JPH11189204A - Automatic storing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize an automatic storage device to store a non-carriage article such as a multiple pack in a storage case, and to speed up the re-arranging work. SOLUTION: An automatic carrying device is provided with a fixing side holding part 21 to hold one or more articles 10 to be stored in a storage case in the waiting direction, a movable side holding part 22 to hold one or more articles 10 to re-arrange the articles 10 held by the fixing side holding part 21, and a driving mechanism 33 to move the movable side holding part 22 relative to the fixing side holding part 21. The automatic carrying device is provided with a guide mechanism 45 to guide the movable side holding part 22 so as to be detached from the fixing side holding part 21 while the movable side holding part 22 is moved relative to the fixing side holding part 21 by the drive mechanism 33.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic storage device, and more particularly to a multi-pack containing a plurality of container-like packages filled with pudding, yogurt, ice cream, etc., which are shrink-packaged. The present invention relates to an automatic storage device suitable for storing in a case.

[0002]

2. Description of the Related Art Recently, two to six container-like packages filled with liquid, gel-like or powder-like foods such as pudding, yogurt, ice cream, etc. are shrink-packed together. (Multi-pack). Further, at the time of shipment to a market, the multipack is stored in a single storage case in a plurality of cases. This storage case should be easily stored and transported in a stacked state, and the standard of shape and dimensions should be unified for handling and management reasons such as unifying the unit sales price of each storage case. General.

[0003] The above-mentioned multi-pack is composed of two packaged containers, three packaged containers in one row, and six packaged packages in three rows. There are, for example, those obtained by putting together the data in two columns. Further, the multi-pack before being stored in the storage case is waiting on a conveyor such as a conveyor in an aligned state in which the orientation or posture is unified.

However, when trying to store the above-mentioned different types of multi-packs in one type of storage case in a maximum amount,
All types of multi-packs cannot be stored without changing the orientation of the multi-pack. When storing a specific type of multi-pack, at least one In order to make the orientation different from that before storage, it is necessary to rearrange the other multipacks.

[0005] For example, as shown in FIG.
In the case of the storage case 2 capable of storing a total of 20 container-like package bodies 1, five in the long side direction, as shown in FIG.
In the case of the multipack 3A in which the individual container-shaped packages 1 are put together, a total of 10 pieces can be stored in two rows in the vertical direction (vertical direction in the figure) and five rows in the horizontal direction (horizontal direction in the figure). In this case, since the multipacks 3A are all arranged in the same direction, there is no need to rearrange them.

However, as shown in FIG. 10, in the case of a multipack 3B in which three container-like packages 1 are arranged in one row,
Multipack 3 arranged so that the longitudinal direction is vertical
B are arranged in five rows in the horizontal direction, and one multipack 3B needs to be arranged so that the longitudinal direction is in the horizontal direction. Therefore, in this case, for example, among the multipacks 3B that are arranged so that the longitudinal direction faces the vertical direction before being stored in the storage case 2, for example, the leading multipack 3B is indicated by an arrow A.
It is necessary to rearrange the other multipacks 3B as shown by. In this case, a space corresponding to two container-like packages 1 is left in the upper right corner in the drawing of the storage case 2.

Further, as shown in FIG. 11, in the case of a multi-pack 3C in which six container-like packages are arranged in three rows in three rows, the multi-pack 3C is arranged so that its longitudinal direction is vertical. It is necessary to arrange two multipacks 3C in the horizontal direction, and arrange one multipack 3C so that the longitudinal direction faces the horizontal direction. Also in this case, as shown by the arrow A, it is necessary to rearrange one multipack 3C.

If the rearrangement of the multipacks is performed manually or by changing the direction on a conveyor, it is difficult to achieve full automation of the storing operation. On the other hand, Japanese Utility Model Laid-Open Publication No. 2-141303 discloses an automatic storage device provided with a turning mechanism for turning a suction head for sucking a multipack by 90 degrees, and a forward / backward moving mechanism for moving the turning mechanism forward and backward. It has been disclosed.

In this storage device, in order to prevent interference between a multipack to be rearranged and another multipack not to rearrange, first, a multipack that rearranges by turning a turning mechanism forward by a forward and backward moving mechanism. After releasing from the other multipacks, the turning mechanism is operated. Then, after the turning mechanism has turned to the predetermined position, the turning mechanism is moved backward by the front-rear moving mechanism to bring the rearranged multipack closer to another multipack. Also, when the turning mechanism is returned to the initial position after the rearrangement is completed, first, the turning mechanism is moved forward by the front-rear moving mechanism, separated from the multi-pack, then the turning mechanism is turned, and finally, the turning mechanism is turned by the front-rear moving mechanism. Retract the mechanism.

[0010]

SUMMARY OF THE INVENTION
The automatic storage device described in JP-A-141303 requires two mechanisms, a turning mechanism and a forward and backward moving mechanism.
The mechanism is complicated and large, requiring a large installation area.
In addition, in this automatic storage device, in order to rearrange the multipacks, it is necessary to perform two-stage operations of front-back movement and turning movement, so that one rearrangement operation takes a long time, and the efficiency of the storage operation is high. Is not good.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the conventional automatic storage apparatus, and has a simple and small automatic storage apparatus capable of quickly rearranging objects to be stored such as a multipack. It is an object to provide a device.

[0012]

According to the present invention, there is provided an automatic storage apparatus for storing a plurality of objects to be stored in an aligned state in a storage case, wherein the automatic storage apparatus comprises: A fixed-side grip that grips one or more objects to be stored stored in the storage case while maintaining the orientation at the time of standby;
Rearranging the objects held by the fixed-side gripper, moving the movable-side gripper holding one or more objects to be stored, and moving the movable-side gripper relative to the fixed-side gripper. A driving mechanism, and a guide mechanism for guiding the movable gripping part away from the fixed gripping part while moving the movable gripping part with respect to the fixed gripping part by the driving mechanism. And

In the automatic storage device of the present invention having the above-described structure, while the movable holding portion is being moved relative to the fixed holding portion by the driving mechanism, the movable holding portion guided by the guide mechanism is fixed. Since the movable part is moved away from the grip part without interfering with the fixed grip part in one operation, the transferred objects can be rearranged. Therefore, the time required for one sorting can be reduced, and the transported object can be efficiently stored in the storage case.

The automatic storage device according to the present invention can be rearranged by a simple mechanism including a drive mechanism and a guide mechanism, so that the device can be simplified and downsized. Required area can be reduced.

More specifically, the fixed-side grip section includes a first support plate, and a suction pad attached to a lower surface of the first support plate for sucking an object to be stored. ,
A second support plate, a suction pad attached to a lower surface of the second support plate for sucking an object to be stored, a pendulum arm having the second support plate attached to a lower end, and a pivotal upper end side of the pendulum arm A swing arm having an output shaft connected to a side of the swing arm opposite to the pendulum arm, and the guide mechanism includes a rotating arm having a fixed side gripping portion. The rotary arm comprises a curved guide rail fixed to the first support plate.
Moving the support plate relative to the first support plate of the fixed-side grip,
In addition, it is preferable that the pendulum arm guided by the curved guide is rotated while the turning arm is turned, and the second support plate is separated from the first support plate.

The article to be conveyed is, for example, a multi-pack formed by shrink-wrapping a plurality of container-like packages.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic storage device 9 according to the present invention shown in FIGS.
It is a device that automatically stores it in The multi-pack 10 in the present embodiment is a shrink wrapping in which two rows of three truncated cone-shaped plastic containers 12 filled with yogurt (which is a container-shaped wrapping body of the present invention) are arranged in three rows. This is a pack-like package that has been manufactured. As shown in FIG. 3, the storage case 11 can store a total of 20 plastic containers 12, four in the short side direction and five in the long side direction.

Before the multipack 10 is stored in the storage case 11, the multipack transport means 15 including a conveyor for transporting the multipack 10 in the direction indicated by the arrow X1 is provided.
(Illustrated in FIG. 1). Each of the multipacks 10 is arranged such that the longitudinal direction thereof is perpendicular to the transport direction indicated by the arrow X1 in FIG. On the other hand, as shown in FIG. 1, the storage case 11 before the multipack 10 is stored is arranged on the storage case transport means 16 such that the short side coincides with the transport direction of the multipack 10 indicated by the arrow X1. Have been.

In FIG. 1, reference numeral 20 denotes a pickup device which performs forward / backward movement indicated by arrows X1 and X2 and vertical movement indicated by arrows Y1 and Y2. At the lower end of the pickup device 20, a fixed-side grip 21 for gripping the multi-pack 10 that is not rearranged, and a multi-pack 10 for rearranging the multi-pack 10 gripped by the fixed-side grip 21 are provided. A movable side grip portion 22 for gripping is provided.

The fixed-side grip 21 has a first support plate 27 suspended and fixed to the pickup device 20 via a pedestal 24 and a support member 25. On the lower surface of the first support plate 27, a total of twelve suction pads 29 are provided at a constant pitch, four in the traveling direction of the pickup device 20 indicated by the arrows X1 and X2 and three in the direction orthogonal to the traveling direction. Is provided. The twelve suction pads 29 of the first support plate 27 are connected to suction means (not shown), and the lids 12a of the total of twelve plastic containers 12 of the two multipacks 10 that do not need to be rearranged are multiplied. It is sucked through the shrink film 31 of the pack 10.

A rotary actuator 33 including an electric motor (not shown) and constituting a drive mechanism of the present invention is attached to the lower surface of the pedestal 24. An output shaft 33a of the rotary actuator 33 has
2 are connected.

The movable-side grip 22 has a swing arm 35 extending in the horizontal direction. The base end of the swing arm 35 is fixed to the output shaft 33 a of the rotary actuator 33. On the other hand, the upper end of a pendulum arm 36 extending downward is connected to the tip end of the swing arm 35 via a hinge 37, and the pendulum arm 36 is indicated by an arrow B in FIG.
As indicated by reference numerals 1 and B2, it is rotatable about a hinge 37 as a fulcrum.

The lower end of the pendulum arm 36 has a second
The support plate 38 is fixed. The pickup device 2 indicated by the arrows X1 and X2 is provided on the lower surface of the second support plate 38.
0 in the direction of travel and 3 in the direction perpendicular to the direction of travel.
A total of six suction pads 29 are provided at an equal pitch. These twelve suction pads 29 are connected to suction means (not shown) similarly to the suction pads 29 of the fixed-side grip 21, and the six plastic containers 12 of one multipack 10 to be rearranged. Is sucked through the shrink film 31 of the multipack 10.

Further, the hinge 3 of the pendulum arm 36
A hook member 40 is fixed near 7.

A base end of an L-shaped first fixing member 41 is fixed to the upper surface of the first support plate 27 on the left side in FIGS. The distal end of the first fixing member 41 protrudes to the left outside of the first support plate 27 in FIG. A base end side of an L-shaped second fixing member 42 is fixed to the inner side of the first support plate 27 in FIG. 1 (the upper side in FIG. 2). The tip of the second fixing member 42 is
The first support plate 27 projects upward and outward in FIG.

On the outside of the first support plate 27, there is provided a curved guide rail 45 obtained by bending a round bar from the left to the upper side of the second support plate 27 in FIG. Both ends of the curved guide rail 45 are respectively connected to the first support plate 2.
7 are fixed to the distal ends of the first and second fixing members 41 and 42 protruding outside.

As shown in FIG. 4A, the curved guide rail 45 has linear portions 45b and 45 at both ends of the curved portion 45a.
c. Also, as shown in FIG. 4B, the straight portions 45b and 45c of the curved guide rail 45 are horizontal, but the curved portion 45a faces downward from the connection portion with the straight portions 45b and 45c toward the center. It is inclined.

In the automatic transfer apparatus of the present embodiment having the above-described configuration, only the swing arm 35 and the pendulum arm 36 are movable parts suspended from the pickup device 20, and one rotary actuator 33 is used as a drive mechanism. It just has. In this regard, the automatic transport apparatus according to the present embodiment can be downsized because the mechanism is simple, and the installation area can be reduced.

Next, the operation of the automatic storage device will be described. When the movable grip 22 is in the initial position as shown in FIGS. 1 and 2, the second support plate 38 is located on the left side of the first support plate 27 in the drawing. In this state, first, the pickup device 20 horizontally moves in the direction indicated by the arrow X <b> 2, and moves above the multipack 10 waiting on the multipack conveying means 15 in an aligned state. Next, the pickup device 20 descends as shown by the arrow Y2, and the twelve suction pads 29 of the first support plate 27 and the second support plate 38
The six suction pads 29 contact the lids 12 of the plastic containers 12 of the three multipacks 10. Further, the suction means (not shown) is operated to suck and hold the plastic container 12 of each multipack 10 by each suction pad 29.

Next, the pickup device 20 moves in the direction of arrow Y1.
Then, as shown by the arrow X1, it moves horizontally toward the storage case 11 waiting on the storage case transporting means 16 as shown by the arrow X1. As shown in FIG. 1, the pickup device 20 performs the rearrangement operation of the multipacks 10 at a position in the middle of the movement from the multipack conveying means 15 to the storage case conveying means 16.

As shown in FIG. 1, the second support member 38 is located on the left side of the first support member 27 in the initial position. In this state, the rotation actuator 33 operates and the output shaft 33
a rotates clockwise as shown by arrow C1 in FIG. Along with this, the turning arm 35 turns clockwise around the output shaft 33a as shown by the arrow C1.

The hook member 40 is in contact with the curved guide rail 45, and the pendulum arm 36 pivots outward as indicated by the arrow B1 at the same time as the pivot arm 35 starts pivoting. As a result, the multipack 10 gripped by the second support plate 38 is separated from the multipack gripped by the first support plate 27 and is inclined toward the first support plate 27.

FIGS. 5 and 6 show a state in which the pendulum arm 36 has reached the bending portion 45a by the start of turning.
The multipack 10 gripped by the movable gripper 22 in this manner is the multipack 1 gripped by the fixed gripper 21.
The turn proceeds without contacting zero.

The pivot arm 35 further pivots and moves from the initial position to the rearranged position rotated 90 degrees clockwise as shown in FIG. At this time, the pendulum arm 36 rotates in the direction shown by the arrow B2 and returns to the posture standing in the vertical direction. That is, in the automatic storage device of the present embodiment, the multi-pack 10 gripped by the movable grip 22 can be moved by rotating the rotary arm 35 once by the rotary actuator 33 with respect to the multi-pack 10 gripped by the fixed grip 21. Can be sorted.

After the rearrangement of the multipacks 10, the pickup device 20 moves again in the direction of arrow X1. The pickup device 20 that has reached above the storage case transport means 16 descends toward the storage case 11 as indicated by an arrow Y2. When the six multi-packs 10 held by the first and second support plates 27 and 28 reach the bottom 11a of the storage case 11, the suction unit (not shown) stops,
The suction pad 29 is separated from the lid 12a of the plastic container 12 of each multipack 10, and the storage of the multipack 10 is completed.

After the multipack 10 has been stored in the storage case 11, the pickup device 20 rises in the direction indicated by the arrow Y1, moves horizontally in the direction indicated by the arrow X2, and returns to the multipack transport means 15 side. Pickup device 2
Rotation actuator 33 operates before 0 reaches the upper part of multi-pack transport means 15, and output shaft 33a is driven by arrow C.
Rotate in two directions to return the movable grip 22 to the initial position.
At this time, as in the case of rearranging the multipack 10,
In the curved portion 45a of the curved guide rail 45, the hook member 40 fixed to the pendulum arm 36 is connected to the curved guide rail 4
5, the pendulum arm 36 pivots outward as indicated by arrow B1, and the second support plate 38 separates from the first support plate 27. Hereinafter, the same operation is repeated, and the multi-packs 10 on the multi-pack transport means are stored in the storage case 11 by six pieces.
Will be stored.

Note that the present invention is not limited to the above-described embodiment, and various modifications are possible. First, the items to be stored in the storage case by the automatic storage device of the present invention are not limited to pack-like packages such as multi-packs,
Filled with beverages, etc., two or more bottles (one package)
One or two or more rows may be bundled in an aligned state. In the above-described embodiment, two multipacks are gripped by the fixed gripper and one multipack is gripped by the movable gripper. However, the fixed gripper and the movable gripper grip the multipack. The number of items to be stored is not limited to this,
What is necessary is just to be the structure which grips one or two or more conveyed objects.
Further, the shape of the container is not limited to a circle, but may be a cube, a rectangular parallelepiped, a cylinder, or the like. Furthermore, what is filled in the filling container may be powdery foods and the like in addition to liquid and gel foods such as pudding, yogurt and ice cream. Furthermore, in the above embodiment, the case where 4 × 5 can be stored in the storage case has been described.
The present invention is not limited to this, and 5 × 5, 4 × 6, 6
It is possible to cope with various deformations of the storage case such as a piece × 6, a piece × 6, and the like.

[0038]

As is apparent from the above description, in the automatic storage device of the present invention, the transported object to be rearranged is gripped by the fixed gripping portion for gripping the transported object not to be rearranged. A guide mechanism is provided to guide the movable gripper away from the fixed gripper while moving the movable gripper to be moved by the drive mechanism. The transported objects can be rearranged by being moved without interfering with the grip portion. Therefore, 1
Sorting can be performed quickly by shortening the time required for sorting each time, and conveyed objects can be efficiently stored in the storage case.

The automatic storage device of the present invention can be rearranged by a simple mechanism including a drive mechanism and a guide mechanism, so that the device can be simplified and downsized. Required area can be reduced.

[Brief description of the drawings]

FIG. 1 is a side view showing an automatic storage device according to an embodiment of the present invention.

FIG. 2 is a plan view showing the automatic storage device according to the embodiment of the present invention.

FIG. 3 is a plan view showing a storage case.

4A is a plan view showing a curved guide, and FIG. 4B is a view as viewed from an arrow IV in FIG.

FIG. 5 is a plan view of the automatic storage device for explaining the sorting operation.

FIG. 6 is a side view of the automatic storage device for explaining the sorting operation.

FIG. 7 is a plan view of the automatic storage device for explaining the sorting operation.

FIG. 8 is a plan view showing an example of a storage case.

FIG. 9 is a schematic diagram for explaining an operation of storing a multipack in which two container-shaped packages are put together in a storage case.

FIG. 10 is a schematic diagram for explaining an operation of storing a multipack in which three container-like packages are put together in a storage case.

FIG. 11 is a schematic diagram for explaining an operation of storing a multipack in which six container-shaped packages are put together in a storage case.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Multipack (transported object) 11 Storage case 12 Plastic container 21 Fixed side holding part 22 Movable side holding part 27 First support plate 29 Suction pad 33 Rotary actuator (drive mechanism) 35 Swivel arm 36 Pendulum arm 38 Second support plate 45 Curved guide rail (guide mechanism)

Claims (3)

[Claims] 1. A plurality of stored objects waiting in an aligned state,
An automatic storage device for storing a plurality of objects to be stored in a storage case in a plurality of storage cases, wherein the fixed side gripping portion grips one or more objects to be stored in the storage case in the standby orientation. A movable gripper that grips one or more stored objects that rearranges the objects held by the side gripper, and a drive mechanism that moves the movable gripper relative to the fixed gripper And a guide mechanism that guides the movable gripping part away from the fixed gripping part while moving the movable gripping part with respect to the fixed gripping part by the driving mechanism. Automatic storage device. 2. The fixed-side grip section includes a first support plate, and a suction pad attached to a lower surface of the first support plate for sucking an object to be stored. A support plate, and a suction pad attached to a lower surface of the second support plate for suctioning an object to be stored.
A pendulum arm having a second support plate attached to a lower end thereof; and a turning arm rotatably supporting an upper end side of the pendulum arm. The drive mechanism is provided on a side of the turning arm opposite to the pendulum arm. The guide mechanism comprises a curved guide rail fixed to the first support plate of the fixed-side grip, and the movable arm is turned by the rotary actuator. The second support plate is moved with respect to the first support plate of the fixed side gripper, and the pendulum arm guided by the curved guide is rotated during rotation of the swing arm, and the second support plate is moved to the first support plate. The automatic storage device according to claim 1, wherein the automatic storage device is separated from the support plate. 3. The automatic storage device according to claim 1, wherein the transported object is a multi-pack formed by shrink-packaging a plurality of container-shaped packages.