JP7066393B2 - Extrusion transfer device - Google Patents

Description

The present invention relates to an article gripping and transferring device for recognizing, gripping and transferring an object. In particular, the present invention relates to an article transfer device having an article transfer function of pushing out an article container of an automatic transfer machine in refilling and transferring a wide variety of products to a delivery box or the like at a distribution collection / delivery base.

At the product distribution base, a large number of high-mix products are sorted and packaged in cardboard boxes or default shipping containers according to the destination and shipped. In this case, it is often the case that a mobile trolley (basket trolley) or the like on which a cardboard box or a default shipping container is placed is transshipped to a conveyor for shipping work. However, if a person performs such a work, the work becomes extremely complicated and labor-intensive. Therefore, the transfer work of the product to the shipping container may be performed by using an expensive basket, a precision transfer robot, or the like.

In such a case, only the designated product is identified and recognized from the products having various shapes of other types, and the robot arm is operated to grip the product. For this purpose, a camera image recognition device or the like is used. The image of the product box (product container) is taken, only the specific container is recognized, and the robot arm moves to the specified position according to the data such as the outer shape of the container, grips the designated container with the arm, and moves to the conveyor. After that, the product is placed in a shipping container or the like.

However, since this work requires identification of the product by image recognition and confirmation of the shape, robot operation by a very detailed program such as holding operation according to the product outer shape by the arm is required, and a large amount is performed as quickly and efficiently as possible. At distribution bases where it is required to transfer the products of the above, the work is too slow and expensive robots are required due to detailed program control, so the economic load is large and practical efficiency is improved. It has not reached the work.

In the actual holding of products by a robot arm, a method has been developed in which a vacuum suction pad is applied to the product and the product is gripped by vacuum suction. However, the technology has not yet reached a technique in which the lid of an article case containing products having a wide variety of appearance shapes is soft, or a container without a lid is sequentially sucked and gripped by a vacuum suction pad. In addition, it is very difficult to properly adsorb and grip even an article container, etc., and a detailed program and advanced technology are required.

For example, in Patent Document 1, in an automated system for gripping an article using a robot or the like, a vision system that replaces the human eye is used to calculate the gripping position of the work for each operation, and the article is gripped by suction suction using a suction head. The technical idea of is disclosed. However, in this example, since the technical idea is to grip the article only by the method of suction, the technique of recognizing and gripping the article having various shapes has not been reached. It is not suitable for gripping articles by searching for and recognizing articles having various shapes and selecting the method that is easiest to grip.

Further, in other conventional techniques, in an automated system for gripping an article using a robot or the like, a vision system that replaces the human eye is used to calculate a work gripping position for each movement and issue a movement instruction to the robot. In this method, when the work is gripped by using the robot system, the position information of the article container (case) and the container frame must be measured and the robot must be instructed to operate. This processing time is a number that is always included in each operation, and leads to an expansion loss of cycle time (total work time). In addition, a general vision system is composed of a camera, lighting equipment, and a controller, which leads to system complexity and high cost.

In addition, for example, a technique for directly and efficiently transferring an article placed on a moving trolley (car trolley) for intermediate movement onto a conveyor has not been developed. This is because advanced precision mechanical technology and robot technology are required to automatically grasp and transfer an article placed on a mobile trolley (car trolley) or the like.

Japanese Unexamined Patent Publication No. 2013-169640

It is possible to develop an article container unloading / transfer machine that efficiently and sequentially transfers the article containers placed in the car trolley onto the conveyor without using an expensive robot that operates based on a precise program. This is a subject of the present invention. The present invention is intended to solve such problems in the prior art, and it is possible to remarkably improve the safety and workability in the transfer of goods, and also remarkably improve the economic efficiency. The task is to provide a transfer machine for unloading and transferring goods containers.

In the case of a transfer robot, in order to grip the article container inside the car trolley, the shape of the article container is recognized in detail by image recognition etc., and the robot arm softens the article container by a method suitable for the shape etc. Need to be grasped. This robot gripping function is very effective and requires precise program control.

On the other hand, for example, if the article container placed on the car trolley is a fixed-sized container or several types of containers of a fixed size, the image recognition by the robot will be performed on the entire container in detail. It may not be necessary to recognize it. Further, even if the article container is not gripped and moved by the robot arm, it can be pushed out and slid to be placed on the conveyor side as long as the conveyor sides are close to each other at the same height.

That is, the subject of the present invention is to efficiently and sequentially transfer the article containers placed in the car trolley onto the conveyor without using an expensive robot that operates based on a precise program. It is to provide a mounting machine. Therefore, if the article container loaded in the car trolley is a container of a certain shape or a predetermined shape, the back surface of the container is pushed out to the entire surface side by using a push mechanism, and the container is slid and moved onto the conveyor. Can be placed. The conveyor side to which the article container is transferred needs to be able to move up and down to a height corresponding to the height of the bottom surface of the article container.

In order to solve such a problem, the extrusion transfer machine according to the present invention is used.
Means 1 to determine the optimum position of 1 or more,
Means 2 for pushing the position determined by the means 1 with at least one pusher, and
Image recognition device and
It is configured to include a device control mechanism.

Further, the optimum position of the extrusion transfer machine according to the present invention is within one or more rear frames of the car trolley (inside the rear frame mesh), and the case loaded on the car trolley is extruded and moved to the front. It can also be characterized by having one or more well-balanced rear surface portions of the case.

That is, the extruder according to the present invention recognizes an image by, for example, an image recognition device, determines the optimum position of the object to be extruded according to the purpose (for example, the purpose of extruding) via the device control mechanism, and extrudes the image. The optimum position of an object can be pushed with at least one pusher. For example, the image recognition device recognizes the optimum position of the rear surface of the article case loaded on the car trolley and the optimum position of the inside of the frame (inside the frame mesh) that does not hit the rear frame of the car trolley, and the device control mechanism preliminarily recognizes the optimum position. Based on the processing command by the stored algorithm, the pusher can be pressed and stretched to slide the article case forward and automatically transfer it to another conveyor or pedestal.

This avoids the traditional hard and dangerous work of transferring a heavy article case from a car trolley to a conveyor or mounting table, for example.

The means 1 for determining the optimum position includes an image obtained by the image recognition device, specifications including frame sizes of a plurality of types of car carts stored in advance, and external specifications of a plurality of types of cases stored in advance. It is characterized by being a means of determining by a predetermined algorithm based on the collation result of.

Then, the pushing means 2 pushes out the optimum position of the case loaded on the car carriage from the rear of the car carriage by the tip of the pusher having a substantially rod shape passing through the rear frame (inside the frame mesh). The case is characterized by being a pushing means for sliding and moving the case and transferring it on a conveyor on the front side of the car carriage or on a mounting table.

In the pusher of the extrusion transfer device according to the present invention, one or more auxiliary pushers capable of pushing the rear end portion of the case loaded on the car carriage to rotate (shift) the case. Can also be included and provided.

That is, not all the article cases loaded on the car trolley are neatly loaded at right angles to the front, back, left, and right with respect to the loading platform direction of the car trolley. Therefore, the extrusion transfer device according to the present invention is similar to the pusher. It has one or more auxiliary pushers, and by pushing out and rotating (shifting) the end of the article case diagonally loaded by the auxiliary pusher, the article case can be moved back and forth and left and right with respect to the loading platform direction of the trolley. It can be reloaded in an orderly manner at a right angle. In other words, it is possible to adjust the direction and posture of the article case.

As a result, when the article case is extruded and transferred, the article case can be pushed straight forward. Similarly, it can be transferred straight and orderly on the conveyor on the front side of the car trolley or on the mounting table.

The pusher and the tip of the auxiliary pusher of the extruder according to the present invention are substantially cylindrical bodies having a substantially circular tip side, are made of a flexible material, and are preferably rigid having flexibility. It is characterized by being a urethane resin.

Since the tips of the pusher and the auxiliary pusher are made of a flexible material such as hard urethane resin and have a columnar shape, the article case can be extruded softly without being damaged. Further, since the rigid urethane resin having flexibility has an appropriately high coefficient of friction, it is possible to appropriately avoid sliding movement or lateral displacement of the tip of the pusher when pushing the article case.

The pusher and the tip of the auxiliary pusher of the extrusion transfer machine according to the present invention may be provided with one or more sensing sensors and / or suction plates.

By having a sensing sensor at the tip of the pusher and the auxiliary pusher, it is possible to recognize the contact of the pusher and the auxiliary pusher with the article case which is the transferred object by the sensor sensing. In other words, by being able to recognize the point of contact, the device control mechanism can send instructions such as the pusher extrusion distance from the point of contact, so that the object to be transferred or the article case is extruded to the correct position on the conveyor or mounting table. It can be mounted.

The sensing sensor may be any sensor that can detect that the load collapse prevention body has substantially touched the transferred object or the article case, and does not limit the type of sensor such as contact type and non-contact type.

Further, by having the suction plate at the tip of the pusher and the auxiliary pusher, it is possible to suck the object to be transferred or the article case and push it out to an accurate position while avoiding slippage or lateral displacement.

The pusher and the auxiliary pusher of the extrusion transfer machine according to the present invention are laid on the extrusion transfer device board in a manner capable of being arbitrarily translated in the vertical and horizontal directions, and the pusher and the auxiliary pusher are vertically and horizontally moved. It can also be characterized by being able to move arbitrarily as it moves in a direction.

The extrusion transfer device base is a base portion for laying a pusher and an auxiliary pusher of the extrusion transfer machine according to the present invention, and the pusher and the auxiliary pusher can move left, right, up and down on the push transfer device base. It is attached. As a result, the pusher and the auxiliary pusher can be pushed out by moving to the optimum portion determined by the first means because the movement can be arbitrarily moved within the range in which the pusher can be moved left, right, up and down.

The extrusion transfer machine according to the present invention is a substantially plate-shaped receiving plate body located on the front side of the car carriage and sandwiching the conveyor or the above-mentioned stand, and is described above when the case is extruded and moved. A load collapse prevention body that protrudes to a position substantially close to the front side of the case, pulls in and moves in synchronization with the slide movement of the case, and supports the front side of the case to prevent the case from falling to the front side or collapsing. It can also be characterized by having.

If the transferred object or article case is stacked in multiple stages, or if the transferred object or article case has a vertically long shape (high shape), when pushed out by a pusher, the load is loaded on the entire surface side. It may collapse or collapse. The load collapse prevention body of the extrusion transfer machine according to the present invention is located on the front side of the pusher and the spare pusher by sandwiching the car carriage and the conveyor or the mounting table to be transferred, and has a substantially plate-like shape. When the article case is extruded by the pusher and the spare pusher, it protrudes into contact with the front side of the article case and is supported by a plate-like surface to prevent the load from collapsing or tipping over.

That is, the load collapse prevention body has a function as a support plate that supports the component case from the front side in synchronization with the pusher or the spare pusher. Since the load collapse prevention body can be pulled in and moved slightly ahead of the pushing speed of the pusher or the spare pusher to the front side, it supports the transferred object or the article case intervening between them without being damaged. It can be smoothly moved and transferred. All of these operations are performed according to instructions from the device control mechanism.

The load collapse prevention body of the extrusion transfer machine according to the present invention is laid on a load collapse prevention body base which is a component on the front side of the extrusion transfer device, and is loaded on a car carriage. It can also be characterized in that it is laid in such a manner that it can be arbitrarily moved up, down, left and right according to the position and size of the object and the article case.

That is, the load collapse prevention body is laid on the load collapse prevention body base with a structure that allows the position to move left, right, up and down within a certain range, similar to the pusher and the spare pusher. That is, the load collapse prevention body according to the present invention is arbitrarily moved to the most effective position as a support plate for load collapse prevention and transferred depending on the mode of the transferred object and the article case loaded on the car trolley or the like. It can support objects and article cases and prevent the load from collapsing and falling.

The surface (support surface) of the load collapse prevention body of the extrusion transfer machine according to the present invention may be provided with one or more sensing sensors and / or suction plates.

By having a sensing sensor on the support surface side of the load collapse prevention body, when the load collapse prevention body comes into contact with the transferred object or the article case, it can be detected, so that the load collapse prevention body continues to be extruded. Accidents that damage the transferred object or the article case can be avoided.

The sensing sensor may be any sensor that can detect that the load collapse prevention body has substantially touched the transferred object or the article case, and does not limit the type of sensor such as contact type and non-contact type.

By having the suction plate on the support surface side of the load collapse prevention body, the load collapse prevention body can suck and hold the object to be transferred or the component case and move it while supporting it. As a result, the pusher that pushes and moves the transferred object or article case from the rear side and the load collapse prevention body that pulls in and moves from the front side synchronize and smoothly slide and move the transferred object or article case to the conveyor or mounting table. Can be reprinted.

The load collapse prevention body of the extrusion transfer device according to the present invention may be in the form of a plurality of substantially rod-shaped pusher bodies.

The load collapse prevention body is not limited to the case of a substantially plate-shaped body as described above, and even a plurality of substantially rod-shaped pushers have a sufficient number and area to support the front side of the object to be placed or the article case. If it occupies the above, it can exert its function. Since a plurality of pusher bodies in the substantially rod state are lightweight and can be driven in an energy-saving manner, it is possible to reduce the power thereof and exert the same function as the load collapse prevention body in the state of the substantially plate.

The extrusion transfer device according to the present invention is a substantially plate-shaped body laid under the load collapse prevention body, and fills the gap between the front surface of the car carriage and the conveyor and / or the above-mentioned stand to be extruded. It is also possible to provide a transfer body for preventing a step catching problem when moving and placing an object or an article case.

If there is a gap between the car trolley and the conveyor or mounting table on the front side, when the loaded object or article case is transferred by sliding, the lower part of the front surface will fall into the gap, resulting in catching damage and transfer defects. May occur. In the extrusion transfer device according to the present invention, for example, a plate-shaped transfer body is laid in the lower part of the front surface of the substantially plate-shaped body collapse prevention body, so that the transfer body covers the gap in a horizontal plate bridge shape. Thereby, the gap between the conveyor and / or the above-mentioned stand can be filled, and the transferred object or the article case can be smoothly transferred to the conveyor or the stand.

It can be easily handled within the scope of well-known technique that the conveyor or the mounting table on which the transferred object or the article case is transferred can be moved up and down to the height of the bottom plate and the intermediate plate of the car carriage. What is important for smooth transfer is to fill the gap between the conveyor or mounting table and the bottom plate or intermediate plate of the car trolley at the same height so that the moving article case does not get caught in the gap. Is to. The transfer body of the extrusion transfer device according to the present invention can sufficiently satisfy this function.

The transfer body may be a belt conveyor and / or a roller conveyor and / or a rotating body and / or a pull-in rail that rotates in a direction in which the case is pulled from the lower surface to the conveyor and / or the above-mentioned table.

Since the transfer body is a bridging body that fills the gap between the car trolley and the conveyor or the mounting table, it may be a substantially plate-shaped body, but a belt having a function of drawing the transferred object or the article case into the conveyor or the mounting table. If it is a conveyor and / or a roller conveyor and / or a rotating body and / or a lead-in rail, the gap between the conveyor and / or the above-mentioned stand is filled more smoothly, and the transferred object or the article case is put on the conveyor or the stand. Can be reprinted.

The extrusion transfer device according to the present invention recognizes the transfer state of the case as an image, adjusts the extrusion distances of the plurality of pushers and the spare pushers according to the recognition result, and also includes the case loaded diagonally. It is also possible to mount the slide in the correct position (normal position) in the front, back, left and right.

By being able to check the slide movement and transfer status of the transferred object or article case with the image recognition device, even for unexpected slide movement, rotational movement, or displacement movement of the transferred object or article case. Under the instruction for the device control mechanism to recognize and correct the recognition image, the pusher and / or the spare pusher and / the load collapse prevention body move to return the transferred object or the article case to the normal position. Can be done.

For example, an obliquely loaded transferred object or article case can be rotated and slid back to its normal position by pushing its ends with a pusher and / or a spare pusher and / or a load collapse preventer.

The extrusion transfer device according to the present invention recognizes the transfer status of the case as an image and / or confirms the transfer status of the case position and the rotation angle with the pusher tip contact sensor, thereby causing the slide movement failure or It is also possible to detect a mounting defect, adjust the extrusion distances of the plurality of pushers, and retry the extrusion transfer action.

Further, the extrusion transfer device according to the present invention recognizes the transfer status of the case as an image and / or confirms the transfer status of the case position and the rotation angle with the pusher tip contact sensor, thereby causing the slide movement failure. Alternatively, when a mounting defect is detected, the load collapse prevention body pushes the case backward and the loading position can be appropriately reset on the trolley.

That is, when the transferred object or the article case is slid or rotated to a state where the transferred object or the article case cannot be corrected, the transferred object or the article case is returned to the original by pulling in the pusher once and pushing out the load collapse prevention body. It can be moved back onto the car trolley. As a result, the transferred object or article case returned on the car trolley can be transferred again from the beginning as a retry by using the moving loading means. This is also a retry operation of the extrusion transfer device according to the present invention.

According to the extrusion transfer device according to the present invention, articles and article containers loaded on a car carriage can be easily slid and transferred onto a conveyor using a simple extruder. Therefore, an extrusion transfer device capable of significantly improving the safety and workability of sorting and transferring goods at a distribution collection and delivery base and also significantly improving economic efficiency is realized.

It is a conceptual diagram which showed the whole image of the extrusion transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the whole image of the extrusion transfer apparatus which concerns on one Embodiment of this invention from an oblique front. It is the schematic which showed the image of the load collapse prevention body of the extrusion transfer apparatus which concerns on one Embodiment of this invention from the top surface. It is a conceptual diagram which showed the image of the load collapse prevention body of the extrusion transfer apparatus which concerns on one Embodiment of this invention from an oblique front. It is a conceptual diagram which showed the transfer body of the extrusion transfer apparatus which concerns on one Embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following, the scope necessary for the explanation for achieving the object of the present invention will be schematically shown, and the scope necessary for the explanation of the relevant part of the present invention will be mainly explained. It shall be based on known technology.

FIG. 1 is a conceptual diagram showing an overall image of an extrusion transfer device according to an embodiment of the present invention. In FIG. 1, the figure of the load collapse prevention body is omitted. As shown in the figure, the rear surface side of the car carriage 16 is composed of a pusher 11 and an auxiliary pusher 12 laid on the extrusion transfer device base 13. A conveyor 28, a conveyor, and a mounting table position control mechanism 26 are shown on the front side of the car carriage 16. In the car carriage 16, the article case 29 is loaded on the bottom plate 18 and the intermediate plate 19.

As shown in FIG. 1, the pusher 11 and the auxiliary pusher 12 laid on the extrusion transfer device base 13 that can be arbitrarily moved up and down are substantially rod-shaped bodies, and the article case 29 can be extruded from the rear surface side. There is. Further, the conveyor 28 on the front side of the car carriage 16 is in a mode in which the extruded article case 29 is placed.

As shown in FIG. 1, for example, the conveyor 28 has a structure in which the conveyor 28 is moved up to the height of the intermediate plate 19 of the car carriage 16 by the conveyor and the mounting table position control mechanism 26, and the extruded article case 29 is received and placed. be. In FIG. 1, the mounted object is shown as an article case 29, and is loaded on the bottom plate 18 in two rows in the horizontal direction, two rows in the depth direction, and three stages in the height direction, and the intermediate plate 19 is loaded. On the top, two rows are loaded in the horizontal direction, two rows in the depth direction, and two rows in the height direction. As will be described later, the size of the article case 29 is generally limited to several types, and the structure is such that the article cases 29 can be stacked upward as specified. Further, the conveyor 28 is shown as a roll conveyor as one of the mounting tables.

FIG. 2 is a conceptual diagram showing an overall image of an extrusion transfer device according to an embodiment of the present invention from an oblique front. Also in FIG. 2, the figure of the load collapse prevention body is omitted. As shown in the figure, the pusher 11 and the auxiliary pusher 12 of the extrusion transfer device according to the embodiment of the present invention have a substantially columnar flexible material, preferably hard urethane, at the tip thereof, and are soft and do not break. As described above, the structure is such that the rear surface of the front article case 29 is extruded by an extruding rod.

As shown in FIG. 2, the extrusion transfer device base 13 can freely move up and down according to the instruction of the device control mechanism 15. Further, the pusher 11 and the auxiliary pusher 12 have a structure that can be freely moved left and right on the extrusion transfer device base 13 according to the instruction of the device control mechanism 15. A sensing sensor 22 and / or a suction plate 23 is laid at the tips of the pusher 11 and the auxiliary pusher 12.

As shown in FIG. 2, the car carriage 16 is generally surrounded by side frames 25 on the left and right side surfaces and a rear frame 17 on the rear surface, and has a substantially square mesh space between the frames. Generally, the size of the car trolley 16, the height of the bottom plate 18 and the intermediate plate 19, the shape of the side frame 25 and the rear frame 17, and the type of mesh space are various, but since the basic specifications are specified. , There are no unlimited types. These specifications are stored in the device control mechanism 15 in advance.

As shown in FIG. 2, the image recognition device 14 of the extrusion transfer device according to the embodiment of the present invention recognizes and secures the image of the car trolley 16, for example, and the specifications of the car trolley stored by the device control mechanism 15. It is determined which of the above is applicable, the gap in the frame mesh is recognized from the specification data of the rear frame of the car carriage 16, and the position that can be pushed out by the pusher 11 or the auxiliary pusher 12 is recognized and determined.

Similarly, the image recognition device 14 of the extrusion transfer device according to the embodiment of the present invention secures, for example, an image of the article case 29 on the car carriage 16, and any of the specifications of the article case stored by the device control mechanism 15. It is recognized and determined whether it corresponds to the above and how many rows and stages are loaded in each of the lateral direction, the depth direction, and the height direction, and the position to be pushed on the back surface of the article case 29 is recognized and determined.

The device control mechanism 15 is provided with a well-balanced position for pushing each article case from the rear surface, the number of pushers or auxiliary pushers used for pushing, the type of article case, the number of stacking rows, the number of stacks, and the like. It has a built-in program that selects and instructs execution by a pre-configured algorithm for each type such as loading height position.

As described above, the extrusion transfer device according to the embodiment of the present invention can recognize and determine the optimum position for pushing out between the rear frame meshes of the car carriage 16 and the back surface of the article case 29 by image data and a program. Then, based on the determination instruction, the push rod is pushed out from the pusher 11 to push the article case forward, slide it, and transfer it to the conveyor 28 in front. Naturally, the height of the conveyor 28 that receives the article case 29 is also moved to the optimum position by the device control mechanism 15.

The extrusion transfer device according to the embodiment of the present invention is, for example, first of all, for an article case 29 having two rows of widths, two rows of depths, and two stages of height, which are loaded on the intermediate plate 19 of the car carriage. By determining two positions with good left-right balance on the back of the article case on the lower side of the rear side of the article case in the two rows and two stages on the right side, and moving the two pushers 11 to those positions and pushing them out, the two rows are the same. Of the two stages, one row and two stages on the front side are transferred to the conveyor. After that, as the conveyor advances, a vacant position is created on the conveyor, and the remaining 1 row and 2 stages on the rear surface side of the 2 rows and 2 stages are extruded and transferred.

Next, two positions with good left-right balance on the back surface of the rear side lower stage article case on the left side of the above remaining two rows and two stages are determined, and the two pushers move to perform the same extrusion transfer. Post it. As a result, the extrusion transfer of the article case 29 having two rows of widths, two rows of depths, and two stages of heights loaded on the intermediate plate 19 of the car trolley is completed. Similar repetition is a typical example of transfer by the extrusion transfer device according to the embodiment of the present invention.

The left-right balanced position on the back of the article case described above is a position where the case can be pushed out physically and stably. For example, when pushing out with two pushers, approximately 1 / from the left side in the left-right length direction. It is a position of 4 to 1/3 and a position of about 1/4 to 1/3 from the right side, and a position of about 1/3 to 1/2 in height in the height direction, and generally extrudes an article. It may be any position that is considered to be preferable in some cases.

The extrusion transfer device according to the embodiment of the present invention slides sequentially in the same way as described above when the article cases 29 are stacked in three or more stages, when the article cases 29 have three or more rows horizontally and horizontally, or when the depth is three rows or more. Can be moved and reprinted.

The auxiliary pusher 12 shown in FIGS. 1 and 2 may have the same specifications as the pusher 11 for extrusion, or may be a small and thin pusher as shown in the figure. In any case, the auxiliary pusher 12 is installed near both the left and right sides of the extrusion transfer device base, and has a structure for pushing the extrusion rod to the front of the car carriage 16 like the pusher 11 for extrusion.

The use of the auxiliary pusher 12 will be described. For example, if the article case 29 loaded on the car trolley is not correctly placed in the front-back and left-right directions, the article case 29 slides diagonally when the article case 29 is pushed forward, so that the article case 29 The left or right front corner may get caught in the side frame 25 (post) of the car trolley 16 and get caught. In this case, the side of the article case 29 that has been held diagonally by using the auxiliary pushers 12 located on both side sides can be pushed out from behind by the side frame 25 of the car trolley, and the article case 29 can be returned to the normal position. can.

The four-direction corners of the article case 29, which is substantially square, have a substantially semicircular R (R), and the side frame 25 of the car trolley 19 is also a cylinder (bar) shape, so that the side frame is formed. The article case 29, which has been caught by the 25, is pushed out from behind by the auxiliary pusher 12, so that the article case 29 can be moved by a substantially rotational slide, the catch can be removed, and the holding can be eliminated.

As shown in FIG. 1, the pusher 11 and the auxiliary pusher 12 can push out the article case 29 by pushing the cylindrical rod state portion forward. Therefore, the tip portions of the cylindrical rod state portions of the pusher 11 and the auxiliary pusher 12 are preferably made of a flexible material, more preferably made of a hard urethane resin, in order to avoid damage to the extruded material. ..

Further, a sensing sensor and / or a suction plate can be laid at the tips of the pusher 11 and the auxiliary pusher 12 of the extrusion transfer device according to the embodiment of the present invention. The sensing sensor may be a contact sensor or a non-contact sensor, but by detecting whether or not the contact is made with the back surface of the article case 29, the position on the trolley of the article case 29 and the pusher can be used. The device control mechanism 15 of the extrusion transfer device according to the embodiment of the present invention can accurately recognize the distance. As a result, the distance to be extruded from the article case 29 can be determined, and at the same time, the extruded dimension of the pusher 11 can be determined.

Similarly, the suction plate laid on the tips of the pusher 11 and the auxiliary pusher 12 sucks the surface of the article case when it comes into contact with the article case 29, and the tip of the pusher and the contact portion of the article case slide and move when pushed out. It is possible to extrude the article case accurately and surely.

As will be described later, the surface of the load collapse prevention body 21 that contacts and supports the load collapse prevention body 21 from the front side of the article case 29 in order to prevent the load collapse of the article case also has the same function as described above, so that the sensing sensor and / or the suction plate can be used. Can be laid.

FIG. 3 is a schematic view showing an image of a load collapse prevention body of the extrusion transfer device according to the embodiment of the present invention from the top surface. As shown in the figure, the load collapse prevention body base portion 25 of the extrusion transfer device according to the embodiment of the present invention is transferred by pushing out the car carriage 16 and the article case 29 loaded with the article case 29. It is configured to be located on the opposite side of the extrusion transfer device base 13 with the conveyor 28 interposed therebetween. In FIG. 3, the figure on the side of the extrusion transfer device base 13 is omitted.

As shown in FIG. 3, the load collapse prevention body base portion is composed of a load collapse prevention body base 25 and a load collapse prevention body 21 including an extruded rod-shaped portion 31. The load collapse prevention body 21 has a substantially flat plate-like structure with respect to the article case 29 side, and when the article case 29 is extruded, it fits on the front side surface of the article case 29 to prevent and support the load collapse and collapse. Has a function. The load collapse prevention body 21 is laid together with the extrusion rod-shaped portion 31 on the load collapse prevention body base 25 that is movable with respect to the floor surface as in the extrusion transfer device base 25.

In the load collapse prevention body 21 drawn in the upper part of FIG. 3, for example, as shown in the lower part of the figure, the article case 29 in the lower part of the figure is pushed out to the conveyor 28 side by the extrusion pusher 11 of the extrusion transfer device. At this time, the extruded rod-shaped portion 31 extends toward the article case 29, and at the same time, the load collapse preventing body 21 comes into contact with the article case 29 in a surface state on the front side to prevent the load from collapsing and falling. As the article case 29 is pushed out to the front side, that is, to the conveyor 28 side, the load collapse prevention body 21 pulls back to the rear (the load collapse prevention body base 25 side) to sandwich the article case 29. There is no compression damage.

The movements of the extrusion pusher 11 and the load collapse prevention body 21 of the extrusion transfer device according to the embodiment of the present invention are all properly controlled and controlled by the device control mechanism 15 in the same manner as the other parts.

FIG. 4 is a conceptual diagram showing an image of a load collapse prevention body of the extrusion transfer device according to the embodiment of the present invention from an oblique front. As shown in the figure, the load collapse prevention body base portion is arranged in front of the car carriage 16 and the conveyor 28 on which the article case 29 is loaded. In FIG. 4, the load collapse prevention body 21 is represented in a slightly smaller flat plate state as compared with FIG. 3, the load collapse prevention body base 25 is represented by being divided into two structural portions, and the extruded rod-shaped portion 31 is covered. Although it is expressed protected by, the technical idea including the function is still the same.

As shown in FIGS. 3 and 4, the load collapse prevention body base 25 and the load collapse prevention body 21 are configured to be movable in the front-rear, left-right, and up-down directions depending on the positions of the car carriage 16 and the article case 29 to be extruded. There is. Further, the load collapse prevention body 21 and the push rod-shaped portion 31 are laid in such a manner that they can be arbitrarily moved in the vertical direction with respect to the load collapse prevention body base 25. The detailed movement structure can be dealt with by well-known techniques, so the description is omitted.

As shown in FIGS. 1 to 4, the extrusion transfer device base 13 having the extrusion pusher 11 and the load collapse prevention body base 25 having the load collapse prevention body 21 according to the embodiment of the present invention , The device control mechanism 15 of the extrusion transfer device is controlled and controlled so as to be interlocked and integrated to exert a function.

FIG. 5 is a conceptual diagram showing a transfer body of the extrusion transfer device according to the embodiment of the present invention. As shown in the figure, the transfer body 24 of the extrusion transfer device according to the embodiment of the present invention is located in the gap 30 between the car carriage and the conveyor or the mounting table on which the article is transferred, and slides the article. At the time of transfer, the bottom plate 18 or intermediate plate 19 of the car carriage and the bottom height of the conveyor or the mounting table are set as a substantially bridging body, and have a function of allowing the article to move smoothly. The shape of the transfer body 24 is not particularly limited, but it goes without saying that it is preferable that the upper surface thereof constitutes a flat surface. Further, the transfer body 24 may be composed of a rotating body such as a roller. For example, the transfer body 24 shown on the lower side of FIG. 5 is a roller conveyor mode.

The transfer body 24 is laid on the load collapse prevention body base 25, and is controlled by the device control mechanism 15 together with the load collapse prevention body 21 to exert its function. Therefore, it is moved and installed at a position suitable for the position and height of the article to be transferred, and the position and height of the bottom plate 18 or the intermediate plate 19 of the car carriage. For example, when an article is transferred to a roller conveyor, the transfer body is moved by extending or moving the movable arm-shaped mechanism portion laid on the load collapse prevention body base 25 back and forth or up and down using the lower space of the roller conveyor. It is possible within the scope of the prior art that the position can be set arbitrarily.

As described above, each function of the transfer device according to the embodiment of the present invention has been described, but these are merely examples, and the mechanical specifications or technical aspects capable of demonstrating each function are conventional techniques. Can be devised in various ways. However, these are merely one form for embodying each function of the transfer device according to the present invention, and are within the scope of the technical idea of the present invention.

That is, the present invention is not limited to the above-described embodiment, and it is a part of the present technical idea to carry out various modifications within a range that does not deviate from the gist of the present invention.

As described above, according to the extruder and transfer machine according to the present invention, the articles and the article containers loaded on the trolley can be easily slid and transferred onto the conveyor using a simple extruder. .. Therefore, an extrusion transfer machine capable of significantly improving the safety and workability of sorting and transferring goods at a distribution collection and delivery base and also significantly improving economic efficiency is realized.

Further, the present invention is not limited to the transfer of goods at a distribution collection / delivery base, and can be used and applied to the use of transferring all goods, especially to the parts transfer work at a manufacturing site. be. Therefore, the present application brings great benefits to all industries other than the logistics industry.

10 Extruded transfer device 11 Pusher 12 Auxiliary pusher 13 Extruded transfer device Base 14 Image recognition device 15 Device control mechanism 16 Car trolley 17 Rear frame 18 Bottom plate 19 Intermediate plate 20 Caster 21 Load collapse prevention body 22 Sensing sensor 23 Suction board 24 Transfer Body 25 Load collapse prevention body Base 26 Conveyor and mounting table position control mechanism 27 Mounting table 28 Conveyor 29 Article case 30 Gap 31 Extruded rod-shaped part 32 Arm-shaped mechanism part

Claims (17)

Means 1 to determine one or more optimal push positions for extruding an article, and
Means 2 for pushing the push position determined by the means 1 with at least one pusher, and
An image recognition device for displaying the article and a car trolley loaded with the article, and
An extrusion transfer device including a device control mechanism that controls the entire device. The optimum push position is within one or more rear frames of the trolley and one or more rear portions that are well-balanced for pushing and moving the articles loaded on the trolley to the front. The extrusion moving device according to claim 1. The means 1 for determining the optimum push position is
The image from the image recognition device and
The feature is that it is a means for determining the optimum push position by comparing and collating the specifications including the frame sizes of the plurality of types of the car trolley stored in advance and the external specifications of the plurality of types of cases stored in advance. The extrusion transfer device according to claim 1 or 2. The pushing means 2 pushes the optimum position of the article loaded on the car carriage from the rear of the car carriage by the tip of the pusher having a substantially rod shape passing through the rear frame , and slides the article. The extrusion transfer device according to any one of claims 1 to 3, wherein the push means for transferring the transfer onto a conveyor on the front side of the trolley or a mounting table. 1. The pusher is provided with one or more auxiliary pushers capable of pushing the rear end portion of the case loaded on the car carriage and rotating the case. The extrusion transfer device according to any one of 4 to 4. One of claims 1 to 5, wherein the pusher and the tip of the auxiliary pusher are substantially cylindrical bodies having a substantially circular tip side, and are made of a flexible material or a hard urethane resin. Extruded transfer device according to section. The extrusion transfer device according to any one of claims 1 to 6, wherein the pusher and the tip end portion of the auxiliary pusher are provided with one or more sensing sensors and / or suction plates. The pusher and the auxiliary pusher are laid in such a manner that they can be arbitrarily translated in the left-right direction on the extrusion transfer device base, and the pusher and the auxiliary pusher are arbitrarily moved in the vertical direction as well as the vertical movement of the extrusion transfer device base. The extrusion transfer device according to any one of claims 1 to 7, wherein the device can be moved. A substantially plate-shaped receiving plate body located on the front side of the car carriage and sandwiching the conveyor or the above-mentioned stand, up to a position substantially close to the front side of the case when the case is pushed out and moved. The claim is characterized in that it is provided with a load collapse prevention body that projects and retracts and moves in synchronization with the slide movement of the case to support the front side of the case to prevent the case from falling or collapsing toward the front side. The extrusion transfer device according to any one of 1 to 8. The load collapse prevention body is laid on the load collapse prevention body base which is a component on the front side of the extrusion transfer device, and the position and size of the loaded object and the article case loaded on the car carriage are set. The extrusion transfer device according to claim 9 , wherein the extrusion transfer device is laid in such a manner that it can be arbitrarily moved up, down, left and right. The extrusion transfer device according to claim 9 or 10 , wherein a support surface, which is a surface of the load collapse prevention body on the case side, is provided with one or more sensing sensors and / or suction plates. The extrusion transfer device according to any one of claims 9 to 11, wherein the load collapse prevention body is a plurality of substantially rod-shaped pusher bodies. A transfer that is located in the gap between the front surface of the car trolley and the conveyor and / or the above-mentioned stand, and has a function of allowing the article to move smoothly as a substantially bridging body when the article is slid and transferred. The extrusion transfer device according to any one of claims 1 to 12, wherein the body is provided. The transfer body is a belt conveyor and / or a roller conveyor and / or a rotating body and / or a pulling rail that rotates in a direction in which the case is pulled from the lower surface to the conveyor and / or the above-mentioned table. 13. The extrusion transfer device according to 13. The transfer status of the case is image-recognized, the extrusion distances of the plurality of pushers and spare pushers are adjusted according to the recognition result, and the diagonally loaded case is slid to the correct position in the left-right front-back position. The extrusion transfer device according to any one of claims 1 to 14, characterized in that. By recognizing the transfer status of the case as an image and / or confirming the transfer status of the case position and the rotation angle with the pusher tip contact sensor, the slide movement mounting defect is detected, and the pushers of a plurality of the pushers. The extrusion transfer device according to any one of claims 1 to 15, wherein the extrusion distance is adjusted and the extrusion transfer operation is retried. By recognizing the transfer status of the case as an image and / or confirming the transfer status of the case position and the rotation angle with the pusher tip contact sensor, the load collapse prevention when the slide movement mounting defect is detected. The extrusion transfer device according to any one of claims 1 to 16, wherein the body pushes back the case and properly resets the loading position onto the car carriage.

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