JPH11157644A - Handling device of article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To sort various kinds of articles stored in a small space to desired destinations. SOLUTION: The handling device of articles is furnished with a flowing shelf F constituted by laying a plural number of gravity roller conveyors in a plural number of steps, a carrier conveyor 2 to carry an article G taken out of each of the gravity roller conveyors on the respective steps and a vertical circulating conveyor 4 to sort the article taken out on the respective carrier conveyor 2 after joining it, groups of the gravity roller conveyors consisting of a plural number of steps by grouping the gravity roller conveyors 1 in step units, and the vertical circulating conveyor 4 is provided for each of the groups.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article handling apparatus, and more particularly to an article handling apparatus suitable for sorting various kinds of articles stored in a fluidized shelf.

[0002]

2. Description of the Related Art As a conventional technique relating to an article handling apparatus, there is known an apparatus described in Japanese Utility Model Application Laid-Open No. 54-886.

The prior art described in the above publication is described in Japanese Utility Model Laid-Open Publication No. 54-886. In each of the above-mentioned stages of an article storage shelf having several rows of article storage means,
An article storage / dispensing apparatus provided with independent article exit means is described.

[0004]

However, the above-mentioned prior art has the following problems.

[0005] That is, the article storage and dispensing apparatus described in Japanese Utility Model Application Laid-Open No. 54-886 discloses an article storage shelf (flowing shelf) having article storage means (storage shelf alone) having a plurality of rows and a plurality of stages. Since only independent article unloading means (transport conveyors) are provided for each level, the items that can be paid out to each payout gate are limited to those stored in each level of the article storage shelf. Many kinds of goods cannot be paid out. Temporarily, Shokai 54-
In order to pay out various kinds of articles for each payout gate by the article storage / discharge apparatus described in Japanese Patent No. 886, a large number of rows of article storage means must be provided for each stage, and a large scale This is a technology that requires equipment and vast space and is not economically feasible.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an article handling apparatus capable of sorting various kinds of articles stored in a narrow space into desired sorting destinations.

[0007]

SUMMARY OF THE INVENTION The present invention is directed to a fluidized shelf comprising a plurality of storage shelves stacked in a plurality of stages, a conveyor for conveying articles taken out of the storage shelves in each stage, and respective conveyors. A sorting conveyor that sorts the articles taken out into a single unit, and forms a group consisting of a plurality of stages by grouping the storage shelves alone in units of stages, and providing the sorting conveyor for each group. The above object has been achieved by providing a device for handling articles which is a feature of the present invention.

Preferably, the sorting conveyor is a vertical circulation conveyor.

It is preferable that a plurality of sorting conveyors are operated synchronously.

[0010] It is preferable that the same plural kinds of articles are stored in the storage shelves of each group alone.

[0011]

Embodiments of the present invention will be described below.

FIG. 1 is a plan view showing an outline of an embodiment of an article handling apparatus according to the present invention, FIG. 2 is a perspective view showing essential parts such as a fluidized shelf and a conveyor shown in FIG. 1, and FIG. FIG. 4 is an enlarged side view showing the downstream end portion of the flow shelf (storage shelf unit) shown in FIG.
3 is a plan view of FIG. 3, FIG. 5 is an elevation view showing a main part of the sorting conveyor shown in FIG. 1, and FIG. 6 is an explanatory view of a method of taking out articles from a fluidized shelf (a single storage shelf) to a transport conveyor.

In these drawings, reference numeral 1 denotes a type (variety).
Separately, a single storage shelf (gravity roller conveyor) for storing the articles G, a plurality of rows (only five rows are shown in FIG. 2) in the direction along the conveyor 2 with the tip side inclined at a low angle, and the vertical direction There are six stages (only two stages are shown in FIG. 2), and a fluid shelf F is constituted by these gravity roller conveyors 1 stacked in a plurality of stages. A conveyor 2 for conveying the articles G taken out of the gravity roller conveyor 1 at each stage of the fluidized shelf F is a drive roller conveyor arranged to connect the downstream end of the gravity roller conveyor 1 for each stage. There are six stages vertically (only two stages are shown in FIG. 2). At the downstream end of each gravity roller conveyor 1, an article take-out device 3 is provided. A sorting conveyor 4 for merging and sorting the articles G taken out from the gravity roller conveyor 1 to the respective conveying conveyors 2 and then sorting the articles G is disposed downstream of the conveying conveyor 2 so that the articles G are vertically moved at a constant pitch. An article conveying tool 41 having a vertical circulating conveyor for conveying in the direction and having a skewer (fork) article mounting portion 411 and an endless rotating body 42.
2, the article carrier 41 is rotated continuously. Reference numeral 5 denotes a delivery conveyor disposed downstream of the third to sixth transfer conveyors 2 from the bottom, and merges (transfers) the articles G from the transfer conveyor 2 to the vertical circulation conveyor 4. It is done. Reference numeral 6 denotes a delivery conveyor arranged at the downstream end of the first and second lowermost conveyors 2, which join the articles G from the conveyor 2 to the vertical circulation conveyor 4 (transfer). )
It is done. Reference numerals 7 and 8 denote take-out conveyors for sorting (take-out) the articles G from the vertical circulation conveyor 4 into six sorters. So from the bottom one
The gravity roller conveyor 1 at the third level, the third level from the bottom and the fifth level from the bottom, and the gravity roller conveyor 1 at the second level from the bottom, the fourth level from the bottom, and the sixth level from the bottom are grouped in stages. Thus, two groups each consisting of three stages of gravity roller conveyors 1 are formed, and the same plurality of types of articles G are stored in the gravity roller conveyors 1 of each group. . In addition, the articles G taken out from the gravity roller conveyor 1 at the first stage from the bottom, the third stage from the bottom, and the fifth stage from the bottom to the respective conveyors 2 are sorted and sorted (in the conveying direction of the articles G). The vertical circulation conveyor 4 (on the right side) and the articles G taken out from the gravity roller conveyor 1 at the second, fourth and sixth from the bottom onto the respective conveyors 2 are merged. The vertical circulation conveyor 4 for sorting (on the left side in the conveying direction of the article G) is disposed adjacent to the vertical circulation conveyor 4,
The two vertical circulation conveyors 4 are operated synchronously. still,
For each vertical circulation conveyor 4, two delivery conveyors 5 (only one is shown in FIG. 5), one delivery conveyor 6, one takeout conveyor 7, and two takeout conveyors 8 (In FIG. 5, 1
Only one is shown). A transport conveyor 91 is provided downstream of each of the take-out conveyors 7 and 8, and six transport conveyors 91 are stacked in six stages at the downstream end.

R is a fluid shelf constructed in the same manner as the fluid shelf F. A single shelf (gravity roller conveyor) for accommodating articles G for each type (product type) is arranged in a plurality of rows and a plurality of stages (six stages). It is arranged.

Reference numeral 92 denotes a conveyor configured in the same manner as the conveyor 2, which conveys the articles G taken out of the storage shelves (gravity roller conveyors) of the respective stages of the fluidized shelves R by stage. Are provided vertically in six stages. It should be noted that the transport conveyors 91 stacked in six stages are configured to be joined to the transport conveyors 92 stacked in six stages.

Numeral 93 denotes a vertical conveyor arranged downstream of the conveyor 92 so that the articles G sorted and packed at the downstream ends of the conveyors 92 are conveyed downward. It has been done.

Reference numeral 94 denotes a carry-in conveyor provided in six vertical stages so as to convey the articles G stored in the gravity roller conveyors 1 of the respective stages of the fluidized shelf F in each stage.

Reference numeral 95 denotes a carry-in conveyor provided vertically in six stages so as to convey the articles G stored in the storage shelves (gravity roller conveyors) of the respective stages of the fluidized shelf R in each stage.

To explain each part in the above embodiment, the gravity roller conveyor 1 comprises a plurality of rollers 1
A pair of rail frames 12 each having a plurality of rails 1 are arranged so that the leading end side is inclined downwardly, and a plurality of rows (only five rows are shown in FIG. 2) in a direction along the conveyor 2 and a Fluid shelves F are constituted by six gravity roller conveyors 1 arranged in six stages (only two stages are shown in FIG. 2) and stacked in six stages, and supplied on the gravity roller conveyor 1. After the articles G have been stored on the rollers 11 by their own weight by their own weight, they are taken out by the article take-out device 3 to the conveyor 2.
1a, 1b, 1c, 1d, 1e are gravity roller conveyors, 1f, 1g, 1
Reference numerals h, 1i, and 1j denote gravity roller conveyors disposed at the third tier from the bottom.

The conveyor 2 has a conveyor speed of 25 m / min (416.7 mm / sec), which is arranged so as to connect an article take-out device 3 provided at the downstream end of the gravity roller conveyor 1 for each stage. A roller conveyor provided with a linear conveyor section 2A, a linear conveyor section 2A, a curve conveyor section 2B disposed downstream of the linear roller section 2A, another linear conveyor section 2C, and the like. Six stages (only two stages are shown in FIG. 2) are provided in the vertical direction so as to convey the articles G taken out from 1. The linear conveyor 2A is disposed so as to be substantially orthogonal to the gravity roller conveyor 1. A roller 21 and a line shaft 22 (not shown)
The rotation of the line shaft 22 is transmitted to the roller 21 by a rubber band (not shown) stretched in the shape of a figure between the roller 21 and the roller 21. Further, the line shaft 2 of the conveyor 2 at the first stage from the bottom, the third stage from the bottom, and the fifth stage from the bottom
2 are connected to each other by a chain and are driven by the same motor.
2, a pulse encoder (not shown) is attached. In addition, the second stage from the bottom, the fourth stage from the bottom, and 6 from the bottom
The line shafts 22 of the second stage conveyor 2 are connected to each other by a chain and are driven by the same motor. A pulse encoder (not shown) is attached to one of the line shafts 22.

The article take-out device 3 includes shafts 33, 3
A pair of rail frames 32 each having a plurality of rollers 31 pivoted up and down by an air cylinder 35 and a lever 36 with the fulcrum 4 as a fulcrum; A wheel rail 38 disposed downstream of the frame 32. When the air cylinder 35 is at the lower end, the inclination of the rail frame 32 substantially matches the inclination of the rail frame 12, and the stopper 37 The upper end is configured to protrude from the upper surface of the roller 31. When an article take-out command is issued, the upper end of the stopper 37 is lowered from the upper surface of the roller 31 by operating the air cylinder 35, and the inclination of the rail frame 32 is made larger than the inclination of the rail frame 12, thereby stopping the stopper. The article G at the downstream end of the gravity roller conveyor 1 locked at 37 is taken out. At this time, since the upstream end of the rail frame 32 is higher than the surface of the roller 11 of the rail frame 12, the following article G is locked at the upstream end of the rail frame 32, and the article stored on the gravity roller conveyor 1. Only one G can be taken out to the conveyor 2 and the taken out article G is taken out (merged) to the conveyor 2 by the wheel rail 38.

A vertical circulating conveyor 4 (on the right side in the conveying direction of the articles G) 4 is disposed downstream of the first, third and fifth from the bottom. And the vertical circulating conveyor 4 (on the left side in the conveying direction of the article G) disposed downstream of the second lower, fourth lower and sixth lower conveying conveyors 2 from the bottom. And two vertical circulating conveyors 4
Are operating synchronously. In addition, each of the vertical circulation conveyors 4 joins the articles G taken out to the three-stage transport conveyor 2 and sorts the articles G into three sorting destinations. Each of the vertical circulating conveyors 4 is an endless rotating body stretched in a substantially rectangular shape by an article carrier 41 having a skewered (fork) -shaped article mounting portion 411 and a guide roller 412, and four sprocket wheels 43. (Endless chain) 42 and endless chain 42
Guide frame 44 disposed along the rotation locus of
Guide frame 45 disposed in the same shape as the rotation locus of the endless chain 42 and displaced in the vertical and horizontal directions.
And an auxiliary guide frame 46 for keeping the article carrier 41 in a constant posture, and the like. Four (only two are shown in FIG. 5) article carrier 41 are moved at a speed of 30 m /
The first guide frame 44 and the second guide frame 44 are rotatably attached to the endless chain 42 at a constant (1830 mm) interval.
The article carrier 41 maintained in a fixed posture (substantially horizontal) by the guide frame 45 and the auxiliary guide frame 46 is continuously rotated in the up-down direction.

The transfer conveyor 5 disposed at the downstream end of the upper conveyor (third stage from the bottom to sixth stage from the bottom) has two transfer units 5 for each vertical circulation conveyor 4.
One (only one is shown in FIG. 5) is provided at a position corresponding to the height of each transport conveyor 2, and the articles G merge from each transport conveyor 2 to the vertical circulation conveyor 4. (Hand over). Each of the delivery conveyors 5 is a fixed skewed conveyor 5 configured in a fork shape with seven endless chains.
1 and a movable skewered conveyor 5 configured in a fork shape with six endless chains and a sliding air cylinder (not shown)
6, the endless chains of the movable skewer conveyor 52 are connected to the seven endless chains of the fixed skewer conveyor 51 by the air cylinder for sliding or the article placing section 411.
The fork is moved along the conveying direction of the article G, and the movable skew-shaped conveyor 52 and the article placing section 411 can cross each other. Note that a stopper 5 is provided at the tip of the movable skewer conveyor 52.
21 are provided.

The transfer conveyor 6 disposed at the downstream end of the lower conveyor (the first stage from the bottom and the second stage from the bottom) has one transfer unit for each vertical circulation conveyor 4.
The articles G are provided at positions corresponding to the heights of the respective conveyors 2, respectively.
From each other to join (transfer) to the vertical circulation conveyor 4. In addition, each delivery conveyor 6 has 6
A fixed skewed conveyor 61 is provided in the form of a fork with endless chains, and the six endless chains of the fixed skewed conveyor 61 are arranged in the gaps between the seven skewers (forks) of the article mounting portion 411. The fixed skewer conveyor 61 and the article placement section 411 are configured to be able to cross each other. Note that a stopper 611 is provided at the tip of the fixed skewer type conveyor 61.

The take-out conveyors 7 arranged at the upstream end of the lower conveyors (first and second stages from the bottom) are provided one for each vertical circulation conveyor 4. The articles G are provided at positions corresponding to the heights of the respective conveyors 91, and the articles G are vertically circulated by the conveyors 4.
Are sorted (taken out) into the respective conveyors 91. Each of the take-out conveyors 7 includes a fixed skewer conveyor 71 formed in a fork shape with six endless chains.
The six endless chains are arranged in the gaps between the seven skewers (forks) of the article placement section 411, and the fixed skewer-type conveyor 71 and the article placement section 411 can be crossed.

Also, two take-out conveyors 8 arranged at the upstream end of the upper side (third stage from the bottom to sixth stage from the bottom) of the conveyor 91 are provided for each vertical circulation conveyor 4 (two conveyors). In FIG. 5, only one is shown), each of which is provided at a position corresponding to the height of each transport conveyor 91, and sorts (takes out) the articles G from the vertical conveyor 4 to each transport conveyor 91. ) In addition, each take-out conveyor 8 has a 7
A fixed skewer-type conveyor 81 composed of two endless chains in a fork shape, and a movable skewer-type conveyor 82 composed of six endless chains and a sliding air cylinder (not shown) in a fork shape. The six endless chains of the conveyer 82 are fixed by a sliding air cylinder so that the gaps between the seven endless chains of the conveyer 81 or the seven skewers (forks) of the article mounting portion 411 are moved in the conveying direction of the articles G. The moving skew-shaped conveyor 82 and the article placing section 411 are configured to be able to cross each other.

The transport conveyor 91 is a drive roller conveyor disposed at the downstream end of the take-out conveyors 7 and 8, and is constituted by a linear conveyor section, a curve conveyor section, etc., and is taken out from the vertical circulation conveyor 4. 6 are provided in the vertical direction so as to transport the sorted articles G. In addition, each conveyor 91 stacked in six stages
Are configured to be joined to the respective transport conveyors 92 stacked in six stages.

Further, a take-out control device (not shown) is provided, and a virtual space β having a fixed length (pitch) is set on the conveyor 2 and the set virtual space β is used as the virtual space β.
When it reaches the position facing the gravity roller conveyor 1 containing the articles G to be taken out and merged into
The article removal device 3 is controlled so that a desired article G is taken out.

On the gravity roller conveyor 1 of the above-mentioned fluidized shelf F, a variety of articles G of which packing request frequency is relatively small
The first, the third, and the fifth gravity roller conveyors 1 from the bottom, the second from the bottom, the fourth from the bottom, and the six from the bottom The eye gravity roller conveyor 1 is grouped in units of stages to form two groups each consisting of three stages of gravity roller conveyors 1, and the same plurality of articles G are stored in the gravity roller conveyors 1 of each group. It is made to do. Thus, the articles G stored in the gravity roller conveyor 1 at the first stage from the bottom, the third stage from the bottom, and the fifth stage from the bottom are taken out to the respective conveyors 2 at the respective stages and merged. The articles G taken out and merged into the conveyor 2 are further separated by the vertical circulation conveyor 4 (on the right side in the conveying direction of the articles G).
The articles G merged in a row and merged in one row by the vertical circulation conveyor 4 are taken out from the vertical circulation conveyor 4 and sorted into three sorting destinations. Similarly, the articles G taken out from the gravity roller conveyor 1 at the second stage from the bottom, the fourth stage from the bottom, and the sixth stage from the bottom to the respective conveyors 2 are also moved toward the conveying direction of the articles G. (Left side) and the vertical circulation conveyor 4 sorts the remaining three sorters.

Next, the articles G stored in the gravity roller conveyor 1 of the above-mentioned fluidizing shelf F are taken out and merged into the respective conveyors 2, and the articles G taken out into the respective conveyors 2 are vertically circulated. The five rows of gravity roller conveyors 1 arranged in the first row from the bottom and the five rows of gravity roller conveyors 1 arranged in the third row from the bottom until they are further merged into one row by the conveyor 4.
The articles G stored in the conveyors are taken out and merged into the respective conveyors 2, and the articles G taken out and merged into the respective conveyors 2 are separated by the vertical circulation conveyor 4 (on the right side in the conveying direction of the articles G). A specific example up to the further merging will be described with reference to FIG. still,
FIG. 6 is a (conceptual) explanatory view of a method of taking out the article G from the gravity roller conveyor 1 to the transport conveyor 2, and illustrates the gravity roller conveyor 1 arranged in the second row from the bottom.
The illustration of the articles G stored in the transport conveyor 2 is omitted, and the transport direction of the articles G by the transport conveyor 2 is opposite to the transport direction shown in FIGS. 1 and 2.

That is, when the spacing between the five rows of gravity roller conveyors 1 arranged in each stage along the first and third stages of the conveyor 2 from the bottom is 700 mm, Distance to the fifth most upstream gravity roller conveyor 1e, 1j from the downstream end, ie, offset value α
The gravity roller conveyors 1d and 1i adjacent to the gravity roller conveyors 1e and 1j are 700 mm, the gravity roller conveyors 1c and 1h are adjacent to the gravity roller conveyors 1d and 1i, and the gravity roller conveyors 1c and 1h are adjacent to the gravity roller conveyors 1c and 1h. 1b and 1g are 2100 mm, and the gravity roller conveyors 1a and 1f adjacent to the gravity roller conveyors 1b and 1g are 2800 mm.

The length of the gravity roller conveyor 1, that is, the dimension in the direction of the conveyor 2 is up to 600 m.
The articles G of various sizes up to m, for example, articles Ga on the gravity roller conveyor 1a, articles Gb on the gravity roller conveyor 1b, and articles Gj on the gravity roller conveyor 1j in the same manner. It is stored (the article G is shown in the same size in FIG. 6).

Thus, for example, the vertical circulation conveyor 4
The ten articles G are arranged in the following order: articles Ga, Gg, G
After merging at j, Gj, Gd, Gi, Gi, Gh, Gj, Gd, when there is a packing command to take out the merged articles G from the vertical circulation conveyor 4 and sort them into three sorting destinations, In accordance with the timing at which the articles G conveyed on the respective conveyors 2 are merged into the vertical circulation conveyor 4, the phase difference γ is set at the timing at which the articles G are merged from the gravity roller conveyor 1 for each conveyor 2 according to the timing. The phase difference γ of the third stage conveyor 2 from the first stage conveyor 2 is determined as follows: (interval 700 mm in the stage direction between the transfer conveyor 5 and the transfer conveyor 6 ÷ the speed of the endless chain 42 30 m / min =) 1.4 seconds], and adds the phase difference γ to the timing of merging the articles G from the gravity roller conveyor 1 to the respective conveyors 2 (below 1 or 2).
0 second is added to the timing at which the articles G are merged into the conveyor 2 at the first stage, and 1.4 seconds is added to the timing at which the articles G are merged at the third conveyor from the bottom. G from the gravity roller conveyor 1
At a constant pitch (interval of attachment of the article carrier 41 to the endless chain 42: 1830 mm３０speed of the endless chain 42: 30 m / min = 3.66 seconds), and the articles joined to the respective conveyors 2 G for vertical circulation conveyor 4
The calculations and controls are performed so that the desired articles G are merged in a single row, and the desired articles G are merged in a desired order.

That is, the article Ga that first arrives at the position of the take-out conveyor 8 in the upper stage is the gravity conveyor 1
Gravity roller conveyor 1a
Since the offset value α is located at the most downstream position of 2800 mm, the article Ga is taken out with a delay of the offset value α from the start of packing. That is, 28
00mm ÷ 416.7 mm / sec = 6.72 seconds later, an article take-out instruction is provided at the downstream end of the gravity conveyor 1a so as to take out the article Ga from the gravity conveyor 1a to the first conveyor 2 from below. Provided to the received article take-out device 3. It should be noted that the phase difference γ of the conveyor 2 at the first stage from the bottom is 0 second, so there is no need to add the phase difference γ to the above time.

Next to the article Ga, the upper take-out conveyor 8
The item Gg arriving at the position of item 3 is different from the item Ga from the bottom.
Since it is housed in the gravity roller conveyor 1g arranged along the second stage conveyor 2, a 1.4 second phase difference γ is added so as to be merged.
The conveyor 2 has a certain length (the conveyance pitch of the article conveyor 41 is 3.66 seconds × the conveyance speed of the conveyor 2 is 25 m / min =
The virtual space β of 1525 mm) is set continuously according to the merging order of the articles G, and when the predetermined virtual space β reaches a position facing the article G to be merged, the articles G are taken out to the transport conveyor 2. The article take-out command is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1, and the articles G are fed at a constant pitch (3.66).
Second, that is, at an interval of 1525 mm), so that the articles G that are first passed to the vertical circulation conveyor 4
a to the transfer conveyor 2 excluding the offset value α and the phase difference γ, that is, 0 seconds later, the phase difference γ of the phase difference γ.
4 seconds and the time required for the virtual space βa set on the conveyor 2 to move, that is, 1525 mm ÷ 416.7 m
5.06 seconds after adding m / sec = 3.66 seconds, the offset value α of the gravitation roller-conveyor 1g 2 minutes 100 minutes
m, that is, 2100 mm ÷ 416.7 mm / sec = 5.04
Gravity Roller Conveyor 1 10.1 seconds after adding seconds
An article take-out instruction is given to the article take-out device 3 provided at the downstream end of the gravity roller-conveyor 1g so as to take out the article Gg from g into the virtual space βg set in the third-stage conveyor 2 from the bottom.

Next to the article Gg, the upper take-out conveyor 8
Is received in the gravity conveyor 1 at the same level as the articles Gg, and the articles G stored in the gravity roller 1 at the same level
Are continuously taken out to the transport conveyor 2 and merged, the articles G previously delivered to the vertical circulation conveyor 4
2. The time required for the virtual space βg set in the conveyor 2 to move after 5.06 seconds, ie, the time required to move the virtual space βg to the conveyor 2 after removing the offset value α of the g, ie, 3.
8.72 seconds after adding 66 seconds, the articles Gj are transferred from the gravity roller conveyor 1j to the third conveyor from the bottom.
Is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1j so as to take it out to the virtual space βj set in the. Since the offset value α of the gravity roller conveyor 1j is 0 mm, it is not necessary to add the offset value α to the above time.

After the article Gj, the article Gj continuously arrives at the position of the upper take-out conveyor 8, so that the virtual space βj set in the transport conveyor 2 moves after the above-described take-out time, ie, 8.72 seconds. 2. the time required for
After 12.38 seconds after adding 66 seconds, an article take-out command of the gravity roller conveyor 1j is issued so as to take out the articles Gj from the gravity roller conveyor 1j into the virtual space βj set in the third lower conveyor 2 from the bottom. It is provided to the article take-out device 3 provided at the downstream end.

Next to the article Gj, the upper take-out conveyor 8
The item Gd arriving at the position of is different from the item Gj by 1 from the bottom.
Since it is accommodated in the gravity conveyor 1 at the first stage, a 0 second phase difference γ is added so that it is merged, and the offset value of the article Gj that is first passed to the vertical circulation conveyor 4 The take-out time to the conveyor 2 excluding α and the phase difference γ, that is, the time required for the virtual space βj set on the conveyor 2 to move after 10.98 seconds, that is, 3.66 seconds is added. 64 seconds later, 16.32 seconds after adding the offset value α of the gravity roller conveyor 1d, that is, 700 mm ÷ 416.7 mm / second = 1.68 seconds, the article Gd was removed from the gravity roller conveyor 1d from the bottom by 1.32 seconds. An article take-out instruction is given to the article take-out device 3 provided at the downstream end of the gravity conveyor 1d so as to take out to the virtual space βd set in the conveyor 2 at the stage. It is.

Next to the article Gd, the upper take-out conveyor 8
Gi arriving at the position of item 3 is different from item Gd from the bottom.
Since it is stored in the first-stage gravity conveyor 1, a 1.4 second phase difference γ is added so as to be merged. The take-out time to the conveyor 2 excluding the offset value α and the phase difference γ, ie, 14.64 seconds,
19.7 seconds after adding 1.4 seconds of the phase difference γ and the time required for the virtual space βd set on the conveyor 2 to move, that is, 3.66 seconds, the offset of the gravity conveyor 1i is added. Value α min 700 mm, ie 700 mm７００
21.38 seconds after adding 416.7 mm / sec = 1.68 seconds, the virtual space βi is set in the third conveyor from the bottom to transfer the articles Gi from the gravity conveyor 1i.
Is given to the article take-out device 3 provided at the downstream end of the gravity conveyor 1i.

Since the article Gi continuously arrives at the position of the upper take-out conveyor 8 after the article Gi, the virtual space βi set in the transport conveyor 2 moves after the above-described take-out time, that is, 21.38 seconds. Time 3.66
25.04 seconds after the addition of the seconds, an article take-out command is issued from the gravity conveyor 1i to the downstream end of the gravity conveyor 1i so as to take out the article Gi to the virtual space βi set in the third lower conveyor conveyor 2 from the bottom. It is given to the article take-out device 3 provided in the section.

Next to the article Gi, the upper take-out conveyor 8
Is received in the gravity conveyor 1 at the same level as the articles Gi, so that the articles Gh are transferred to the conveyor 2 excluding the offset value α of the articles Gi transferred to the vertical circulation conveyor 4 first. Removal time, ie 2
3.36 seconds later, virtual space β set on conveyor 2
27.02 seconds after adding the time required for i to move, that is, 3.66 seconds, the offset value α of the gravity conveyor 1h is 1400 mm, that is, 1400 mm ÷ 41.
30.38 seconds after adding 6.7 mm / sec = 3.36 seconds, the article is taken out from the gravity conveyor 1h so as to take out the article Gh to the virtual space βh set in the third-level conveyor 2 from the bottom. The command is an article pick-up device 3 provided at the downstream end of the gravity conveyor 1h.
Given to.

Next to the article Gh, the upper take-out conveyor 8
Is received in the gravity conveyor 1 at the same level as the articles Gh, so that the articles Gj arrive at the conveyor 2 excluding the offset value α of the articles Gh previously passed to the vertical circulation conveyor 4. Removal time, ie 2
Virtual space β set on the conveyor 2 after 7.02 seconds
After 30.68 seconds, which is the time required for h to move, that is, 3.66 seconds, the article Gj is taken out of the gravity conveyor 1j into the virtual space βj set on the third-level conveyor 2 from the bottom. Thus, the article take-out command is given to the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1j. Since the offset value α of the gravity roller conveyor 1j is 0 mm, it is not necessary to add the offset value α to the above time.

Next to the article Gj, the upper take-out conveyor 8
The item Gd arriving at the position is different from the item Gj from the bottom by 1
Since it is accommodated in the gravity conveyor 1 at the first stage, a 0 second phase difference γ is added so that it is merged, and the offset value of the article Gj that is first passed to the vertical circulation conveyor 4 32, which is the time required for the virtual space βj set on the conveyor 2 to move after 29.28 seconds, ie, 3.66 seconds, which is the time taken out of the conveyor 2 after removing α and the phase difference γ. .94 seconds later, 34.62 seconds after adding the offset value α of the gravity roller conveyor 1d, that is, 700 mm ÷ 416.7 mm / sec = 1.68 seconds, the article Gd was removed from the gravity roller conveyor 1d from the bottom. An article take-out instruction is given to the article take-out device 3 provided at the downstream end of the gravity conveyor 1d so as to take out to the virtual space βd set in the conveyor 2 at the stage. It is.

The time required for each article G to be taken out of the gravity roller conveyor 1 calculated by a computer (not shown) as described above is multiplied by the transfer speed 416.7 mm / sec of the transfer conveyor 2. Is the transport distance of each virtual space β from the start of packing to the removal of each article G. Accordingly, the transport distance of the virtual space β during one pulse of the pulse encoder attached to the line shaft 22 of the transport conveyor 2 is the transport distance of the virtual space β from the start of packing up to the removal of each article G. Is a pulse value from the start of packing in which each article G should be taken out. The computer transmits the pulse value from the start of the packing and the number of the gravity roller conveyor 1 from which the respective articles G are to be taken out to a sequencer (not shown). The sequencer that has received the data stores the pulse value from the start of the packing and the number of the gravity roller conveyor 1 from which the articles G are to be taken out, and at the same time as the start of the packing, the pulse encoder. The pulse of-is started to count, and the air cylinder 35 of the article take-out device 3 provided at the downstream end of the gravity roller conveyor 1 which coincides with the instructed pulse value is operated to transfer a predetermined article G to the conveyor 2. Control to take it out.

As described above, the articles G which are taken out from the plurality of gravity conveyors 1 to the respective conveyors 2 at a constant pitch and merged are arranged at the downstream ends of the respective conveyors 2. Delivery conveyor 5,
6 and the article placement section 41 of the vertical circulation conveyor 4
1 and fixed skewer conveyor 61 or movable skewer conveyor 52
Reaches the crossing position, the articles Ga, Gg, and the articles Ga, Gg, are successively transferred to the article transporting tool 41 while being scooped up by the article placement section 411 passing upward from below.
After being merged in the order of Gj, Gj, Gd, Gi, Gi, Gh, Gj, Gd, they are conveyed to the position of the upper take-out conveyor 8. When the article G reaches the loading section of the fixed skewer conveyor 51 of the delivery conveyor 5, the movable skewer conveyor 52 is moved to a position where it intersects with the article placement section 411, and the article G is received by the article carrier 41. After the delivery, the product returns to the original state (however, when the subsequent article G is delivered from the movable skewer conveyor 52 to the article transport tool 41,
After the succeeding article G is delivered to the article carrier 41, the article G returns to the original state.) In addition, the phase difference is determined by the timing at which the articles G conveyed from the plurality of gravity conveyors 1 are conveyed on each conveyor 2 according to the timing at which the articles G conveyed on the respective conveyors 2 are delivered to the article conveyor 41. Since γ is set and the phase difference γ is added to the timing at which the articles G are merged from the gravity conveyor 1 to the respective conveyors 2, the articles G are transferred to the fixed skewer shoulder type conveyor 61 or the movable skewer type conveyor 52. The arrival timing substantially coincides with the timing at which the article G is scooped up by the article placing section 411.

Further, they are taken out of the first and third conveyor conveyors 2 from the bottom and merged, and further merged into one line by the vertical circulation conveyor 4 (on the right side in the conveying direction of the articles G). The articles G (transferred to the article transporting tool 41) reach the positions where the article placement section 411 on which the articles G are mounted intersects with the movable skewer conveyor 82 or the fixed skewer conveyor 71. , Gj, Gj, Gd,
Article mounting part 4 on which Gi, Gi, Gh, Gj, and Gd are mounted
11 is a movable skewer conveyor 82 or a fixed skewer conveyor 7
1 is passed down from above to be taken out and sorted into any of three sorting destinations. Before the article G passes through the take-out conveyor 8 to be taken out (to be sorted) (after the previous article G has passed), the moving skewer conveyor 82 is moved to a position where it intersects with the article placement section 411, When the article G is transferred from the article carrier 41 to the moving skewer conveyor 82, the moving skewer conveyor 82 returns to the original state (however, the subsequent articles G are
In the case where the article G is transferred to the moving skewer conveyor 82 from 1, the subsequent article G is transferred from the article carrier 41 and then returns to the original state). Similarly, the articles G taken out from the gravity roller conveyor 1 at the fifth stage from the bottom to the conveyor 2 are also transferred from the gravity roller conveyor 1 at the first stage from the bottom and the third stage from the bottom. After being merged with the article G taken out at the same time, it is sorted into the above three sorting destinations. In the same manner, the articles G taken out from the gravity roller conveyors 1 at the second, fourth and sixth from the bottom to the respective conveyors 2 are (in the conveying direction of the articles G). (To the left) and a vertical circulating conveyor 4 for sorting into three other destinations. In addition, 1 from the bottom
The gravity roller conveyor 1 of the third, fifth and fifth stages from the bottom, and the gravity roller conveyor 1 of the second, fourth and sixth from the bottom from the bottom are grouped, respectively. Then, the same plurality of types of articles G are stored in the gravity roller conveyors 1 of the respective groups, and all of the articles G stored in the respective gravity roller conveyors 1 for each group are stored. Are merged into one row by the vertical circulation conveyor 4 and then sorted into three sorting destinations.
All types of articles G stored in the gravity roller conveyor 1 can be sorted and packed in any of the three sorting destinations (six sorting destinations in total) provided for each group. . That is, all types of articles G stored in the gravity roller conveyor 1 are loaded on any of the transport conveyors 91 arranged at the downstream end of the take-out conveyors 7 and 8 and vertically stacked in six stages. Can be aligned.

Further, the gravity roller conveyor of the fluidized shelf R is adapted to store various kinds of articles G having a relatively high load request frequency, and the first and second gravities from the bottom. The roller conveyor, the third and fourth bottom gravity roller conveyors, and the fifth and sixth bottom gravity roller conveyors are grouped in units of two stages. Are formed on the gravity roller conveyor of each group, and a plurality of the same types of articles G (articles G of different types from the articles G stored in the fluidizing shelf F) are formed on the gravity roller conveyors of the respective groups. ). Thus, the articles G stored in the gravity roller conveyors of the respective stages are transferred to the conveyors 9 of the respective stages.
The articles G which are taken out and merged into the conveyors 2 and are taken out and merged into the respective conveyors 92 are conveyed in a downward direction by a vertical conveyor 93 arranged downstream of the conveyor 92. . In addition, since each of the six conveyors 92 is configured to be joined to each of the six conveyors 92, the downstream end of each conveyor 92 is The articles G stored in the fluid shelves F and the fluid shelves R can be sorted and packed.

As described above, the gravity roller conveyor 1 of the fluidized shelf F accommodates various types of articles G having a relatively low packing request frequency, and the gravity roller conveyor of the flowing shelf R has a relatively low packing request frequency. A large variety of articles G are stored. Therefore, the desired type of articles G among the articles G stored in the gravity roller conveyor 1 of the fluidized shelf F can be sorted and packed at the downstream end of each transport conveyor 92, and the fluidized shelf R can be sorted. The desired type of articles G among the articles G stored in the gravity roller conveyor can be sorted at the downstream ends of the respective conveyors 92 to be packed. In other words, it is possible to reorder the various types of articles G having a relatively low request frequency of packing and the various types of articles G having a relatively high request frequency at the downstream end of each conveyor 92.

The embodiment of the present invention has been described above.
The article handling device of the present invention is not limited to these. For example, sorting conveyor (vertical circulation conveyor)
4. The transfer conveyors 5, 6 and the take-out conveyors 7, 8 may be configured by combining horizontal conveyors.

The same type of articles G is stored in the storage shelves (gravity roller conveyors) 1 of the respective groups.
May not be stored.

Further, the flow shelf R, the conveyor 92, the vertical conveyor 93 and the like may not be provided.

Since the article handling apparatus of the present invention is configured as described above, it is possible to sort various kinds of articles stored in a plurality of storage shelves alone into a plurality of sorting destinations, so that the apparatus is narrow. Various kinds of articles stored in the space can be efficiently packed.

[Brief description of the drawings]

FIG. 1 is a plan view showing an outline of an embodiment of an article handling apparatus of the present invention.

FIG. 2 is a perspective view showing a main part of a fluidized shelf, a conveyor and the like shown in FIG.

FIG. 3 is an enlarged side view showing a downstream end portion of the fluidizing shelf (a single storage shelf) shown in FIG. 2;

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a perspective view showing a main part of the sorting conveyor shown in FIG. 1;

FIG. 6 is an explanatory diagram of a method of taking out an article from a fluidized shelf (a single storage shelf) to a transport conveyor.

[Explanation of symbols]

 1 Storage shelf unit (gravity roller conveyor) 2 Conveyor 4 Sorting conveyor (vertical circulation conveyor) F Flow shelf G Article

Claims (4)

[Claims] 1. A flow shelf comprising a plurality of storage shelves stacked in a plurality of stages, a transport conveyor for transporting articles taken out of the storage shelves of the respective stages, and an article taken out by each transport conveyor. An article handling device, comprising: a sorting conveyor for sorting the storage shelves above, forming a group of a plurality of stages by grouping the storage shelves in stages, and providing the sorting conveyor for each group. 2. The article handling apparatus according to claim 1, wherein the sorting conveyor is a vertical circulation conveyor. 3. The article handling apparatus according to claim 2, wherein the plurality of sorting conveyors are operated synchronously. 4. The storage device according to claim 1, wherein the same plurality of types of articles are stored in storage shelves of each group alone.
An article handling device as described in the above.