JPH0475905A - Article handling device - Google Patents

Abstract

PURPOSE:To shorten article handling time and minimize the space of a storage shelf by forming the advance/retract traveling passage provided with upper and lower hands in the center of a handling device, and disposing receiving tables on both sides of it. CONSTITUTION:A guide passage 51 where a hand unit 40 advances and retracts is formed in the center of a handling device 30 to arrange receiving tables 60 on both sides of it. Next, the hand unit 40 is made to enter a storage shelf 10 for holding an article 20 by upper and lower hands 41, 42. Then the hand unit 40 is made to retract to slide it on the receiving table 60 for transferring. It is thus possible to minimize the space of the storage shelf and shorten article handling time.

Description

[Detailed description of the invention] [Table of contents] Overview Industrial field of application Prior art (Figure 5) Means for solving the problem to be solved by the invention (Figure 1) Working example (a) 1 Description of Examples (Figures 2 to 4) fb)
Description of other embodiments Effects of the invention [Summary] Regarding an article handling device for storing or taking out weak articles such as paper from a storage shelf, it is possible to directly handle the weak articles to improve processing time and storage. In order to improve efficiency and prevent high costs, we have developed a hand unit that has upper and lower hands that grip objects from above and below, and a hand unit that moves forward/backwards relative to the storage shelf for the objects.
An article handling device that has a moving mechanism for backward movement and a receiving tray for the article, grips the article with upper and lower hands, and stores or takes out the article in a storage shelf, wherein the moving path of the hand unit is centered. , the saucers were provided on both sides of the travel path.

[Industrial application field]

TECHNICAL FIELD The present invention relates to an article handling device for storing or taking out fragile articles such as paper from a storage shelf.

2. Description of the Related Art Automated warehouse-type devices that store articles and take them out when necessary are widely used.

For example, a system has been developed for list output sorting in which line printer output sheets (referred to as lists) are stored and taken out when necessary.

In such a device, a handling mechanism grasps the list and stores it in a storage shelf, and upon instructions from the applicant, the handling mechanism takes out the list from the storage shelf and carries the receiver to the delivery port.

A weak object like this list output requires a special handling operation, unlike a strong object.

[Conventional technology]

FIG. 5 is an explanatory diagram of the prior art.

Paper 20 is stored in a sturdy storage box 11 such as a tray, and stored on a shelf 10 by a fork operation of a fork unit 70.

That is, in the storage operation, the tray 1 is placed on the fork 70.
1 is provided, paper 20 is placed on it, the tray 11 is inserted into the storage shelf 10, the tray 11 is placed on the shelf 10, and the fork 70 is pulled out to complete the storage.

Retrieval is the opposite of storage.

[Problem to be solved by the invention]

However, the conventional technology has the following problems.

■ Fragile items such as paper cannot be stored directly, so they must be stored in hard containers such as trays or buckets before being stored on shelves, which requires the work of loading paper into trays, etc. Processing time increases.

■ Also, the storage efficiency of storage shelves is poor because space is required for trays, etc.

■ It is necessary to prepare a tray, etc., which increases the cost.

Therefore, an object of the present invention is to provide an article handling device that can directly handle fragile articles, thereby improving processing time, improving storage efficiency, and preventing high costs.

[Means to solve the problem]

FIG. 1 is a diagram showing the principle of the present invention.

As shown in FIG.
0, a moving mechanism 50 for moving the hand unit 40 forward/backward with respect to the storage shelf 10 for the item 2,
0, and the article 20 is placed in the upper and lower hands 41.4.
This is an article handling device in which the hand unit 40 is gripped by the hand unit 2 and stored in or taken out from the storage shelf 10, and the moving path of the hand unit 40 is in the center, and the receiving trays 60 are provided on both sides of the moving path.

[Effect]

In the present invention, the hand unit 40 grips the article 20, and the receiving tray 60 holds the article 20.

That is, when taking out an article, the hand unit 40 is used to move the shelf 10
The user grasps the article on top, moves the hand unit 40 backward, and slides the article 20 on the tray 60 to take it in.

Conversely, to store an article, the hand unit 40 grasps the article on the tray 60 and advances toward the shelf 10 to store the article on the shelf 10.

At this time, by centering the forward/backward path of the hand unit 40 and providing the trays 60 on both sides, the articles can be supported on both sides, and fragile articles can be stably taken out, stored, and held.

〔Example〕

(al Description of an Embodiment FIGS. 2, 3, and 4 are configuration diagrams of an embodiment of the present invention. FIG. 2 is a front view thereof, FIG. 3 is a top view thereof, and FIG.
The figure is a side view thereof.

In the figure, the same parts as shown in Figures 1 and 5 are:
Indicated by the same symbol.

Upper hand 41 and lower)\throat 42 of hand unit 40
is provided so as to be movable up and down along the guide rod 45.

The upper hand 41 is attached to a tension rod 44 that is rotated by an upper motor 43, and moves up and down along a guide rod 45 as the upper motor 43 rotates.

On the other hand, the lower hand 42 is provided with a roller 48, and the cam body 47 rotated by the lower motor 46 and the roller 48 engage, and the rotation of the cam body 47 causes the lower hand 42 to move.
It moves up and down along the guide rod 45.

A base 49 supporting the guide rod 45 engages with a guide path 51 provided in the center of the handling device 30 .

A drive belt 52 is stretched between a pair of pulleys 53 along the guide path 51, and the pulley 53 is connected to a drive motor 50.
A portion of the belt 52 is fixed to the base 49 of the hand unit 40.

In addition, a notch 10 is provided in the portion of the shelf 10 that faces the lower hand 42.
A is provided.

Further, on both sides of the guide path 51, receiving trays 60 for holding the paper 20 are provided.

Next, the operation of this configuration will be described. To take out the paper 20 from the shelf 10, the hand unit 40 is moved by the drive motor 50 from the home position inside the unit 30 to the take-out position shown in FIG.

Next, the lower motor 46 is rotated, the cam body 47 is rotated, and the lower hand 42 is moved upward by a certain amount.

As a result, the tip of the lower hand enters the notch 10a of the shelf 10 and lifts the paper 20 from below, as shown in FIG.

Then, the upper motor 43 is rotated, the upper hand 41 is lowered, and the paper 20 is gripped by the upper hand 41 and the lower hand 42.

The reason why the drive mechanisms for the upper hand 41 and the lower hand 42 are made separate in this way is that if the drive mechanisms for both hands 41 and 42 are the same, depending on the height of the paper 20, the upper hand 41 will come into contact with it first. , grip the paper 20 while pressing it against the shelf 10 (
This is because there is a situation where the sample is clamped, causing a problem when taking it out.

In addition, in order to avoid this, it is necessary to control the position of the clamp center of the unit 30 according to the height of the paper so that the upper hand 41 does not come into contact with it first, and the position of the unit 30 relative to the shelf must be controlled depending on the height of the paper. Must be controlled.

For this reason, the drive mechanisms of both hands 41 and 42 are made separate,
After the lower hand 42 is operated, the upper hand 41 is operated to clamp the leading edge of the paper 20 in a manner lifted from the shelf 10, regardless of the height of the paper.

In this way, after clamping the paper 20, the drive motor 5
0, and the hand unit 30 is moved backward along the guide path 51 by the belt 52.

As a result, the paper 2 held by the hand unit 30
0 is removed from the shelf 10 and guided into the handling unit 30.

At this time, since the hand unit 40 clamps the center of the paper 20, the paper 2o is not skewed and is taken out straight.

Further, on both sides of the transfer path of the hand unit 40, there are saucers 60.
Since the paper 20 is provided, the paper 20 to be taken out is held on both sides and taken out smoothly.

After this removal is completed, the handling unit 30 transports the tray to, for example, a delivery port using a positioning mechanism (not shown).

Also, for storage, the reverse operation may be performed.

In this way, even fragile items such as paper can be taken out and stored directly on a shelf without the need for a tray, so placing paper in a tray eliminates the need for tedious work and makes processing easier. It saves time and eliminates the need for trays, which improves the storage efficiency of storage shelves.

Furthermore, by centering the forward/backward path of the hand unit 40 and holding it on both sides with the trays 60, it is possible to stably store and take out fragile items.

fbl Description of Other Embodiments In addition to the embodiments described above, the present invention can be modified as follows.

(2) Although the explanation has been made with reference to the paper 20, the invention can be applied to other fragile articles.

■ Although the sorting of printer output paper (list) has been explained using a system, it can also be applied to other systems.

■ If the height of the object is uniform, the driving mechanisms of the hands 41 and 42 may be the same.

Although the present invention has been described above using examples, the present invention can be modified in various ways according to the gist of the present invention, and these are not excluded from the present invention.

〔Effect of the invention〕

As explained above, according to the present invention, the following effects are achieved.

■ Even fragile items can be stored directly on the shelves, speeding up processing time.

■ The storage efficiency of storage shelves can be improved because there is no need for space for trays, etc.

■ Costs are also reduced because trays, etc. are not required.

■ Since the item is clamped at the center and held by the trays on both sides, fragile items can be taken out and stored stably without causing skewing.

[Brief explanation of drawings] Figure 1 is a diagram of the principle of the present invention. FIG. 2 is a front view of an embodiment of the present invention; FIG. 3 is a top view of an embodiment of the present invention; FIG. 4 is a side view of one embodiment of the present invention; FIG. 5 is an explanatory diagram of the prior art. In the figure, 10-accommodation shelf; 20-Articles (paper), 40-hunt unit, 41.42-hand, 50-Movement mechanism, 60-Saucer.

Claims (1)

[Claims] Upper and lower hands (41, 4) grip the article (20) from above and below.
2), a moving mechanism (50) for moving the hand unit (40) forward/reversely with respect to the article storage shelf (10), and a receiving tray (60) for the article (20). ), the article handling device grips an article (20) with upper and lower hands (41, 42) and stores or takes it out on a storage shelf (10), the article handling device having a moving path of the hand unit (40). In the center, place the saucer (
60) are provided on both sides of the moving path.