, as shown in FIG. 4C, a plurality of traveling roller pieces 33 are inserted through the common shaft 35. Each traveling roller piece 33 of the traveling roller 27 is attached to the common shaft 35 so as not to rotate relative to each other. Therefore, each traveling roller piece 33 rotates synchronously. Further, the rotations of each transport roller piece 31 and each traveling roller piece 33 are synchronous, and the angular velocities of both are equal. Further, in the present embodiment, the outer diameters of the transport roller pieces 31 and the traveling roller pieces 33 are the same, and the peripheral speeds of the transport roller pieces 31 and the traveling roller pieces 33 are the same.

Each traveling roller piece 33 is also cylindrical, but some traveling roller pieces 33 are formed with an annular groove 36 on the peripheral surface.

The transport rollers 26 of the moving table 11 are all arranged in parallel with the upper side of the frame-shaped member 37. The common shaft 50 of the transport roller 26 is arranged in a direction intersecting the traveling rail 12 described above.
A part of the transport roller 26 is exposed on the upper side of the roller support member 32.

On the other hand, the traveling rollers 27 are all arranged in parallel with the lower side of the frame-shaped member 37. The common shaft 35 of the traveling roller 27 is also arranged in a direction intersecting the traveling rail 12 described above.
A part of the traveling roller 27 is exposed below the roller support member 32.

The drive roller 28 is a roller with a built-in motor in which a motor and a speed reducer (not shown) are built in the roller main body 38. A plurality of annular grooves 40 are formed on the peripheral surface of the roller body 38 of the drive roller 28.
The drive roller 28 is supported on one end side of the frame-shaped member 37, and the roller main body 38 rotates by driving the built-in motor.

The endless belt 30 is suspended on the transport roller 26, the traveling roller 27, and the drive roller 28.
Here, the suspension path of the endless belt 30 is special, and the inside of the endless belt 30 is engaged with the traveling roller 27, and the outside of the endless belt 30 is engaged with the conveying roller 26.
That is, the transport roller 26 and the traveling roller 27 are intricate in the height direction as shown in FIGS. 4 and 5. The inner surface of the endless belt 30 is engaged with the traveling roller 27. Here, the traveling roller 27 has an annular groove 36 on the peripheral surface, and the endless belt 30 is housed in the groove 36.
The lower surface side of the transport roller 26 is below the upper surface of the traveling roller 27, and the surface of the transport roller 26 pushes the outer surface of the endless belt 30 downward.
In the present embodiment, since the transport roller 26 and the traveling roller 27 are engaged with different surfaces of the endless belt 30, the transport roller 26 and the traveling roller 27 rotate in opposite directions.

The leading roller 42 is a roller having a smaller diameter than the other rollers, and is rotatably supported by the frame-shaped member 37.
The position of the leading roller 42 is a position opposite to that of the driving roller 28 described above. The leading roller 42 is at a position (front) toward the overhanging portion region 16, and the driving roller 28 is at a position (rear) toward the standby portion region 15.
Further, the height of the leading roller 42 is lower than that of the transport roller 26 as shown in FIG.
The leading roller 42 does not engage with the endless belt 30, but engages with one of the traveling rollers 27 to rotate. The rotation direction of the leading roller 42 is opposite to that of the traveling roller 27 and is the same as that of the conveying roller 26.

The moving table 11 further has a traveling wheel 43 and a driving body 45 as shown in FIGS. 3 and 7.
The traveling wheel 43 is one end side (leading roller 42 side) of the frame-shaped member 37 in the longitudinal direction, and is provided on both side surfaces of the frame-shaped member 37. The traveling wheel 43 is a roller that spins idle.
The drive body 45 is the other end side (rear side) of the frame-shaped member 37 in the longitudinal direction, and is located on both sides of the lower side of the frame-shaped member 37. The drive body 45 is a toothed pulley.
The left and right drive bodies 45 are connected by a communication shaft 46. A gear motor (not shown) is engaged with the communication shaft 46, and the left and right drive bodies 45 rotate by driving the gear motor.

The moving table 11 is arranged in a space surrounded by the traveling rail 12 of the main body 10 as shown in FIG. In the front-rear posture of the moving table 11, the traveling wheel 43 faces the overhanging portion region 16, and the driving body 45 faces the standby portion region 15. Therefore, the leading roller 42 of the moving table 11 faces the overhanging portion region 16. That is, the leading roller 42 faces forward.
The left and right traveling wheels 43 of the moving table 11 are respectively located in the recesses of the traveling rail 12, and are placed on the flange portion on the lower side of the channel steel.
The drive body 45 on the rear side of the moving table 11 is engaged with the rack forming member 17 provided in the standby portion region 15 in the traveling rail 12.

Next, the basic operation of the transfer device 1 of the present embodiment will be described.
In the transfer device 1 of the present embodiment, the moving table 11 moves in the front-rear direction along the traveling rail 12. That is, as shown in FIGS. 7 (a) and 7 (b), the moving table 11 moves back and forth between the standby portion region 15 and the overhanging portion region 16.
Further, the traveling rail 12 swings around the rear pin 21. Then, the moving table 11 swings together with the traveling rail 12. Then, when the cam 25 of the swinging means 22 rotates, the moving table 11 has a standard posture (FIG. 7 (b)) in which the entire moving table 11 is in a substantially horizontal state and an inclined posture in which the front side in the moving direction faces upward as shown in FIG. (Fig. 7 (c)).

This will be described below.
As described above, the traveling wheel 43 provided on the front end side of the moving table 11 is mounted on the traveling rail 12. Further, a drive body 45 provided on the rear side of the moving table 11 is also mounted on the traveling rail 12 and is engaged with the rack forming member 17.
In this way, the frame-shaped member 37 of the moving table 11 is hollowly supported by the traveling wheels 43 provided on the left and right on the front side and the drive bodies 45 provided on the left and right on the rear side.
Therefore, when the geared motor is driven and the drive body 45 is rotated, the moving table 11 moves in the front-rear direction along the traveling rail 12 and reciprocates between the standby portion region 15 and the overhanging portion region 16.

Further, as described above, the rear end side of the traveling rail 12 is pivotally stopped by the pin 21, and the front end side is in the free end state. At the lower part of the traveling rail 12 on the front end side, there is a cam 25 of the swinging means 22.
Therefore, when the cam 25 rotates by driving the geared motor 23 of the swinging means 22, the cam 25 moves the free end side of the traveling rail 12 up and down. As a result, the traveling rail 12 swings around the pin 21.

As described above, since the traveling wheel 43 provided on the front side of the moving table 11 and the drive body 45 provided on the rear side are on the traveling rail 12, the traveling rail 12 moves up and down, and the traveling wheel 43 of the traveling rail 12 moves up and down. When the portion in contact with the moving table moves up and down, the moving table 11 moves up and down accordingly.
In the present embodiment, when the free end side of the traveling rail 12 is lowered, the moving table 11 is in a substantially horizontal posture. On the contrary, when the free end side of the traveling rail 12 is raised, the moving table 11 is in an inclined posture in which the front side is raised upward.

Next, the operation of taking out the articles 3 stacked on the pallet 2 and paying them out to the attached conveyor 6 by using the transfer device 1 of the present embodiment will be described.
As shown in FIG. 1, the transfer device 1 is arranged so that the pallet mounting table 5 is inserted in the overhanging portion region 16 of the traveling rail 12 and the pallet mounting table 5 is surrounded by the traveling rails 12.
Articles 3 are stacked in two stages on the pallet 2, for example, as shown in FIG. Further, there are a plurality of articles 3 in each stage. In this embodiment, each article 3 is a box. For convenience of explanation, the articles stacked on the top are indicated as 3a, and the articles on the lower side are indicated as 3b.
For ease of explanation, FIG. 1 illustrates a state in which one article 3 is stacked on each stage. Further, in order to make it easy to understand the movement of the transfer device 1 and the behavior of the articles, FIGS. 7 to 11 will be described assuming that the articles 3 are stacked one by one in each stage.
In the preparation stage, the mobile table 11 is in the standby area 15 as shown in FIG.

When taking out the articles 3 stacked on the pallet 2, the height of the transfer device 1 is changed by an elevating means (not shown). When taking out the upper article 3a, the height of the transfer device 1 is such that the leading roller 42 provided at the tip of the moving table 11 is at the height between the upper article 3a and the lower article 3b. Is adjusted.
Then, the cam 25 of the swinging means 22 is rotated, and as shown in FIG. 7A, the front end side of the traveling rail 12 is lowered to make the posture of the moving table 11 a horizontal posture.

In this state, the drive body 45 is rotated to move the moving table 11 toward the overhanging portion region 16. At the same time, the drive roller 28 is driven to rotate the transport roller 26, the traveling roller 27, and the leading roller 42.
The rotation direction of the transport roller 26 and the like at this time is as shown in FIG. 5B, and the traveling roller 27 is counterclockwise in the drawing and is in the forward direction with respect to the traveling direction of the moving table 11. That is, if the traveling roller 27 has landed, the traveling roller 27 rotates in the direction of moving the moving table 11 toward the overhanging portion region 16.
On the other hand, the leading roller 42 and the conveying roller 26 are in the opposite directions to the traveling roller 27 and rotate clockwise in the drawing. The rotation direction of the leading roller 42 and the transport roller 26 is the direction in which the article 3 is pulled onto the moving table 11.

When the moving table 11 is advanced toward the overhanging portion region 16, the moving table 11 collides with the upper article 3a and the lower article 3b as shown in FIGS. 8A and 10A. More specifically, the leading roller 42 of the moving table 11 hits the vicinity of the boundary between the upper article 3a and the lower article 3b.
Then, as shown in FIG. 10A, the leading roller 42 pushes the vicinity of the boundary between the upper article 3a and the lower article 3b. More specifically, as shown in FIG. 10A, the leading roller 42 hits the vicinity of the lower end of the upper article 3a. Since the leading roller 42 is rotating here, the vicinity of the lower end of the upper article 3a is pushed upward.
Further, the pressing bar 18 of the traveling rail 12 comes into contact with the front end of the article 3a in the upper stage, and the article 3a is prevented from moving forward.

While the articles 3a and 3b are held in such a state that they do not escape forward, the leading roller 42 that rotates to the upper article 3a is pressed against the upper article 3, and the lower end of the upper article 3a is upward. Be urged. As a result, the end portion of the upper article 3a is slightly lifted, and as shown in FIG. 10B, the space between the article 3a and the lower article 3b is opened to form a gap.

Here, since the diameter of the leading roller 42 is small, the moving table 11 moves forward to divide into a slight gap between the upper article 3a and the lower article 3b as shown in FIG. 10B. In other words, as the leading roller 42 advances, the space between the upper article 3a and the lower article 3b is expanded.

Further, the leading roller 42 rotates in a direction of pulling the article 3a onto the moving table 11. Therefore, the leading roller 42 scrapes up the upper article 3a and slips into the space between the upper article 3a and the lower article 3b as shown in FIG. 10 (c).
As a result, the upper article 3a is in a slightly inclined posture.
Here, the position of the transport roller 26 is located behind the leading roller 42 and at a higher height. Therefore, the common tangent line between the leading roller 42 and the transport roller 26 is inclined.
Therefore, the inclined posture of the upper article 3a is close to the common tangent line of the leading roller 42 and the transport roller 26, and the rear end of the upper article 3a hits the leading transport roller 26 as shown in FIG. 10 (c).
Therefore, the article 3a in the upper stage is pulled into the moving table 11 by the leading transport roller 26.

On the other hand, the traveling roller 27 abuts on the upper surface of the lower article 3b and rotates to assist the progress of the moving table 11. Since the endless belt 30 is in the annular groove 36 of the traveling roller piece 33, the endless belt 30 does not come into contact with the lower article 3b.
The moving table 11 advances by the propulsive force generated by rotating the driving body 45 at the rear end, but the traveling roller 27 rotates in the forward direction with respect to the traveling direction of the driving body 45, so that the moving table 11 moves. It assists in getting into the space between the upper article 3a and the lower article 3b. Further, since the traveling roller 27 abuts on the upper surface of the lower article 3b and rotates, the frictional resistance between the moving table 11 and the lower article 3b is reduced.
In this way, as shown in FIGS. 8 (b) and 10 (c), the moving table 11 continues to move between the upper article 3a and the lower article 3b, and the upper article 3a is moved by the transport roller 26 to the moving table 11. I'm drawn up.
Finally, as shown in FIGS. 8 (c) and 11 (d), the upper article 3a is completely mounted on the moving table 11.

After that, the cam 25 of the swinging means 22 is rotated to raise the front end side of the traveling rail 12. As a result, the moving table 11 is in an inclined posture, and the lower surface of the moving table 11 separates from the lower article 3b as shown in FIGS. 9D and 11E.
Then, as shown in FIG. 9E, the moving table 11 is returned to the standby unit area 15 side.
After that, the height of the transfer device 1 is adjusted to the height of the attached conveyor 6 by an elevating device (not shown), and the drive roller 28 is further driven to rotate the transport roller 26 on the upper side of the moving table 11 to rotate FIG. 9 (f). ), The article 3a is sent to the attached conveyor 6.

Here, by driving the drive roller 28, not only the transport roller 26 but also the lower traveling roller 27 is rotated, but the moving table 11 is in an inclined posture and is in an ascending position, and the lower traveling roller 27 is landing. Absent. Therefore, the traveling roller 27 idles and does not interfere with the rotation of the transport roller 26.

Although the operation of the transfer device 1 when taking out the articles 3 stacked on the pallet 2 has been described above, the articles 3 can also be loaded on the pallet 2 by using the transfer device 1.
For example, it can be conveyed to the transfer device 1 by the attached conveyor 6, and the article 3 can be further loaded onto the pallet 2 by using the transfer device 1. When the article 3 is loaded on the pallet 2 by the transfer device 1, the operation for taking out the article 3 described above is performed in reverse.

In this case, the height of the transfer device 1 is adjusted to the height of the attached conveyor 6 by an elevating device (not shown), and the drive roller 28 is further driven to rotate the transport roller 26 on the upper side of the moving table 11 to rotate the attached conveyor. 6 Pull the article on the moving table 11 onto the moving table 11.
Then, the height of the transfer device 1 is adjusted to the height of the article 3 at the highest position on the pallet 2 by an elevating device (not shown).
Then, the moving table 11 is moved toward the overhanging portion region 16.

Subsequently, the cam 25 of the swinging means 22 is rotated to lower the front end side of the traveling rail 12. As a result, the moving table 11 is in a horizontal posture, and the lower surface of the moving table 11 lands on the lower article 3b.
Then, the drive roller 28 is driven to rotate the transport roller 26, the traveling roller 27, and the leading roller 42. In this case, the transport roller 26 rotates so as to move the article 3a forward, and the traveling roller 27 rotates so that the moving table 11 retracts.
Further, in this state, the drive body 45 is rotated to move the moving table 11 in the direction of returning to the standby portion region 15.
As a result, the article 3a on which the moving table 11 is placed moves onto the article 3b previously loaded from the moving table 11. Further, the moving table 11 leaves the previously loaded article 3b and returns to the standby portion area 15.

In the above explanation, it is assumed that the goods 3 are stacked one by one on the pallet 2 so that the movement of the transfer device 1 and the behavior of the goods can be easily understood. However, in reality, the pallets 2 have a plurality of stages. When the article 3 is loaded into the vehicle, a plurality of articles 3 are often arranged in each stage as shown in the packaging of FIG.
For example, in FIG. 12, eight articles 3 are laid flat on each stage, and they are stacked in two stages.
Here, when the transfer device 1 of the present embodiment is used, eight articles 3 placed flat on each stage can be loaded and unloaded without changing their relative positions.

13 and 14 show a state in which the articles loaded in the packing form of FIG. 12 are unloaded on the pallet 2 step by step without changing the relative position.
That is, in the preparation stage, the mobile table 11 is in the standby area 15 as shown in FIG. 13 (a). The pallet 2 is located in the overhanging portion region 16, and eight articles 3 are laid flat on each stage of the pallet 2.
In FIG. 13A, since the eight articles 3 placed flat are observed from the side surface, only the three articles 53, 55, 56 appear in the figure.

When taking out one stage (8 pieces) of articles 3 stacked on the pallet 2 without changing the relative position, the moving table 11 is moved toward the overhanging portion area 16 as in the previous example, and the moving table is moved. The leading roller 42 provided at the tip of 11 is made to collide between the eight article groups 51 in the upper row and the eight article groups 52 in the lower row.
Then, as in the above case, while rotating the leading roller 42, the leading roller 42 pushes the vicinity of the boundary between the upper article group 51 and the lower article group 52.
As a result, among the articles 3 belonging to the upper article group 51, the ends of the plurality of articles arranged on the rear end side are slightly lifted all at once, and the space between the upper article group 51 and the lower article group 52 is separated. It opens and there is a gap.
As the moving table 11 moves forward, the articles 53 arranged on the rear end side as shown in FIG. 13B are pulled into the moving table 11 by the transport roller 26, and the articles 53 completely ride on the moving table 11. Be done.

The mobile platform 11 advances further and collides with an adjacent article 55. Then, as in the above case, while rotating the leading roller 42, the leading roller 42 pushes the vicinity of the boundary between the adjacent article 55 and the lower article group 52, and the end portion of the adjacent article 55 is slightly lifted. .. Then, the moving table 11 advances further, and the adjacent article 55 is completely mounted on the moving table 11.
In this way, as shown in FIG. 13C, all the articles 51 in the upper row move onto the moving table 11. At this time, the relative positions of the articles 3 of the upper article group 51 are the same as those in the state of being stacked on the pallet 2.

After that, as in the above case, the cam 25 of the swinging means 22 is rotated to raise the front end side of the traveling rail 12, and the lower surface leaves the lower article 3b.
Then, the moving table 11 is moved as shown in FIG. 14 (d) and returned to the standby portion region 15 side as shown in FIG. 14 (e).
After that, the drive roller 28 is driven to rotate the transport roller 26 on the upper side of the moving table 11 in the same manner as described above, and the article 3a is sent out to the attached conveyor 6.

Next, the operation when a plurality of articles are arranged on the same plane of the pallet 2 by using the transfer device 1 of the present embodiment will be described. FIG. 15 shows a preparatory stage when a plurality of articles are arranged on the same plane of the pallet 2, and FIGS. 16 and 17 show a state when a plurality of articles 3 are loaded on the pallet 2 in the packed state of FIG. Is illustrated.
When a plurality of articles 3 are loaded on each stage of the pallet 2 by using the transfer device 1 of the present embodiment, the plurality of articles 3 are collected and aligned by an alignment conveyor (not shown in advance), and as shown in FIG. , It is placed on the attached conveyor 6 in the form of a package for one stage.

Then, as shown in FIG. 16A, the height of the transfer device 1 is adjusted to the height of the attached conveyor 6, and the drive roller 28 is further driven to rotate the transport roller 26 on the upper side of the moving table 11 to rotate the attached conveyor. The article group 51 on 6 is pulled onto the moving table 11.
Then, the moving table 11 is moved toward the overhanging portion region 16 by adjusting the height of the transfer device 1 to the height of the article 3 at the highest position on the pallet 2, and the pallet 2 is as shown in FIG. 16 (b). The moving table 11 is stopped at a position directly above.

Subsequently, the front end side of the traveling rail 12 is lowered. As a result, the moving table 11 is in a horizontal posture, and the lower surface of the moving table 11 lands on the lower article 3b.
Then, the transport roller 26 is rotated so that the article group 51 moves forward. The traveling roller 27 rotates so that the moving table 11 retracts.
Further, in this state, the moving table 11 is slowly moved in the direction of returning to the standby unit area 15. That is, the driving body 45 is driven so that the moving table 11 moves at the same speed as the moving speed of the moving table 11 by the traveling roller 27.
As a result, as shown in FIG. 17C, the leading article 56 in the article group 51 moves onto the previously stacked article group 52.

Further, the transport roller 26 is subsequently rotated so that the article group 51 moves forward, and at the same time, the moving table 11 is moved in the direction of returning to the standby portion region 15. The moving speed of the moving table 11 is the same as the moving speed of the article group 51.
As a result, as shown in FIG. 17C, the article 53 in the middle moves onto the article group 52 previously loaded from the moving table 11. Further, since the speed when the middle article 53 is discharged from the moving table 11 (peripheral speed of the transport roller 26) and the speed when the moving table 11 retracts match, the middle article 53 and the middle article 53 are discharged first. The relative position of the article 56 does not change.
In this way, all the articles 55, 53, 52 move onto the article group 51 previously loaded from the moving table 11.
The article group 51 transferred from the moving table 11 to the pallet 2 maintains the arrangement when it was placed on the attached conveyor 6, and the article 3 is placed on the pallet 2 in a desired packing form. It becomes.

Next, the operation when a plurality of articles 3 are loaded on the pallet 2 in multiple stages using the transfer device 1 of the present embodiment will be described with reference to a simple model diagram.
Even when a plurality of articles 3 are loaded in multiple stages, a plurality of articles 3 are collected by an alignment conveyor (not shown) to form an article group 51, and the articles 3 are put together in the form of a package for one stage as shown in FIG. 18A. And place it on the attached conveyor 6.
Then, as shown in FIG. 18B, the height of the transfer device 1 is adjusted to the height of the attached conveyor 6, and the drive roller 28 is further driven to rotate the transport roller 26 on the upper side of the moving table 11 to rotate the attached conveyor. The article group 51 on 6 is pulled onto the moving table 11 (FIG. 18 (c)).
Then, as shown in FIG. 18D, the transfer device 1 is raised by an elevating means (not shown), and the height of the moving table 11 is adjusted to the height of the article group 60 at the highest position on the pallet 2.

Subsequently, the moving table 11 is moved toward the overhanging portion region 16, and the moving table 11 is stopped at a position directly above the article group 60 at the highest position as shown in FIG. 19 (e).
Then, the moving table 11 is lowered, the transport roller 26 is rotated so that the article group 51 moves forward, and the traveling roller 27 is rotated so that the moving table 11 moves backward.
As a result, as shown in FIG. 19 (f), the leading article 56 in the article group 51 moves onto the previously stacked article group 60.

Further, the transport roller 26 is subsequently rotated so that the article group 51 moves forward, and at the same time, the moving table 11 is moved in the direction of returning to the standby portion region 15. As a result, all the articles 53, 55, 56 belonging to the article group 51 move onto the article group 60 at the highest position as shown in FIG. 19 (g), and the moving table 11 returns to the standby portion area 15.
The article group 51 transferred from the moving table 11 to the pallet 2 maintains the arrangement when it is placed on the attached conveyor 6, and the articles 53, 55, 56 are placed on the pallet 2 in a desired packing style. It will be placed.
Then, as shown in FIG. 19H, the transfer device 1 is lowered by an elevating means (not shown), the height of the moving table 11 is adjusted to the height of the attached conveyor 6, and the article group 57 in the next stage is awaited.

As described above, according to the transfer device 1 of the present embodiment, the neatly arranged articles 3 are placed on the moving table 11, the moving table 11 is moved according to the moving speed of the articles 3 and transferred to the pallet 2 or the like. By doing so, the articles can be placed on the pallet 2 or the like without disturbing the posture or formation of each article 3.

The transfer device 1 of the present embodiment has a different basic configuration from the robot, and has a simpler structure than the robot. Therefore, it is easy to control, assemble, and adjust.

In the embodiment described above, an example in which two articles 3a and 3b are stacked on the pallet 2 has been described, but the transfer device 1 of the present invention is also used when carrying out the articles placed flat on the pallet 2. can do.
Further, the transfer device 1 of the present invention can be used in the same manner when a plurality of articles 3 are arranged in each stage.

In the embodiment described above, the transport means uses rollers, but may be in the form of a belt conveyor.
The resistance reducing means may also have an endless track shape.
In the embodiment described above, the cam 25 is used as the swinging means 22, but for example, a crank, a screw, a pantograph mechanism, or the like can be applied.
In the above-described embodiment, the rack is applied as a mechanism for traveling the moving table 11, but the moving table 11 may be driven by friction using tires or the like, and an actuator that performs linear motion of a cylinder or the like is used. You may use it.
In the embodiment described above, the transport roller 26 and the traveling roller 27 are rotated by using the endless belt 30, but power is transmitted by gears and friction, and the transport roller 26 and the traveling roller 27 idle. You may.
The leading roller 42, which is the leading rotating body, may idle.

In the embodiment described above, the outer diameters of the transport roller pieces 31 and the traveling roller pieces 33 are the same, and both rotate synchronously (the directions of rotation are opposite). Therefore, in the above-described embodiment, the peripheral speeds of each transport roller piece 31 and each traveling roller piece 33 are equal.
According to this configuration, the articles can be replaced on the moving table 11 as one article group 51 without changing the relative positional relationship of the articles 3 arranged on the pallet 2 or the like. Further, a plurality of articles placed on the moving table 11 can be placed on the pallet 2 or the like as one article group 51 without changing the formation.
In this way, it is desirable that the peripheral speeds of each transport roller piece 31 and each traveling roller piece 33 are equal, but they do not necessarily have to be the same.

In the embodiment described above, the traveling rail 12 is tilted to lift the moving table 11, and the lower surface of the moving table 11 is raised with respect to the lower object. However, the moving table 11 may be lifted by another method.
For example, the traveling rail 12 may be raised and lowered, or the moving table 11 may be raised and lowered independently.
Further, the transfer device 1 described above has an elevating means (not shown), and the height of the transfer device 1 can be changed by the elevating means. Therefore, the moving table 11 may be lifted by using the lifting means for raising and lowering the entire transfer device 1, and the lower surface of the moving table 11 may be separated from the lower object.

In the embodiment described above, the transfer device 1 is moved up and down by an elevating means (not shown) so that the height of the transfer device 1 matches the height of the article 3 on the pallet 2. However, the present invention is not limited to this configuration, and the pallet 2 and the attached conveyor 6 may be raised and lowered.
FIG. 20 shows the transfer device 70 of another embodiment of the present invention, in which the pallet 2 has an elevating means (not shown), and the height of the pallet 2 can be changed.
The operation when a plurality of article groups 51 are loaded on the pallet 2 in multiple stages by using the transfer device 70 will be described with reference to a simple model diagram.

In the present embodiment, as shown in FIG. 20A, the transfer device 70 and the attached conveyor 6 are installed at relatively high positions, and the initial height of the pallet 2 is relatively low.
Then, as shown in FIGS. 20 (b) and 20 (c), the transport roller 26 on the upper side of the moving table 11 is rotated, and the article group 51 on the attached conveyor 6 is pulled onto the moving table 11.
In parallel with this, the pallet 2 is raised by an elevating means (not shown) to adjust the height of the pallet 2 to the height of the moving table 11.

Subsequently, the moving table 11 is moved toward the overhanging portion region 16 in FIG. 20 (d), and the moving table 11 is stopped at a position directly above the pallet 2 as shown in FIG. 21 (e).
Then, the moving table 11 is lowered, the transport roller 26 is rotated so that the article group 51 moves forward, and the traveling roller 27 is rotated so that the moving table 11 moves backward.
As a result, as shown in FIG. 21 (f), the leading article 56 in the article group 51 moves onto the pallet 2.

Further, the transport roller 26 is subsequently rotated so that the article group 51 moves forward, and at the same time, the moving table 11 is moved in the direction of returning to the standby portion region 15. As a result, all the articles 55, 53, 52 belonging to the article group 51 move to the pallet 2 as shown in FIG. 21 (g), and the moving table 11 returns to the standby portion area 15.
The article group 51 transferred from the moving table 11 to the pallet 2 maintains the arrangement when it is placed on the attached conveyor 6, and the article 3 is placed on the pallet 2 in a desired packing form. It will be.
Then, as shown in FIG. 21 (h), the pallet 2 is lowered by the height of the article group 51 by an elevating means (not shown), the height of the article group 51 is adjusted to the height of the moving table 11, and the article group in the next stage is adjusted. Wait for 57.

In the transfer devices 1 and 70 of the embodiment described above, the moving table 11 can be driven by engaging the drive body 45 with the rack forming member 17. Further, in the transfer devices 1 and 70 of the embodiment described above, the traveling roller piece 33 is provided on the lower surface of the moving table 11, and the traveling roller 33 also gives propulsive force to the moving table 11.
In the transfer devices 1 and 70, when the article 3 on the moving table 11 is lowered onto the pallet 2 or the like, the traveling roller piece 33 is landed on the pallet 2 or the article group 52 placed earlier. Then, the moving speed of the moving table 11 by the traveling roller 27 and the moving speed of the driving body 45 are synchronized.
However, the present invention is not limited to this configuration, and when the article 3 on the moving table 11 is lowered to the bullet 2 or the like, either the rotation of the traveling roller 27 or the engagement between the drive body 45 and the rack forming member 17 is performed. The moving table 11 may be moved only by the movement.
For example, in the case where the moving table 11 is moved in the direction of returning to the standby portion region 15 only by the power of the driving body 45, the traveling roller piece 33 is floated from the pallet 2 or the article group 52 placed earlier. There may be.
Further, in the transfer devices 1 and 70 of the above-described embodiment, the traveling roller piece 33 is rotated by power, but may be idle.

1 Transfer device 3 Article 10 Main body 11 Mobile stand 12 Travel rail 15 Standby area 16 Overhang area 17 Rack forming member 22 Swinging means 26 Transport roller (transport means)
27 Running roller (resistor reduction means)
28 Drive roller 30 Endless belt (endless member)
31 Transport roller piece (rotary body for transport)
33 Running roller piece (running rotating body)
42 Leading roller (leading rotating body)
43 Running wheel 45 Drive body

Claims (5)

In a transfer device that takes out and / or loads goods
It has a main body and a moving table, and the moving table can be reciprocated between the standby position of the main body and the overhanging position on the outside by power.
The mobile base has conveying means you rotating on the upper surface side, the the moving base lower surface of the Ri resistance reducing means have to empty rolling,
On the upper surface side of the moving table, there is a rotating body for transport that constitutes the transporting means, and on the lower surface side of the moving table, there is a rotating body for traveling that constitutes the resistance reducing means.
It has a drive member that rotates by power and an endless member,
The rotational force of the driving member is conducted by the endless member to the transporting rotating body and the traveling rotating body.
The endless member, transfer device, characterized in Rukoto said transport rotary member and rotatable travel body have been engaged so as to rotate in opposite directions. In a transfer device that takes out and / or loads goods
It has a main body and a moving table, and the moving table can be reciprocated between the standby position of the main body and the overhanging position on the outside by power.
The moving table has a rotating means for rotating on the upper surface side, and a resistance reducing means for idling on the lower surface side of the moving table.
Moving table is vertically movable part or all, characterized in that some or all of the moving base to raise the moving platform it is possible to float against the moving base of the lower ones move Mounting device. In a transfer device that takes out and / or loads goods
It has a main body and a moving table, and the moving table can be reciprocated between the standby position of the main body and the overhanging position on the outside by power.
The moving table has a rotating means for rotating on the upper surface side, and a resistance reducing means for idling on the lower surface side of the moving table.
It has traveling rails arranged in parallel at intervals and traveling wheels supported by a moving table and engaged with the traveling rails.
The running rail is one end side is rotatably supported, said traveling rail transfer device you characterized by swinging the moving table swings in the vertical direction by the power. The third aspect of claim 3, wherein the traveling wheel is on the front end side of the moving table and rotates freely, has a driving body on the rear end side of the moving table, and the moving table is moved by the driving body. Transfer device. On the upper surface side of the moving table, there is a rotating body for transport that constitutes the transporting means, and on the lower surface side of the moving table, there is a rotating body for traveling that constitutes the resistance reducing means.
The transport rotating body and the traveling rotating body rotate in opposite directions,
It has a head rotating body, the diameter of the head rotating body is smaller than that of the transport rotating body, and the position of the head rotating body is at the head of the moving table and below the transport rotating body, and the head portion. The transfer device according to any one of claims 1 to 4, wherein the rotating body rotates in the same direction as the transport rotating body.

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