Handling system and longitudinal rotation device

Abstract

The present invention not only enables automatic placement of an article in a carrying-in position of a carrying processing system, but also enables placement of the article in a different posture from a posture when the article is processed. The carrying processing system of the present invention has a first carrying device, a second carrying device, and a processing device. The first carrying device has a carrying mechanism that carries an article and a posture control mechanism that can control a posture of the article. The first carrying device changes the posture of the article using the posture control mechanism and carries the article from a first position to a second position. The second carrying device performs at least one of a carrying-in operation that carries the article in a first posture to the first position of the first carrying device and a carrying-out operation that carries the article in a second posture from the second position of the first carrying device. The processing device performs processing on the article that becomes a third posture in the first carrying device. The posture control mechanism changes the posture of the article from the first posture to the third posture when the carrying-in operation is performed by the second carrying device, and changes the article in the third posture to the second posture when the carrying-out operation is performed.

Description

Technical Field

[0001] This invention relates to a material handling system. Furthermore, this invention relates to a longitudinal rotating device capable of being incorporated into the material handling system. Background Technology

[0002] In the past, an unlocking system was proposed that "comprises: a camera; a first arm on which one or more keys are mounted; and a control device that determines the position of the keyhole based on an image from the camera, and unlocks the device by controlling the first arm to insert and rotate the key into the keyhole" (see, for example, Japanese Patent Application Publication No. 2020-073297). In this unlocking system, the banknote storage container is transported to the front of the robotic arm with the key by a transporter. At this time, the possible postures are either with the keyhole facing the camera or with the opposite side facing the camera. These postures of the banknote storage container are manually determined when the banknote storage container is placed on the transporter.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-073297 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the aforementioned banknote storage containers are quite heavy when filled with banknotes, exceeding 3 kg. Even if a transporter is nearby, manually moving such a heavy object to the transporter is laborious. Furthermore, for example, when retrieving banknote storage containers from the device to a mobile shelf, sometimes placing the containers in a different orientation than during the unlocking process of the unlocking device is more efficient.

[0008] The objective of this invention is to enable not only the automatic placement of articles (e.g., banknote containers) into the loading position of a transport processing system having a processing device (e.g., an unlocking device) for processing the articles and a transport device for transporting the articles to the processing position of the processing device, but also the ability to place the articles in a posture different from that used when processing them.

[0009] Another objective of the present invention is to enable the removal of an article in a posture different from that used during processing after the article has been processed by the processing device.

[0010] Technical solutions to the problem

[0011] The first aspect of the present invention provides a handling system comprising a first handling device, a second handling device, and a handling device. The first handling device includes a handling mechanism and a posture control mechanism. The handling mechanism handles an article. The posture control mechanism controls the posture of the article. Furthermore, the first handling device uses the posture control mechanism to change the posture of the article and move the article from a first position to a second position. The second handling device performs at least one of an infeeding action and a removal action. The infeeding action is the action of moving the article into the first position of the first handling device in a first posture. The removal action is the action of removing the article from the second position of the first handling device in a second posture. The handling device processes an article that has become a third posture in the first handling device. When the infeeding action is performed by the second handling device, the posture control mechanism performs first posture control. In the first posture control, the posture of the article changes from the first posture to the third posture. Conversely, when the removal action is performed by the second handling device, the posture control mechanism performs second posture control. In the second posture control, the article in the third posture is changed to the second posture.

[0012] In this transport and processing system, if the second transport device performs a loading action, the item can be automatically placed in the first position of the first transport device. Furthermore, in this transport and processing system, the second transport device can load the item into the first position of the first transport device in a first posture, and the posture control mechanism of the first transport device can change the item from the first posture to a third posture. That is, in this transport and processing system, the item can be placed in a posture different from the posture used during processing when it is loaded.

[0013] Furthermore, in this handling system, if the second handling device performs a removal action, the item can be removed from the second position of the first handling device in a second posture. Therefore, in this handling system, after the handling device has processed the item, it is possible to remove the item in a posture different from that during processing.

[0014] The second aspect of the present invention provides a handling system that, in the first aspect of the handling system, includes a second handling device comprising a robotic hand and a hand-moving mechanism. The hand-moving mechanism enables the robotic hand to move. Furthermore, the hand-moving mechanism is fixed. And, the first position and the second position are within the range where the robotic hand can grasp the item.

[0015] Therefore, in this handling system, a second handling device can be used to move items into and out of the first handling device.

[0016] The third aspect of the present invention provides a handling system that, in the handling system of the first aspect, includes a second handling device comprising a robotic hand and a hand-moving mechanism. The hand-moving mechanism enables the robotic hand to move. Additionally, the handling system further comprises a mechanism-moving device. The mechanism-moving device enables the hand-moving mechanism to move between a position where the robotic hand can grasp an item in a first position and a position where the robotic hand can grasp an item in a second position.

[0017] Therefore, in this handling system, the first and second positions of the first handling device can be freely set, and a second handling device can be used to move items into and out of the first handling device.

[0018] The fourth aspect of the present invention provides a handling system in which the article is a box in any of the first to third aspects of the handling system. The box is placed on a shelf before being moved into the first handling device. During the moving-in operation, the box placed on the shelf is moved to a first position of the first handling device in a first posture. During the moving-out operation, the box is moved from a second position of the first handling device to the shelf in a second posture.

[0019] Therefore, in this handling system, if the second handling device performs an infeeding action, the box can be automatically moved from the shelf to the first position of the first handling device in a first posture. If the second handling device performs an outfeeding action, the box can be automatically moved from the second position of the first handling device to the shelf in a second posture.

[0020] The fifth aspect of the present invention provides a handling system that, in the handling system of the fourth aspect, includes a shelf having a shelf and a guide wall. The guide wall extends vertically from the surface of the shelf. Furthermore, the shelf can extend upwards or downwards. Additionally, a robotic hand has a gripping part. The gripping part moves linearly. The guide wall guides the linearly moving gripping part.

[0021] Therefore, in this handling system, by placing the box along the guide wall when placing it on the shelf, the gripping part can easily grip the box when moving it from the shelf to the first position of the first handling device. Furthermore, in this handling system, the gripping part can easily place the box on the shelf when moving it from the second position of the first handling device to the shelf.

[0022] The sixth aspect of the present invention provides a handling system, in addition to the handling systems of the fourth or fifth aspects, in which a lock is provided on the front of the housing and a handle is installed on the top wall of the housing. A first handling device includes a first handling mechanism, a first posture control mechanism, a second handling mechanism, a second posture control mechanism, a third handling mechanism, a third posture control mechanism, and a fourth handling mechanism. The first handling mechanism includes a first position. The first posture control mechanism is located downstream of the first handling mechanism in the handling direction. The second handling mechanism is located downstream of the first posture control mechanism in the handling direction. The third handling mechanism is located downstream of the second posture control mechanism in the handling direction. The fourth handling mechanism is located downstream of the third posture control mechanism in the handling direction. Furthermore, the fourth handling mechanism includes a second position. In the first position, the housing is positioned with its top or bottom wall facing the handling direction of the first handling device. In the second position, the housing is positioned with its top or bottom wall facing the handling direction of the first handling device. The first posture control mechanism changes the housing to a position where the handle is located on the upper side. The second posture control mechanism allows the container to rotate along the horizontal plane, changing its orientation to face a specific direction. The third posture control mechanism changes the container's orientation so that its top or bottom wall faces the transport direction of the first transport device. Additionally, the processing device unlocks the lock on the container facing the specific direction.

[0023] As described above, in this handling system, the container is placed in a first position on the first handling device with its top or bottom wall facing the handling direction. Next, the container is positioned with the handle on the upper side via a first posture control mechanism. Then, if the container's front is facing a specific direction, it is handled in this posture, and the lock is unlocked by the handling device. Conversely, if the container's front is not facing a specific direction, the posture is changed to face the specific direction via a second posture control mechanism, and the lock is unlocked by the handling device. Afterward, the posture is changed again via a third posture control mechanism, with the top or bottom wall facing the handling direction of the first handling device. In other words, when using this handling system, when a person moves the container to a shelf, it can be placed with its top or bottom wall facing outwards. That is, the operator can insert the container into the shelf from both sides while holding the handle and place it on the shelf. Therefore, it is easy for the container recycling operator to place the container on the shelf. On the other hand, when returning the container from the second position to the shelf, the robotic arm can place the container on the shelf with its top or bottom wall facing outwards. That is, the operator can easily grasp the container's handle when reaching in from the side of the shelf. Therefore, when returning the container to its original location, the operator can easily return it to its original position.

[0024] In the seventh aspect of the present invention, the handling system of the sixth aspect comprises a first posture control mechanism and a third posture control mechanism, which are longitudinal rotation mechanisms. The longitudinal rotation mechanism holds the box and rotates it longitudinally.

[0025] This handling system can efficiently change the orientation of the container.

[0026] The longitudinal rotation device of the eighth aspect of the present invention includes a mounting platform, a gripping part, a longitudinal rotation part, a vertical drive part, and a control part. An article is mounted on the mounting platform. The gripping part is capable of gripping the article. The longitudinal rotation part rotates the gripping part longitudinally. The vertical drive part moves at least one of the mounting platform and the gripping part to separate the mounting platform and the gripping part in the vertical direction. Furthermore, after the control part grips the article placed on the mounting platform, the vertical drive part separates the mounting platform and the gripping part in the vertical direction, and then the longitudinal rotation part rotates the gripping part longitudinally to reposition the article on the mounting platform. The rotation angle is preferably 90°.

[0027] Therefore, this longitudinal rotation device can efficiently change the posture of an object.

[0028] The ninth aspect of the longitudinal rotating device of the present invention, in the eighth aspect of the longitudinal rotating device, includes a lifting section provided on the mounting platform. The lifting section lifts the article upwards. Furthermore, after the article placed on the mounting platform is lifted by the lifting section, the control unit causes the gripping section to grip the article.

[0029] This longitudinal rotation device can, for example, not only hold items that do not require lifting with the lifting part, but also hold items that are shorter than the original item and rotate them longitudinally. Therefore, it can handle items of different heights. Attached Figure Description

[0030] Figure 1 This is a schematic diagram illustrating the overall structure of the handling system according to an embodiment of the present invention.

[0031] Figure 2 This is a schematic block diagram illustrating the control system of a material handling system according to an embodiment of the present invention.

[0032] Figure 3 This is a perspective view of a banknote storage container, an example of the object to be handled and unlocked by the handling system according to an embodiment of the present invention, viewed from the upper right side of the front view.

[0033] Figure 4 This is a perspective view of a banknote storage container, an example of the object to be handled and unlocked by the handling system according to an embodiment of the present invention, viewed from the lower left side of the reverse side.

[0034] Figure 5 This is a perspective view of a banknote storage container, viewed from the upper right side of the front side, showing another example of the object to be handled and unlocked by the handling system according to an embodiment of the present invention.

[0035] Figure 6 This is a perspective view of a banknote storage container, viewed from the lower left side of the reverse side, showing another example of the object to be handled and unlocked by the handling system according to an embodiment of the present invention.

[0036] Figure 7 This is a perspective view of the first transporter and the transporter-side posture changing device of the transport processing system constituting an embodiment of the present invention, viewed from the upper right side of the transporter-side posture changing device side.

[0037] Figure 8 This is a rear view of the loading-side posture changing device of the handling system constituting an embodiment of the present invention.

[0038] Figure 9 This is a perspective view of the item support device of the handling system for changing the posture of the receiving side, which constitutes an embodiment of the present invention.

[0039] Figure 10 This is a perspective view of the article-holding rotation device of the handling system that constitutes an embodiment of the present invention, which is a handling side posture change device for the handling system.

[0040] Figure 11 This is a rear view of the loading-side posture changing device of the handling system constituting an embodiment of the present invention, showing the state in which the slider of the article holding rotating device moves forward and the holding part holds the banknote storage container.

[0041] Figure 12 This is a perspective view of the transport side posture changing device and the second transporter of the transport processing system constituting an embodiment of the present invention, viewed from the upper right side of the second transporter.

[0042] Figure 13 This is a perspective view of the item support device of the handling system for changing the posture of the moving side, which constitutes an embodiment of the present invention.

[0043] Figure 14 This is a plan view of a robotic arm with a robotic hand according to an embodiment of the present invention.

[0044] Figure 15 This is a perspective view of the robot hand of an embodiment of the present invention, viewed from the upper left side of the frontal view.

[0045] Figure 16 This is a perspective view of the robot hand of an embodiment of the present invention, viewed from the upper right side of the rear side.

[0046] Figure 17 This is a perspective view of the robot hand of an embodiment of the present invention, viewed from the lower right side of the front view.

[0047] Figure 18 This is a left view of the robot hand according to an embodiment of the present invention.

[0048] Figure 19 This is a front view of the robot hand according to an embodiment of the present invention.

[0049] Figure 20 yes Figure 19 A sectional view along line II.

[0050] Figure 21 yes Figure 19 A sectional view along line II-II.

[0051] Figure 22 This is a left view of the extended state of the multi-joint telescopic linkage mechanism in the robot hand according to an embodiment of the present invention.

[0052] Figure 23This is a left view of the fully extended multi-joint telescopic linkage mechanism in the hand of the robot according to an embodiment of the present invention.

[0053] Figure 24 This is a perspective view of a detachable spring unit according to an embodiment of the present invention.

[0054] Figure 25 This is a front view of a movable frame for holding banknote containers, which is the object to be moved by a robotic arm with a robotic hand, as an embodiment of the present invention.

[0055] Figure 26 This is a side view of a movable rack on which an object to be moved, which is a robotic arm with a robotic hand as an embodiment of the present invention, is placed. Detailed Implementation

[0056] <Structure of the transport processing system according to an embodiment of the present invention>

[0057] like Figure 1 As shown, the handling system 100 of this embodiment mainly consists of a handling system 200, an unlocking system 300, a second robotic arm 400 with a robotic hand, and a control device 700 (see reference). Figure 2 ) constitutes. Furthermore, here, as Figure 2 As shown, the transporter system 200, the unlocking system 300, and the second robotic arm 400 with a robotic hand are communicatively connected to the control device 700. Furthermore, in Figure 2 In the figure, reference numeral 350 shows a robotic arm with a first robotic hand for retrieving banknotes, which will be described later.

[0058] Additionally, in this handling system 100, banknote storage containers BL and BS (refer to...) Figures 3 to 6 The robotic arm 400 with a second robotic hand moves from the mobile frame 800 (see reference). Figure 1 , Figure 25 as well as Figure 26 ) is moved into the transporter system 200 (refer to Figure 1 Then, after unlocking the banknote storage containers BL and BS via the unlocking system 300 and removing banknotes from them, the empty banknote storage containers BL and BS are transported from the transporter system 200 to the moving rack 800 via the robotic arm 400 with a second robotic hand. Below, after explaining the structure of the processed objects, namely the banknote storage containers BL and BS, the structural components of the transport processing system 100 will be described in detail.

[0059] There are two types of banknote storage containers that are the objects of handling and unlocking processes in the handling system 100 of the present invention. One of them is... Figure 3 and Figure 4The banknote storage container is indicated by the reference numeral BL in the attached diagram, while the other side is... Figure 5 and Figure 6 The banknote storage container is designated BS in the attached diagram. Furthermore, these banknote storage containers BL and BS are essentially the same in structure, with major differences only in size, lock location, and protrusion PT (see reference). Figure 5 and Figure 6 The presence or absence of a banknote storage container (BL) will be discussed here. Regarding the banknote storage container (BS), [further details will be provided]. Figure 5 and Figure 6 The "S" in the attached diagram should be replaced with "L" for illustrative purposes. Furthermore, the width and depth dimensions of the banknote storage container BL are approximately the same as those of the banknote storage container BS, but its height is greater than that of the banknote storage container BS. Additionally, the banknote storage container BS has a protrusion PT on its side, but the banknote storage container BL does not have a protrusion.

[0060] like Figure 3 and Figure 4 As shown, the banknote storage container BL mainly consists of a frame CL, a front door DL, a handle HL, and a lock KL. Figure 3 and Figure 4 As shown, the frame CL is mainly formed by the top wall UL, bottom wall OL, right side wall RL, left side wall LL, and back wall AL. The front door DL ​​is mounted to the front end of the top wall UL of the frame CL in a manner that allows it to rotate freely in the vertical direction. Figure 3 As shown, the handle HL is installed on the top wall UL, extending from the center of its width along the front-rear direction. The lock KL is a typical rotary lock, located at the lower right corner of the front door DL ​​(in the banknote storage container BS, the lock KS is located at the lower left corner of the front door DS). Turning the key while the key is inserted in the lock KL opens or closes the lock. Furthermore, in embodiments of the present invention, an IC tag storing information related to the banknote storage container BL is embedded on the back side of the lock KL of the banknote storage container BL or the front door DL. For example, this IC tag stores various information related to the banknote storage container BL, such as the type of banknote storage container BL, identification information of the installed device, etc.

[0061] 1. Transporter System

[0062] like Figure 1 As shown, the transporter system 200, viewed from above, is roughly shaped like the Chinese character "コ" and mainly consists of a first transporter 210, a transporter-side posture changing device 220, a second transporter 230, a rotary table (turntable) 240, a first transporter 250, a transporter-side posture changing device 260, and a second transporter 270. These structural components will be described in detail below.

[0063] (1) First loading device

[0064] The first loading unit 210 is an existing automated transporter, such as... Figure 1 and Figure 7 As shown, it extends linearly from the mounting side of the second robotic arm 400 with the robotic hand to the mounting side of the loading-side posture changing device 220. Furthermore, as... Figure 1 and Figure 7 As shown, the portion of the second robotic arm with a robotic hand of the first loading device 210 is designated as the loading position EN for the banknote storage containers BL and BS. Figure 1 As shown, the loading position EN is within the grasping range of the second robotic arm 400 with a robotic hand. Additionally, as... Figure 2 As shown, the first loading device 210 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source for the first loading device 210.

[0065] (2) Handling side posture change device

[0066] like Figure 7 and Figure 8 As shown, the loading-side posture changing device 220 mainly consists of an item support device 221, an item gripping and rotating device 222, and an item pushing device 223. Furthermore, as... Figure 7 and Figure 8 As shown, the article-holding rotating device 222 is positioned above the article-pushing device 223. Both the article-holding rotating device 222 and the article-pushing device 223 are located adjacent to and opposite the article-supporting device 221. Following a detailed description of these structural components, their operation will be described in detail below.

[0067] (2-1) Item support device

[0068] The item support device 221 has the function of receiving and supporting the banknote storage containers BL and BS transported from the first loading device 210, and also has the function of realizing the longitudinal rotation action of the item holding rotation device 222 when the banknote storage containers BL and BS are rotated longitudinally by 90° by the item holding rotation device 222. Figure 9 As shown, the item support device 221 mainly consists of a base portion TB, a column portion TP, a front column plate portion Pf, a rear column plate portion Pr, a cross passage portion Ac, a guide side wall Wg, an L-shaped wall Ws, a lifting platform 221B, lifting feet 221C, a transfer roller unit 221D, and a cylinder unit 221E. These components will be described in detail below.

[0069] like Figure 9 As shown, the base portion TB is a roughly rectangular thick plate component, such as... Figure 7As shown, it serves to fix the column TP to the base BA.

[0070] like Figure 9 As shown, the column TP is a roughly rectangular thick plate member that extends upwards from the base TB. Figure 9 As shown, the column TP supports the cylinder unit 221E.

[0071] like Figure 7 and Figure 9 As shown, the front column plate Pf and the rear column plate Pr are roughly rectangular plate members, arranged along the front-to-back direction to sandwich the column TP, and fixed to the base BA. Additionally, as... Figure 9 As shown, the front pillar plate Pf and the rear pillar plate Pr are respectively fastened to the cross passage section Ac.

[0072] The cross passage section Ac is located on the left side of the lifting platform 221B (second loading device side) when viewed from above (see reference). Figure 7 ),like Figure 9 As shown, it is supported by the front column plate portion Pf and the rear column plate portion Pr.

[0073] The guide side wall Wg is a flat wall used to guide the banknote storage containers BL and BS, which are transported by the first loading device 210, towards the lifting platform 221B. It is located on the right side of the front of the lifting platform 221B. The L-shaped wall Ws is an L-shaped wall when viewed from above, formed by the guide side wall portion Lg and the abutment wall portion Ls. The guide side wall portion Lg is a flat wall portion used to guide the banknote storage containers BL and BS, which are transported by the first loading device 210, towards the lifting platform 221B. It is located on the right side of the rear of the lifting platform 221B. The abutment wall portion Ls is a so-called restraint, located on the rear side of the lifting platform 221B. This abutment wall portion Ls serves to stop the banknote storage containers BL and BS, which are transported by the first loading device 210, from moving inward.

[0074] The lifting platform 221B is formed by a front platform section Yf, a central platform section Yc, a rear platform section Yr, and a platform connecting section (not shown). Furthermore, the front platform section Yf, the central platform section Yc, and the rear platform section Yr are connected at their left and right ends by the platform connecting section. Additionally, as... Figure 9 As shown, in the lifting platform 221B, slits are formed between the front platform section Yf and the central platform section Yc, and between the central platform section Yc and the rear platform section Yr. Furthermore, as described later, the front foot Bf and the rear foot Br of the lifting feet 221C are freely inserted into these two slits. The front platform section Yf is a generally rectangular thick plate portion. A roller RR is rotatably mounted on each of the left and right sides of the front platform section Yf. These rollers RR are also rotatably mounted along the loading direction Dn of the banknote storage containers BL and BS. The central platform section Yc is a thick plate portion that appears generally U-shaped when viewed from above, as shown... Figure 9 As shown, a notch Rc is formed on its right side. Furthermore, this notch Rc is formed so that when the gripping part 222A of the article-holding rotating device 222 is in a longitudinal position and its claw CR slides downwards, its claw CR will not collide with the lifting platform 221B. Additionally, as... Figure 9 As shown, a roller RR is rotatably mounted at the front and rear of the notch Rc in the central platform Yc, and three roller RRs are rotatably mounted on the opposite side (left side) of the notch Rc. Furthermore, these roller RRs are rotatably mounted along the feeding direction Dn of the banknote storage containers BL and BS. The rear platform Yr is a generally rectangular thick plate section. A roller RR is rotatably mounted at the left and right sides of the rear platform Yr. Furthermore, these roller RRs are rotatably mounted along the feeding direction Dn of the banknote storage containers BL and BS. And, as... Figure 7 As shown, in the lifting platform 221B, the notch Rc is positioned facing the item-holding rotating device 222. The lifting platform 221B is mounted on the first cylinder of the cylinder unit 221E, and can be raised and lowered by the first cylinder. Furthermore, the highest position of the lifting platform 221B is... Figure 9 The positions shown are such that the lowest position is the position where the banknote storage containers BL and BS will not collide with the lifting platform 221B when they are rotated by the article holding rotating device 222.

[0075] The lifting foot 221C not only lifts the banknote storage container BS so that it is held by the holding part 222A of the article holding and rotating device 222 in its center in the depth direction, but also smoothly delivers the banknote storage containers BL and BS, after their posture has been changed by the article holding and rotating device 222, to the guide rail of the delivery roller unit 221D. Figure 9 As shown, it is mainly formed by the front foot Bf, the rear foot Br, and the foot connection part (not shown). Figure 9 As shown, the front foot Bf is positioned within the slit on the front side of the lifting platform 221B. (As indicated...) Figure 9 As shown, the rear foot Br is located in a slit on the rear side of the lifting platform 221B. The foot connection is a beam extending in the front-rear direction, allowing the front foot Bf and the rear foot Br to connect on their back sides. Furthermore, this foot connection is designed not to overlap with the platform connection of the lifting platform 221B. The lifting foot 221C is mounted on the second cylinder of the cylinder unit 221E, enabling it to rise and fall. The highest position of the lifting foot 221C is at the height of the center portion of the banknote storage container BS in the depth direction, which the gripping part 222A of the article-holding rotation device 222 can hold, and is slightly higher than the transfer roller unit 221D; the lowest position is lower than the top surface of the lifting platform 221B.

[0076] The transfer roller unit 221D is a unit used to easily transport the banknote storage containers BL and BS, whose posture has been changed by the article-holding rotation device 222, to the second transferr 230, such as... Figure 9 As shown, it is located on both sides of the cross passage section Ac.

[0077] like Figure 9 As shown, cylinder unit 221E is mounted on column TP. This cylinder unit 221E consists of a first cylinder and a second cylinder. As described above, the first cylinder raises and lowers the lifting platform 221B, and the second cylinder raises and lowers the lifting foot 221C. Furthermore, the first and second cylinders of cylinder unit 221E are actuated by airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), respectively. The solenoid valve (not shown) and the speed regulating valve (not shown) are controlled by a control device 700 for opening and closing. The solenoid valve and the speed regulating valve are connected to the compressor.

[0078] (2-2) Object holding and rotating device

[0079] The item holding and rotating device 222 is a so-called rotating chuck device, such as Figure 10 As shown, it mainly consists of a gripping part 222A, a rotating shaft part 222B, a slider 222C, a first cylinder 222D, a second cylinder 222E, and a base 222F. These components will be described in detail below.

[0080] like Figure 10 As shown, the gripping part 222A mainly consists of a pair of claw parts CR, a sliding guide rail part SR, and a third cylinder. Figure 10 As shown, a pair of claws CR are freely mounted on the left and right sides of the sliding guide section SR. These claws CR extend or retract along the sliding guide section SR via a third cylinder unit. Furthermore, this third cylinder unit is mounted on the sliding guide section SR and is actuated by airflow and pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled by a control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0081] The rotating shaft 222B is mounted on the back side of the third cylinder unit of the gripping part 222A, and rotates 90° clockwise or 90° counterclockwise by the first cylinder 222D. That is, when the rotating shaft 222B rotates by the first cylinder 222D, the gripping part 222A also rotates.

[0082] The slider 222C is mounted on the back side of the first cylinder 222D, and through the second cylinder unit 222E, the gripping part 222A, the first cylinder 222D, and the rotating shaft part 222B can slide in the left-right direction (towards the article support device 221). Furthermore, the foremost position of the slider 222C is such that the gripping part 222A can grip the banknote storage containers BL and BS, and the final position is such that the banknote storage containers BL and BS conveyed to the article support device 221 do not collide with the gripping part 222A.

[0083] The first cylinder, 222D, is a rotary cylinder, such as... Figure 10 As shown, it is fixed to slider 222C. As described above, the first cylinder 222D rotates the handle 222A 90° clockwise or 90° counterclockwise. Furthermore, the first cylinder 222D is actuated by airflow and pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled by a control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0084] like Figure 10 As shown, the second cylinder unit 222E is fixed to the upper side of the base 222F. As described above, the second cylinder unit 222E causes the slider 222C to slide in the left-right direction. Furthermore, the second cylinder unit 222E is actuated by the airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled by a control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0085] (2-3) Item ejection device

[0086] like Figure 8 As shown, the article ejection device 223 mainly consists of a piston rod Rd, an abutment plate HP, and a cylinder 223A. These components will be described in detail below.

[0087] The piston rod Rd extends and retracts freely via the cylinder 223A. Furthermore, an abutment plate HP is mounted at the top of the piston rod Rd. This abutment plate HP waits in a position further rearward than the gripping portion 222A of the article-holding rotating device 222 when in standby mode (see reference). Figure 8 During operation, i.e., when protruding, it moves to a position further forward than the gripping part 222A of the article gripping rotation device 222. In addition, the moving distance of the abutment plate HP is set to the distance required to transport the banknote storage containers BL and BS to the second infeeder 230 via the transfer roller unit 221D.

[0088] Cylinder 223A is located behind the abutment plate HP. As described above, cylinder 223A extends and retracts the piston rod Rd. Furthermore, cylinder 223A is actuated by airflow and pressure generated using a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled by a control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0089] (2-4) Operation instructions for the loading-side posture change device

[0090] The following describes in detail the control method by which the banknote storage containers BL and BS are changed by the loading-side posture changing device 220, specifically the control method for the longitudinal rotation of the banknote storage containers BL and BS. Furthermore, in the loading-side posture changing device 220, the banknote storage containers BL and BS are identified by reading data embedded in the RFID tags of the banknote storage containers BL and BS. Additionally, whether the top walls UL and US of the banknote storage containers BL and BS are facing forward or the bottom walls OL and OS are facing forward is determined based on image data acquired by a camera (not shown) positioned above the item support device 221.

[0091] (2-4-1) Control method for the longitudinal rotation of banknote storage container BL

[0092] The loading side posture changing device 220 was initially as follows Figure 8 and Figure 9 The state shown is as follows. In this state, when the banknote storage container BL is brought over and is placed on the lifting platform 221B of the item support device 221, its state is detected by an infrared sensor (not shown) located near the L-shaped wall Ws of the item support device 221, and the detection signal is sent to the control device 700. If the control device 700 receives the detection signal, it raises the lifting platform 221B of the item support device 221 to its highest position. Next, after the control device 700 moves the slider 222C of the item holding rotating device 222 forward (see reference...), Figure 11The control device 700 lowers the lifting platform 221B of the item support device 221 to its lowest position. Then, the control device 700 rotates the gripping part 222A of the item gripping rotating device 222 by means of the first cylinder 222D of the item gripping rotating device 222 clockwise or counterclockwise by 90°. Furthermore, when the bottom wall OL of the banknote storage container BL is facing forward (i.e., the loading direction Dn), the first cylinder 222D rotates the gripping part 222A counterclockwise (towards the top wall UL), and when the top wall UL of the banknote storage container BL is facing forward, the first cylinder 222D rotates the gripping part 222A clockwise (towards the top wall UL). Next, while raising the lifting platform 221B of the article support device 221 to its highest position, the control device 700 also raises the lifting foot 221C to its highest position. At this time, the lifting foot 221C abuts against the bottom wall OL of the banknote storage container BL, thus supporting the banknote storage container BL. Next, after the handle 222A releases the banknote storage container BL, the control device 700 retracts the slider 222C of the article handling rotation device 222. Then, the control device 700 pushes the banknote storage container BL out of the lifting platform 221B via the cylinder 223A of the article ejection device 223, and moves it to the second loading device 230 via the delivery roller unit 221D.

[0093] (2-4-2) Control method for longitudinal rotation of banknote storage container BS

[0094] Until the control device 700 receives a detection signal from the infrared sensor, as described in section (2-4-1), its description is omitted. If the control device 700 receives a detection signal from the infrared sensor, it raises the lifting platform 221B and lifting foot 221C of the item support device 221 to their respective highest positions. Next, after advancing the slider 222C of the item holding rotating device 222, the control device 700 causes the holding part 222A of the item holding rotating device 222 to hold the banknote storage container BS. Next, the control device 700 lowers the lifting platform 221B and lifting foot 221C of the item support device 221 to their lowest positions. Then, the control device 700 rotates the holding part 222A of the item holding rotating device 222 by 90° clockwise or 90° counterclockwise using the first cylinder 222D of the item holding rotating device 222. Furthermore, when the bottom wall OS of the banknote storage container BS is facing forward (i.e., in the loading direction Dn), the first cylinder 222D rotates the handle 222A counterclockwise (towards the top wall US), and when the top wall US of the banknote storage container BS is facing forward, the first cylinder 222D rotates the handle 222A clockwise (towards the top wall US). Next, the control device 700 raises the lifting platform 221B of the item support device 221 to its highest position, and simultaneously raises the lifting foot 221C to its highest position. At this time, the lifting foot 221C abuts against the bottom wall OS of the banknote storage container BS, thus supporting the banknote storage container BS. Subsequent operations are as described in section (2-4-1), therefore their description is omitted.

[0095] (3) Second loading device

[0096] The second loading unit 230 is an existing automated transporter, such as... Figure 1 As shown, it extends linearly from the installation side of the loading-side posture changing device 220 to the installation side of the rotary table 240. Furthermore, as... Figure 1 As shown, in top view, the transport direction of the second infeeder 230 is orthogonal to the infeed direction Dn of the first infeeder 210. Furthermore, as... Figure 2 As shown, the second loading device 230 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source for the second loading device 230.

[0097] (4) Rotary table

[0098] Rotary table 240 is an existing rotary table that allows the placed object to rotate along a horizontal plane. Furthermore, as... Figure 2 As shown, the rotary table 240 is communicatively connected to the control device 700. The control device 700 controls the output of the drive source and the rotation angle of the rotary table 240.

[0099] (5) First puller

[0100] The first mover 250 is an existing automated transporter, such as... Figure 1 As shown, it extends linearly from the mounting side of the rotary table 240 to the mounting side of the transport-out posture changing device 260. Furthermore, as... Figure 1 As shown, in top view, the conveying direction of the first conveyor 250 is the same as the conveying direction of the second conveyor 230, and is orthogonal to the conveying direction Dn of the first conveyor 210. Furthermore, as... Figure 2 As shown, the first output device 250 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the first output device 250.

[0101] (6) Handling side posture change device

[0102] like Figure 12 As shown, the lifting-side posture changing device 260 mainly consists of an item support device 261, an item gripping and rotating device 262, an item pushing device 263, and an item introducing device 264. Furthermore, the item gripping and rotating device 262 is positioned adjacent to and opposite the item support device 261, and the item pushing device 263 is located behind the item support device 261. Additionally, the item introducing device 264 is located on the item support device 261. Following a detailed description of these structural components, their operation will be described in detail below.

[0103] (6-1) Item support device

[0104] The item support device 261 has the function of receiving and supporting the banknote storage containers BL and BS transported from the first ejector 250, and also has the function of realizing the longitudinal rotation action of the item holding rotation device 262 when the banknote storage containers BL and BS are rotated longitudinally by 90° by the item holding rotation device 262. Figure 13 As shown, the item support device 261 mainly consists of a base portion QB, a column portion QP, a front column plate portion Rf, a rear column plate portion Rr, a cross passage portion Ic, a lifting platform 261B, lifting feet 261C, a conveying roller unit 261D, and a cylinder unit 261E. These components will be described in detail below.

[0105] like Figure 13 As shown, the base portion QB is a roughly rectangular thick plate component, such as... Figure 12 As shown, it serves to fix the column QP to the base BB.

[0106] like Figure 13 As shown, the column QP is a roughly rectangular thick plate member that extends upwards from the base QB. Figure 13 As shown, the column section QP supports the cylinder unit 261E.

[0107] like Figure 12 and Figure 13 As shown, the front column plate portion Rf and the rear column plate portion Rr are approximately rectangular plate members, arranged along the front-to-back direction to sandwich the column portion QP, and fixed to the base BB. Furthermore, the upper portions of the front column plate portion Rf and the rear column plate portion Rr serve to guide the banknote storage containers BL and BS, which are transported by the first ejector 250, towards the lifting platform 261B. Additionally, as... Figure 13 As shown, the front pillar plate portion Rf and the rear pillar plate portion Rr are adjacent to the cross passage portion Ic, respectively.

[0108] The cross passage section Ic is located on the right side of the lifting platform 261B (first ejector side) when viewed from above (see reference). Figure 12 ),like Figure 13 As shown, it is supported by the front column plate portion Rf and the rear column plate portion Rr. Furthermore, as... Figure 13 As shown, a pair of feed roller units 261D are provided before and after the cross passage section Ic, and an item introduction device 264 is provided in the center of it.

[0109] The lifting platform 261B is formed by a left platform section Zl, a central platform section Zc, a right platform section Zr, and a platform connecting section (not shown). Furthermore, the left platform section Zl, the central platform section Zc, and the right platform section Zr are connected at their front and rear ends via the platform connecting section. Additionally, as... Figure 13 As shown, in the lifting platform 261B, slits are formed between the left platform Zl and the central platform Zc, and between the central platform Zc and the right platform Zr. Furthermore, as described later, the left foot Nl and right foot Nr of the lifting foot 261C freely slide through these two slits. The left platform Zl is a generally rectangular thick plate portion with a notch Rc in the center. This notch Rc is formed such that when the gripping part of the article-holding rotating device 262 is in a longitudinal position and its claw slides downwards, its claw will not collide with the lifting platform 261B. Furthermore, a roller RR is rotatably provided at the front and rear portions of the left platform Zl, respectively. These rollers RR are also capable of freely rotating along the loading direction Dn of the banknote storage containers BL and BS. The central platform Zc is a generally rectangular thick plate portion when viewed from above. Additionally, as... Figure 13 As shown, a roller RR is rotatably mounted at the front and rear of the central platform Zc. Furthermore, these rollers RR can rotate freely along the feeding direction Dn of the banknote storage containers BL and BS. The right platform Zr is a generally rectangular thick plate section. Also, a roller RR is rotatably mounted at the front and rear of the right platform Zr. Furthermore, these rollers RR can rotate freely along the feeding direction Dn of the banknote storage containers BL and BS. And, as... Figure 13As shown, in this lifting platform 261B, the notch Rc is positioned facing the item-holding rotating device 262. The lifting platform 261B is mounted on the first cylinder of the cylinder unit 261E, and can be raised and lowered by this first cylinder. Furthermore, the highest position of the lifting platform 261B is... Figure 13 The position shown is such that the lowest position is such that when the banknote storage containers BL and BS are rotated by the article holding rotating device 262, the banknote storage containers BL and BS will not collide with the lifting platform 261B.

[0110] The lifting foot 261C not only lifts the banknote storage container BS so that it is held by the holding part 262A of the article holding and rotating device 262 in its center in the depth direction, but also smoothly delivers the banknote storage containers BL and BS, after their posture has been changed by the article holding and rotating device 222, to the guide rail of the second delivery device 270. Figure 13 As shown, it is mainly formed by the left foot Nl, the right foot Nr, and the foot connection part (not shown). Figure 13 As shown, the left foot Nl is positioned within the slit on the left side of the lifting platform 261B. (As indicated...) Figure 13 As shown, the right foot Nr is located in the slit on the right side of the lifting platform 261B. The foot connection is a beam extending in the left-right direction, allowing the left foot Nl and the right foot Nr to connect on their back sides. Furthermore, this foot connection is designed not to overlap with the platform connection of the lifting platform 261B. The lifting foot 261C is mounted on the second cylinder of the cylinder unit 261E, and can be raised and lowered by this second cylinder. The highest position of the lifting foot 261C is at the height of the center portion of the banknote storage container BS in the depth direction, which the gripping part 222A of the article-holding rotation device 222 can hold, and is slightly higher than the loading roller unit 261D; the lowest position is lower than the top surface of the lifting platform 261B.

[0111] The feed roller unit 261D is a unit used to easily transport the banknote storage containers BL and BS, which are transported from the first feeder 250, to the lifting platform 261B, such as... Figure 13 As shown, it is located at the front and rear (two ribs) of the cross passage section Ic.

[0112] like Figure 13As shown, cylinder unit 261E is mounted on column QP. This cylinder unit 261E consists of a first cylinder and a second cylinder. As described above, the first cylinder raises and lowers the lifting platform 261B, and the second cylinder raises and lowers the lifting foot 261C. Furthermore, the first and second cylinders of cylinder unit 261E are actuated by airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), respectively. The solenoid valve (not shown) and the speed regulating valve (not shown) are controlled by a control device 700 for opening and closing. The solenoid valve and the speed regulating valve are connected to the compressor.

[0113] (6-2) Object holding and rotating device

[0114] Since the item holding rotation device 262 is the same as the item holding rotation device 222 of the loading side posture change device 220, its description is omitted here.

[0115] (6-3) Item ejection device

[0116] like Figure 12 As shown, the article ejection device 263 mainly consists of a piston 263A and a cylinder unit (not shown). These components will be described in detail below.

[0117] Piston 263A extends and retracts freely via a cylinder unit. Furthermore, an abutment plate HP is mounted on the top of piston 263A. This abutment plate HP of piston 263A waits at the rear of the article support device 261 when in standby mode (see reference). Figure 12 During operation, i.e., when protruding, the piston 263A moves to the position in front of the article support device 261. Furthermore, the moving distance of the piston 263A's abutment plate HP is set to the distance required to transport the banknote storage containers BL and BS to the second ejector 270.

[0118] A cylinder unit is located behind piston 263A. As described above, this cylinder unit causes piston 263A to extend and retract. Furthermore, this cylinder unit is actuated by airflow and pressure generated using a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled by a control device 700 for opening and closing. The solenoid valve and speed regulating valve are connected to the compressor.

[0119] (6-4) Item introduction device

[0120] like Figure 13 As shown, the article-introducing device 264 mainly consists of an introduction member 264A, a rotary cylinder (not shown), and bearings (not shown). The bearings are located on the front column plate portion Rf and the rear column plate portion Rr. (As shown...) Figure 13As shown, the infeed member 264A is supported by a bearing and is able to rotate freely. That is, the infeed member 264A is disposed between a pair of feed roller units 261D. Furthermore, the infeed member 264A is actuated by a rotary cylinder.

[0121] (6-5) Operation instructions for the side posture change device

[0122] The following describes in detail the control method by which the banknote storage containers BL and BS are changed by the outgoing side posture changing device 260, including the longitudinal rotation of the banknote storage containers BL and BS. Furthermore, in the outgoing side posture changing device 260, the banknote storage containers BL and BS are identified by reading data embedded in the RFID tags of the banknote storage containers BL and BS. Additionally, whether the top walls UL and US of the banknote storage containers BL and BS are facing forward or the bottom walls OL and OS are facing forward is determined based on image data acquired by a camera (not shown) located above the item support device 261.

[0123] (6-5-1) Control method for the longitudinal rotation of banknote storage container BL

[0124] The side posture change device 260 was originally designed for Figure 12 and Figure 13The state shown is as follows. In this state, when the banknote storage container BL is transported and placed on the lifting platform 261B of the item support device 261, its state is detected by an infrared sensor (not shown) located near the rear column plate Rr of the item support device 261, and the detection signal is sent to the control device 700. Then, if the control device 700 receives the detection signal, it activates the item introduction device 264 to completely place the banknote storage container BL on the lifting platform 261B via the introduction member 264A. Next, the control device 700 raises the lifting platform 261B of the item support device 261 to its highest position. Next, after advancing the slider of the item holding rotating device 262, the control device 700 causes the holding part 262A of the item holding rotating device 262 to hold the banknote storage container BL. Then, the control device 700 lowers the lifting platform 261B of the item support device 261 to its lowest position. Next, the control device 700 rotates the gripping part 262A of the item gripping rotating device 262 by 90° counterclockwise when viewed from the loading direction Dn via the cylinder (rotary cylinder) of the item gripping rotating device 262. Furthermore, if the banknote storage container BL rotates 90° clockwise, the banknote storage container BL is positioned with its bottom wall OL facing forward (loading direction Dx), and if the banknote storage container BL rotates 90° counterclockwise, the banknote storage container BL is positioned with its top wall UL facing forward (loading direction Dx). The rotation direction of the gripping part 262A of the item gripping rotating device 262 is appropriately determined by the control device 700 (for example, based on the loading pattern of the banknote storage container BL on the moving frame 800). Next, the control device 700 raises the lifting platform 261B of the item support device 261 to its highest position while simultaneously raising the lifting foot 261C to its highest position. At this time, the lifting foot 261C abuts against the back wall AL of the banknote storage container BL, thus supporting the banknote storage container BL. Next, after the handle 262A releases the banknote storage container BL, the control device 700 retracts the slider of the article handling rotation device 262. Then, the control device 700 pushes the banknote storage container BL out of the lifting platform 261B via the piston 263A of the article ejection device 263, and moves it to the second ejector 270.

[0125] (6-5-2) Control method for longitudinal rotation of banknote storage container BS

[0126] Until the control device 700 actuates the article-introducing device 264 and the banknote storage container BS is fully placed on the lifting platform 261B via the introduction member 264A, as described in section (6-5-1), its description is omitted. Once the banknote storage container BS is fully placed on the lifting platform 261B via the introduction member 264A, the control device 700 raises the lifting foot 261C of the article support device 261 to its highest position. Next, after advancing the slider of the article-holding rotating device 262, the control device 700 holds the banknote storage container BS by the holding part 262A of the article-holding rotating device 262. Then, the control device 700 lowers the lifting platform 261B and the lifting foot 261C of the article support device 261 to their lowest positions. Next, the control device 700 rotates the holding part 262A of the article-holding rotating device 262 by 90° counterclockwise when viewed from the loading direction Dn. Next, the control device 700 raises the lifting platform 261B of the article support device 261 to its highest position, and simultaneously raises the lifting foot 261C to its highest position. At this time, the lifting foot 261C abuts against the back wall AS of the banknote storage container BS, thus supporting the banknote storage container BS. Subsequent operations are as described in section (6-5-1), therefore their description is omitted.

[0127] (7) Second transfer device

[0128] The second mover 270 is an existing automated transporter, such as... Figure 1 and Figure 12 As shown, it extends in a straight line from the mounting side of the lifting-side posture changing device 260 to the mounting side of the second robot arm 400 with the robot hand. Furthermore, as... Figure 1 and Figure 12 As shown, the portion of the second robotic arm with a robotic hand of the second mover 270 is designated as the mover EX for the banknote storage containers BL and BS. Figure 1 As shown, the removal position EX is within the grasping range of the second robotic arm 400 with a robotic hand. Additionally, as... Figure 1 As shown, the following relationship exists: In top view, the conveying direction Dx of the second conveyor 270 is orthogonal to the conveying directions of the second conveyor 230 and the first conveyor 250, and parallel to the conveying direction Dn of the first conveyor 210. Furthermore, as... Figure 2 As shown, the second transfer device 270 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the second transfer device 270.

[0129] 2. Unlock the system

[0130] like Figure 1As shown, the unlocking system 300 mainly consists of a robotic arm 310 with a key, a camera 320, an item detector 330, and a first robotic arm 350 with a robotic hand. These structural components will be described in detail below.

[0131] (1) Robotic arm with a key

[0132] The key-equipped robotic arm 310 is a robotic arm with a key mounted on its tip. The type of robotic arm used can be, for example, an existing six-axis robotic arm, but is not particularly limited. Furthermore, the tip of the robotic arm is a rotatable structure, through which the key can rotate. In addition, the key-equipped robotic arm 310 not only opens the locks KL and KS of the banknote storage containers BL and BS and pulls up and opens the front doors DL and DS, but also subsequently closes the front doors DL and DS of the banknote storage containers BL and BS and locks the locks KL and KS.

[0133] (2) Camera

[0134] The camera 320 is fixed near the key-equipped robotic arm 310. The camera 320, according to instructions from the control device 700, photographs the banknote storage containers BL and BS, generates image data, and sends this image data to the control device 700. The control device 700 then analyzes the image data to determine the type of banknote storage containers BL and BS.

[0135] (3) Item Detector

[0136] An item detector 330 is fixed near the key-equipped robotic arm 310. The item detector 330 communicates with the IC tags of the banknote storage containers BL and BS via RFID according to instructions from the control device 700, reads various data from the IC tags, and sends this data to the control device 700. The control device 700 then analyzes the image data to determine the type of the banknote storage containers BL and BS. Based on this data and the image data from the aforementioned camera 320, the control device 700 acquires data on the type and size of the banknote storage containers BL and BS, and derives the coordinate and angle data of the locks KL and KS. Based on this data, a control signal is generated and sent to the key-equipped robotic arm 310, causing the key-equipped robotic arm 310 to perform the unlocking process of the banknote storage containers BL and BS. Furthermore, if the control device 700 determines that the banknote storage containers BL and BS do not contain locks KL and KS in the image data, it controls the rotary table 240 to change the orientation of the banknote storage containers BL and BS.

[0137] (4) The first robotic arm with a robotic hand

[0138] like Figure 1 As shown, the first robotic arm 350 with a robotic hand in this embodiment of the invention mainly consists of a robotic arm 360 and a first robotic hand 370. Furthermore, this first robotic arm 350 with a robotic hand functions to extract banknotes from the banknote storage containers BL and BS when the front doors DL and DS are open. These structural components will be described in detail below.

[0139] (4-1) Robot Arm

[0140] The 360-degree robotic arm is, for example, an existing six-axis robotic arm, but is not particularly restricted.

[0141] (4-2) First Robot Hand

[0142] The first robotic arm 370 functions to extract banknotes from the banknote storage containers BL and BS when the front doors DL and DS are open. This first robotic arm 370 can be, for example, the robotic arms disclosed in Japanese Patent Nos. 6773856, 6756018, 6587326, and 6587325. Furthermore, the first robotic arm 370 is equipped with a camera 380 for identifying the coordinate data of locks KL and KS, the angle data of locks KL and KS, and the presence or absence of banknotes (see reference). Figure 1 ).

[0143] 3. The second robotic arm with a robotic hand

[0144] like Figure 14 As shown, the second robotic arm 400 with a robotic hand in an embodiment of the present invention is mainly composed of a robotic arm 500 and a second robotic hand 600. These structural components will be described in detail below.

[0145] (1) Robot arm

[0146] Robotic arm 500, for example, is an existing six-axis robotic arm, etc. (see reference) Figure 14 (), but without special restrictions.

[0147] (2) Second robot arm

[0148] like Figures 15 to 23 As shown, the second robotic arm 600 mainly consists of a motor 610, a frame 620, a linkage mechanism 630, an adsorption head unit 640, a detachable spring unit 650, a flexible tube 660, a sensor mounting plate 670, and a distance sensor 680. These structural components will be described in detail below.

[0149] (2-1) Electric motor

[0150] The electric motor 610 is a reversible motor, and its rotation axis is mounted on the ball screw 615 in a manner that aligns with the rotation axis of the ball screw 615. That is, by switching the rotation direction of the electric motor 610, the ball screw 615 can switch the sliding direction of the horizontal slider (described later) SH. Furthermore, in this embodiment, a load detection device (not shown) is connected to the electric motor 610 to detect the load on the electric motor 610.

[0151] (2-2) Framework

[0152] like Figures 15 to 23 As shown, the frame 620 is mainly composed of a top plate 621, a bottom plate 622, a back panel 623, a rear side panel 624, and a front side L-shaped panel 625. These structural components will be described in detail below.

[0153] like Figure 15 As shown, the top plate 621 is a roughly rectangular plate component that covers the upper side of the second robotic arm 600. Figures 15-18 As shown, a motor 610 is fixed to the lower front side of the top plate 621 in a manner extending rearward along the rotational axis. Additionally, as... Figure 15 and Figure 16 As shown, the metal part 628 for mounting the robot arm is mounted slightly rearward from the center position along the length direction of the top plate 621. Additionally, as... Figure 17 and Figure 18 As shown, a ball screw 615 is provided on the back side (bottom side) of the top plate 621.

[0154] like Figure 17 As shown, the base plate 622 is a generally rectangular plate member that covers the lower side of the second robotic arm 600. Furthermore, the front portion 622A of this base plate 622 (see reference...) Figure 15 and Figure 17 It serves as a platform for placing items. Additionally, such as... Figure 17 As shown, a rectangular opening OP is formed approximately in the center of the base plate 622. This opening OP is sized to accommodate the installation of a removable spring unit 650. Furthermore, as... Figure 17 As shown, support claws 622B are provided on the edges of both sides of the opening OP of the base plate 622. The support claws 622B support the shaft 653 of the detachable spring unit 650 so that it can be freely installed and removed. In addition, a pair of left and right feet LG are respectively installed on the front and rear portions of the back side of the base plate 622, and a sensor mounting plate 670 is installed on the back side slightly behind the opening OP of the base plate 622.

[0155] like Figure 15 and Figure 18As shown, the back panel 623 is a generally rectangular plate member that covers the rear side of the second robot arm 600. Additionally, a rear vertical guide rail RVr and a rear support protrusion 623A are formed on the front surface of the back panel 623. Figure 20 and Figure 21 As shown, a rear vertical slider SVr is mounted on the rear vertical guide rail RVr in a manner that allows it to slide freely in the vertical direction. The rear support protrusion 623A is a protrusion extending forward from the front surface of the back panel 623. As described later, the second section K2 is mounted on the rear support protrusion 623A via the fourth link pin P4 in a manner that allows it to rotate freely at its base end.

[0156] The rear side panel 624 functions as a support pillar for the top plate 621 and the bottom plate 622, such as... Figure 15 and Figure 16 As shown, a pair of left and right panels are provided on the back side of the back panel.

[0157] The front side L-shaped panel 625 is a panel component that appears roughly L-shaped when viewed from the side, such as... Figure 15 and Figure 18 As shown, the side of the front end of the second robotic arm 600 is covered. Figure 15 and Figure 18 As shown, the front side L-shaped panel 625 is mainly formed by a vertical sidewall portion 625A and a horizontal sidewall portion 625B. Similar to the rear side panel 624, the vertical sidewall portion 625A functions as a support pillar for the top plate 621 and the bottom plate 622. On the other hand, as... Figure 15 As shown, the horizontal sidewall portion 625B becomes the sidewall of the front portion 622A of the base plate 622, serving as a guide wall for guiding the adsorption head unit 640 forward. Specifically, the guide roller 645 of the adsorption head unit 640 guides the adsorption head unit 640 forward while contacting and rolling with the inner surface of the horizontal sidewall portion 625B. Furthermore, as... Figure 15 As shown, the horizontal sidewall portion 625B opens slightly outward in the width direction. This is to facilitate receiving items introduced by the adsorption head unit 640.

[0158] (2-3) Linkage Mechanism

[0159] The linkage mechanism 630 is, for example, a retractable lazy tongue type linkage mechanism used in artificial hands (such as magic hands). In this embodiment, such as... Figures 22-23 As shown, it consists of 14 sections (links) K1 to 14, 23 link pins P1 to 23, a rear vertical slider SVr, and a horizontal slider SH. These structural components will be described in detail below.

[0160] Linkages K1 to K14 are plate-like components, and connecting pins P1 to P23 are components that axially support the base, center, and top of linkages K1 to K14 to form the linkage mechanism 630. Furthermore, hereinafter, the structure consisting only of linkages K1 to K14 and connecting pins P1 to P23 is sometimes referred to as a telescopic structure. In this figure, the telescopic structure is indicated by the reference numeral KP.

[0161] Here, the first section K1 is mounted to the rear vertical slider SVr (see reference) at the base end via the first connecting pin P1 in a freely rotatable manner. Figures 20-23 (etc.). Furthermore, the first section K1 is rotatably mounted to the center of the second section K2 via the second link pin P2, and is rotatably mounted to the base end of the fourth section K4 via the third link pin P3 (see reference). Figures 20-23 (etc.). In addition, such as Figures 21-23 As shown, the third link pin P3 is connected to the horizontal slider SH.

[0162] The second section K2 is mounted to the rear support protrusion 623A (see reference) at the base end via the fourth link pin P4 in a freely rotatable manner. Figures 20-23 (etc.). Furthermore, the second section K2 is rotatably mounted to the center of the first section K1 via the second link pin P2, and rotatably mounted to the base end of the third section K3 via the fifth link pin P5 (see reference). Figures 20-23 wait).

[0163] The third section K3 is rotatably mounted to the top of the second section K2 via the fifth link pin P5 at its base end, and rotatably mounted to the center of the fourth section K4 via the sixth link pin P6 at its center end, and rotatably mounted to the base of the sixth section K6 via the seventh link pin P7 at its top end (see reference). Figures 20-23 wait).

[0164] The fourth section K4 is rotatably mounted to the top of the first section K1 via the third link pin P3 at its base end, and rotatably mounted to the center of the third section K3 via the sixth link pin P6 at its center end, and rotatably mounted to the base of the fifth section K5 via the eighth link pin P8 at its top end (see reference). Figures 20-23 wait).

[0165] The fifth section K5 is rotatably mounted to the top of the fourth section K4 via the eighth link pin P8 at its base end, and rotatably mounted to the center of the sixth section K6 via the ninth link pin P9 at its center end, and rotatably mounted to the base of the eighth section K8 via the tenth link pin P10 at its top end (see reference). Figures 20-23 wait).

[0166] The sixth section K6 is rotatably mounted to the top of the third section K3 via the seventh link pin P7 at its base end, and rotatably mounted to the center of the fifth section K5 via the ninth link pin P9 at its center end, and rotatably mounted to the base of the seventh section K7 via the eleventh link pin P11 at its top end (see reference). Figures 20-23 wait).

[0167] The seventh section K7 is rotatably mounted to the top of the sixth section K6 via the eleventh link pin P11 at its base end, and rotatably mounted to the center of the eighth section K8 via the twelfth link pin P12 at its center end, and rotatably mounted to the base of the tenth section K10 via the thirteenth link pin P13 at its top end (see reference). Figures 20-23 wait).

[0168] The eighth section K8 is rotatably mounted at its base end to the top of the fifth section K5 via the tenth link pin P10, and rotatably mounted at the center of the seventh section K7 via the twelfth link pin P12, and rotatably mounted at the base end of the ninth section K9 via the fourteenth link pin P14 (see reference). Figures 20-23 wait).

[0169] The ninth section K9 is rotatably mounted to the top of the eighth section K8 via the fourteenth link pin P14 at its base end, and rotatably mounted to the center of the tenth section K10 via the fifteenth link pin P15 at its center end, and rotatably mounted to the base of the twelfth section K12 via the sixteenth link pin P16 at its top end (see reference). Figures 20-23 wait).

[0170] The tenth section K10 is rotatably mounted at its base end to the top of the seventh section K7 via the thirteenth link pin P13, and rotatably mounted at the center of the ninth section K9 via the fifteenth link pin P15, and rotatably mounted at its top end to the base end of the eleventh section K11 via the seventeenth link pin P17 (see reference). Figures 20-23 wait).

[0171] The eleventh section K11 is rotatably mounted at its base end to the top of the tenth section K10 via the seventeenth link pin P17, and rotatably mounted at its center end to the center of the twelfth section K12 via the eighteenth link pin P18, and rotatably mounted at its top end to the base end of the fourteenth section K14 via the nineteenth link pin P19 (see reference). Figures 20-23 wait).

[0172] The twelfth section K12 is rotatably mounted at its base end to the top of the ninth section K9 via the sixteenth link pin P16, and rotatably mounted at its center end to the eleventh section K11 via the eighteenth link pin P18, and rotatably mounted at its top end to the base end of the thirteenth section K13 via the twentieth link pin P20 (see reference). Figures 20-23 wait).

[0173] The thirteenth section K13 is rotatably mounted at the base end of the twelfth section K12 via the twentieth link pin P20, and is rotatably mounted at the center of the fourteenth section K14 via the twenty-first link pin P21 (see reference). Figure 20 and Figure 21 (etc.). Additionally, the thirteenth section K13 is rotatably mounted at its top end to the front support protrusion 646 of the adsorption head unit 640 via the twenty-second link pin P22 (see reference). Figures 20-23 wait).

[0174] Section 14 K14 is rotatably mounted at the base end of section 11 K11 via link pin P19, and is rotatably mounted at the center of section 13 K13 via link pin P21 (see reference). Figure 23 and Figure 21 (etc.). Additionally, the fourteenth section K14 is rotatably mounted at the top of the suction head unit 640's front vertical slider SVf via the twenty-third link pin P23 (see reference). Figures 20-23 wait).

[0175] Furthermore, in the telescopic structure KP constructed as described above, the 14 sections K1 to K14 are aligned with the imaginary vertical plane Fp (refer to...). Figure 19 The vertical plane Fp is the same as... Figure 19 The overlapping surfaces of section II. ) Parallel imaginary surfaces move.

[0176] As described above, the rear vertical slider SVr can slide along the rear vertical guide rail RVr of the back panel 623 in the vertical direction (see reference). Figure 20 and Figure 21 (etc.). In addition, the rear vertical slider SVr rises as the horizontal slider SH moves forward and falls as the horizontal slider SH moves backward.

[0177] like Figure 20 and Figure 21 As shown, the horizontal slider SH engages with the ball screw 615, moving forward when the ball screw 615 rotates clockwise and backward when the ball screw 615 rotates counterclockwise. Additionally, as... Figures 21-23As shown, the horizontal slider SH is connected to the third connecting pin P3. That is, the telescopic structure KP extends and retracts by moving the horizontal slider SH back and forth.

[0178] (2-4) Adsorption head unit

[0179] like Figure 15 and Figure 19 As shown, the adsorption head unit 640 mainly consists of a front panel 641, a support plate 642, an adsorption pad unit 643, a wheel 644, a guide roller 645, a front vertical guide rail RVf, a front vertical slider SVf, and a front support protrusion 646. These structural components will be described in detail below.

[0180] like Figure 19 As shown, the front panel 641 is a plate component that appears as an inverted U-shape in the front view, mainly composed of a main plate portion 641a and a lower protrusion portion 641b. For example... Figure 19 As shown, the main board portion 641a is a board portion that is approximately rectangular in shape when viewed from the front. (As shown...) Figure 19 As shown in the front view, three suction pads 643b are fixed to the left and right ends of the lower part of the main board 641a. Furthermore, the distance between the left and right suction pads 643b is set such that when the handles HL and HS of the banknote storage containers BL and BS are facing the longitudinal direction, they do not overlap with the handles HL and HS and are separated by the distance between the handles HL and HS. Additionally, as... Figure 16 , Figure 20 as well as Figure 21 As shown, the front support protrusion 646 extends rearward from the upper part of the rear side surface of the main board portion 641a. Additionally, as... Figure 22 and Figure 23 As shown, the support plate 642 extends rearward from both ends of the rear side surface of the main plate portion 641a in the width direction. Additionally, as... Figure 20 and Figure 21 As shown, the front vertical guide rail RVf is disposed on the back side of the main board 641a along the vertical direction. Figure 19 As shown, the lower protrusion 641b is a roughly square plate portion in the front view, extending downward from the center of the lower edge of the main plate portion 641a. The fastening connecting block 654 of the removable spring unit 650 is bolted to this lower protrusion 641b. Furthermore, the bolts used here are freely removable bolts.

[0181] like Figure 22 and Figure 23 As shown, the support plate 642 is a plate member used to support the piping unit 643a of the adsorption pad unit 643. As described above, it extends rearward from both ends of the back side of the main plate portion 641a of the front panel 641 in the width direction. In addition, a pair of wheels 644 are supported by axles on the lower part of the front side of the support plate 642.

[0182] like Figure 15 and Figure 16 As shown, the adsorption pad unit 643 mainly consists of a piping unit 643a, an adsorption pad 643b, and a flexible connecting pipe 643c. The piping unit 643a consists of a main pipe MP and three branch pipes BP. Furthermore, the main pipe MP is connected to all three branch pipes BP. And, as... Figure 21 and Figure 22 As shown, the base end of the main pipe MP is connected to the flexible tube 660, and each branch pipe BP is connected to the elastic connecting tube 643c. Furthermore, the tip end of each elastic connecting tube 643c is connected to the absorbent pad 643b. In addition, an elastic part, such as a helical spring, is provided in the elastic connecting tube 643c. The elastic part exerts a forward force on the tip end of the elastic connecting tube 643c. That is, the absorbent pad 643b exerts a forward force by means of the tip end of the elastic connecting tube 643c. Therefore, when the absorbent pad 643b comes into contact with an article and a load is applied to the absorbent pad 643b, the tip end of the elastic connecting tube 643c and the absorbent pad 643b overcome the elastic force of the elastic part and slightly retract; when no load is applied, it returns to its original position by the elastic force of the elastic part. The absorbent pad 643b is a stretchable member formed of flexible material.

[0183] As described above, the wheel 644 is supported by an axle on the lower part of the front side of the support plate 642. That is, the axis of rotation of the wheel 644 is parallel to the width direction. The wheel 644 rolls on the upper surface of the front portion 622A of the base plate 622 of the frame 620, and if it goes beyond the front end of the front portion 622A of the base plate 622 of the frame 620, it rolls on the shelf of the shelf.

[0184] The guide roller 645 is a cylindrical rotating body with its rotation axis in the vertical direction. As described above, while contacting and rolling against the inner side surface of the horizontal sidewall 625B of the front L-shaped plate 625, it guides the suction head unit 640 forward. Furthermore, when a guide wall perpendicular to the shelf of the rack is provided, the guide roller 645 guides the suction head unit 640 forward while contacting and rolling against the inner side surface of this guide wall.

[0185] like Figure 20 and Figure 21 As shown, the front vertical guide rail RVf extends vertically along the back side of the front panel 641. The front vertical slider SVf is mounted on the front vertical guide rail RVf in a manner that allows it to slide freely in the vertical direction (see reference). Figure 20 and Figure 21 wait).

[0186] As described above, the front vertical slider SVf can slide along the front vertical guide rail RVf in the vertical direction. Furthermore, the front vertical slider SVf rises as the horizontal slider SH moves forward and falls as the horizontal slider SH moves backward. Additionally, as described above, the fourteenth section K14 is rotatably mounted to the front vertical slider SVf at its top end via the twenty-third link pin P23.

[0187] The front support protrusion 646 is a protrusion extending rearward from the back side of the front panel 641. As described above, the thirteenth section K13 is mounted to the front support protrusion 646 at its top end via the twenty-second link pin P22 in a freely rotatable manner.

[0188] (2-5) Detachable spring unit

[0189] like Figure 24 As shown, the detachable spring unit 650 mainly consists of a spring 651, a retainer 652, a shaft 653, and a fastening block 654. The spring 651 is a conventional spring that applies force by winding around the retainer 652. That is, if the spring 651 is stretched by a person's hand and then the hand is released, the spring 651 will wind around the retainer 652 by that force. The retainer 652 is a cylindrical retaining member (spool) that holds one end of the spring 651. Figure 24 As shown, shaft 653 extends along the axial direction of cage 652 in two directions. Furthermore, as described above, shaft 653 is... Figure 17 The support claw 622B shown is designed to be freely attachable and detachable. The fastening connection block 654 is a component for fixing the other end of the spring 651 to the lower protrusion 641b of the front panel 641 of the adsorption head unit 640, as described above, which is bolted to the lower protrusion 641b of the front panel 641 of the adsorption head unit 640.

[0190] (2-6) Flexible tube

[0191] like Figure 15 and Figure 16 As shown, the flexible conduit 660 is connected to the outlet side of the source piping SP, and, as described above, is connected to the base end side of the main pipe MP of the adsorption pad unit 643. Furthermore, as... Figure 15 and Figure 16 As shown, a pipe port MS is connected to the inlet of the source pipe SP, and this pipe port MS is located at the rear end of the top plate 621 of the frame 620. Additionally, as... Figure 22 and Figure 23 As shown, the flexible tube 660 has a sufficient length corresponding to the maximum extension state of the linkage mechanism 630.

[0192] (2-7) Sensor mounting plate

[0193] As described above, the sensor mounting plate 670 is mounted on the back side of the opening OP of the base plate 622 of the frame 620, maintaining a distance from the sensor 680 at both ends.

[0194] (2-8) Distance sensor

[0195] Distance sensor 680 is a sensor that detects the distance between itself and an object located on the front side, and is held at both ends of sensor mounting plate 670 as described above.

[0196] 5. Control device

[0197] The control device 700 is communicatively connected to the drive sources of the transport system 200, the unlocking system 300, the first robot arm 350 with a robot hand, and the second robot arm 400, respectively. It sends control signals to the drive sources of the transport system 200, the unlocking system 300, the first robot arm 350 with a robot hand, and the second robot arm 400, and receives various signals and data from the item detector 330 and the camera 320 of the transport system 200 and the unlocking system 300, respectively.

[0198] <Control Examples of the Handling System According to Embodiments of the Invention>

[0199] Here, regarding the placement of Figure 25 and Figure 26 The control example of the handling system 100 during the handling and unlocking process of the banknote storage containers BL and BS of the movable frame 800 shown in the figure will be explained.

[0200] Before describing the control examples, a brief explanation will be given of the specifications for the movable shelf 800 and the methods for retrieving banknote storage containers BL and BS from the movable shelf 800. For example... Figure 25 and Figure 26 As shown, the movable frame 800 is mainly formed by a bottom wall 810, a top wall 830, corner supports 840, a central support 850, a shelf 820, a guide plate Wv, and wheels Tr. Furthermore, although not shown in... Figure 25 As shown, however, hinged or sliding doors are typically installed on the front and rear sides of the movable frame 800. Additionally, as... Figure 26 As shown, the movable frame 800 does not have side walls. The bottom wall 810 and top wall 830 are rectangular plate members of the same size. Furthermore, banknote storage containers BL and BS can be placed on the bottom wall 810. Corner supports 840 and central supports 850 are supports for the top wall 830, as shown... Figure 25 and Figure 26As shown, the shelf 820 extends from the four corners and the center of the width direction of the upper surface of the bottom wall 810 to the four corners and the center of the width direction of the lower surface of the top wall 830. The shelf 820 is a component for placing banknote storage containers BL and BS, and is a rectangular plate component with approximately the same dimensions as the bottom wall 810 and the top wall 830. (See diagram) Figure 25 and Figure 26 As shown, shelf 820 divides the space surrounded by bottom wall 810, top wall 830, corner supports 840, and central support 850 into six spaces in the height direction. Additionally, as... Figure 25 and Figure 26 As shown, multiple guide plates Wv are installed on the bottom wall 810 and shelf 820. These guide plates Wv are generally rectangular wall members designed to guide the suction head unit 640 of the second robotic arm 600 toward the inside or in front of the moving frame 800, and to arrange the banknote storage containers BL and BS at intervals, as shown. Figure 25 and Figure 26 As shown, it extends upwards along the depth direction from the upper surface of the bottom wall 810 and the shelf 820. That is, in this movable frame 800, it is possible not only from the front side (see reference) Figure 25 Furthermore, it allows the banknote storage containers BL and BS to be placed on the bottom wall 810 and shelf 820 from the back side. Additionally, as... Figure 25 As shown, these guide plates Wv are arranged at intervals sufficient to accommodate banknote storage containers BL and BS (in the case of banknote storage container BS, the interval is such that it does not contact the protrusion PT (described later). That is, the dimension between adjacent guide plates Wv is designed to be larger than the width of banknote storage container BL and the width of banknote storage container BS including the protrusion PT. There are four wheels Tr, each wheel Tr is mounted at one of the four corners of the lower surface of the base wall 810. Thus, the movable frame 800 is movable.

[0201] In an embodiment of the present invention, a method for retrieving banknote storage containers BL and BS into the movable rack 800 is specified. This retrieval method specifies that "when retrieving banknote storage containers BL and BS into the movable rack 800, the operator grasps the handles HL and HS of the banknote storage containers BL and BS, and pushes the banknote storage containers BL and BS into the movable rack 800 starting from their bottom walls OL and OS (see reference)." Figure 25 and Figure 26 ).

[0202] The following describes a control example of the handling system 100 used to handle and unlock banknote storage containers BL and BS placed on the movable rack 800.

[0203] First, the user of the transport robot fixes the moving frame 800 in a predetermined position with a specified orientation, and then activates the transport system 100. When the transport system 100 activates, the second robotic arm 400 with a robotic hand begins to move. The second robotic hand 600, which is waiting in the initial position, is lifted to a predetermined height by the robotic arm 500 and moved to a position in the width direction of the moving frame 800. Posture control is performed so that the front of the second robotic hand 600 faces the front of the moving frame 800 and the constitutive surface (virtual vertical plane Fp) of the telescopic structure KP is parallel to the plumb line. At this time, a pair of distance sensors 680 installed on the second robotic hand 600 are opposite to the corner support 840 and guide plate Wv, the central support 850 and guide plate Wv, or adjacent guide plates Wv and guide plates Wv of the moving frame 800. Next, the robot arm 500 controls the posture of the second robot hand 600 (at this time, the second robot hand 600 is approximately aligned with the corner support 840 and guide plate Wv, the central support 850 and guide plate Wv, or adjacent guide plates Wv and guide plates Wv of the moving frame 800) to ensure that the difference in detection distance between a pair of distance sensors 680 is within an allowable range (ideally, the difference in detection distance is 0). Then, the motor 610 of the second robot hand 600 actuates, and the linkage mechanism 630 extends. Then, if the suction head unit 640 reaches the moving frame 800, the guide roller 645 contacts the corner support 840 and guide plate Wv, the central support 850 and guide plate Wv, or adjacent guide plates Wv and guide plates Wv of the moving frame 800, guiding the suction head unit 640 inwards towards the moving frame 800. At this time, the wheel 644 rolls on the bottom wall 810 or shelf 820 of the moving frame 800. Then, if the load on the motor 610 detected by the load detection device exceeds the threshold, the pressure reducing pump is activated while the motor 610 is temporarily stopped, and the banknote storage containers BL and BS are adsorbed through the adsorption pad 643b. Afterwards, the motor 610 is reversed, causing the linkage mechanism 630 to retract, eventually returning to the initial state (retracted state). At this time, the banknote storage containers BL and BS are placed on the front portion 622A of the base plate 622 of the second robot arm 600. In this state, the robot arm 500 moves the second robot arm 600 to the loading position EN of the first loading device 210 (see reference). Figure 1 If the second robotic arm 600 reaches the loading position EN via the robotic arm 500, the motor 610 of the second robotic arm 600 starts to operate, the linkage mechanism 630 extends, and the banknote storage containers BL and BS are pushed out to the loading position EN by the suction head unit 640. Furthermore, all such movements of the robotic arm 500 and the second robotic arm 600 are achieved through a control device 700 that is communicatively connected to both the robotic arm 500 and the second robotic arm 600.

[0204] The banknote storage containers BL and BS are pushed to the loading position EN of the first loading unit 210, and then transported to the loading side posture changing device 220 by the first loading unit 210. Their posture is changed by the loading side posture changing device 220 as described above, and they are then transported to the second loading unit 230.

[0205] The banknote storage containers BL and BS are moved to the second loading unit 230, and then to the rotating platform 240. If locks KL and KS are not present in the image data from the camera 320, the rotating platform 240 changes the orientation of the banknote storage containers BL and BS by 180°. Then, the unlocking system 300 unlocks the locks KL and KS of the banknote storage containers BL and BS. After the front doors DL and DS of the banknote storage containers BL and BS are opened upwards by the key-equipped robotic arm 310, the first robotic arm 350 with a robotic hand removes the banknotes from the banknote storage containers BL and BS (during this time, the key-equipped robotic arm 310 is in the state of inserting the key into locks KL and KS). Finally, after the front doors DL and DS of the banknote storage containers BL and BS are closed by the key-equipped robotic arm 310, locks KL and KS are locked. Subsequently, the banknote storage containers BL and BS are transported from their positions corresponding to the placement positions of the item detector 330 to the first mover 250.

[0206] The banknote storage containers BL and BS, which are conveyed to the first ejector 250, are then transported by the first ejector 250 to the ejector-side posture changing device 260, where their posture is changed as described above, and then conveyed to the second ejector 270. The banknote storage containers BL and BS are then transported to the ejection position EX by the second ejector 270.

[0207] The banknote storage containers BL and BS, which have been moved to the removal position EX, are held by the robotic arm 400 with a second robotic hand and moved to the mobile rack 800.

[0208] <Features of the transport and handling system of this embodiment> (1)

[0210] In the handling system 100 of this embodiment, banknote storage containers BL and BS, which have been recycled to the moving shelf 800, can be automatically transported to the transporter system 200. After banknotes are recycled from the banknote storage containers BL and BS in the transporter system 200, the empty banknote storage containers BL and BS are moved to the moving shelf 800. Therefore, by using this handling system 100, the operation of recycling banknotes from the banknote storage containers BL and BS can be performed more automatically. (2)

[0212] In the handling system 100 of this embodiment, a handling-side posture changing device 220 is provided in the handling system 200. Therefore, when the banknote storage containers BL and BS are being retrieved, the retrieval personnel can grasp the handles HL and HS of the banknote storage containers BL and BS and push them into the mobile shelf 800 from their bottom walls OL and OS. Thus, the retrieval personnel can quickly retrieve the banknote storage containers BL and BS into the mobile shelf 800. (3)

[0214] In the handling system 100 of this embodiment, a removal-side posture change device 260 is provided in the handling system 200. Therefore, when reinstalling the banknote storage containers BL and BS, the operator can grasp the handles HL and HS of the banknote storage containers BL and BS to reinstall them into the device while removing them from the moving rack 800. Thus, the operator can quickly reinstall the banknote storage containers BL and BS into the device. (4)

[0216] In the handling system 100 of this embodiment, both the insertion position EN of the banknote storage containers BL and BS in the first infeeder 210 and the removal position EX of the banknote storage containers BL and BS in the second outfeeder 270 are within the grasping range of the fixed second robotic arm 400 with a robotic hand. Therefore, in this handling system 100, a fixed second robotic arm 400 with a robotic hand can be used to perform the insertion of banknote storage containers BL and BS into the first infeeder 210 and the removal of banknote storage containers BL and BS from the second outfeeder 270.

[0217] <Variation Example>

[0218] (A)

[0219] In the aforementioned embodiment of the transport processing system 100, the transporter system 200 is provided with both an infeed-side posture change device 220 and an outfeed-side posture change device 260. However, it is also possible to provide only one of the posture change devices 220 and 260.

[0220] (B)

[0221] In the transporter system 200 of the aforementioned embodiment, a driven first infeeder 210 and a second outfeeder 270 are used; however, they can also be replaced with roller tables without a drive source. When the first infeeder 210 is a roller table, banknote storage containers BL and BS placed at the infeed position EN are pushed in the transport direction by the next infeeder BL and BS and fed into the infeed-side posture changing device 220. Conversely, when the second outfeeder 270 is a roller table, banknote storage containers BL and BS are pushed in the transport direction by the next outfeeder BL and BS transported in the transport direction via the outfeed-side posture changing device 260 and conveyed to the outfeed position EX.

[0222] (C)

[0223] In the aforementioned embodiment of the transporter system 200, the turntable 240 is controlled by analyzing image data of the banknote storage containers BL and BS, but the turntable 240 can also be controlled using RFID tags.

[0224] (D)

[0225] In the unlocking system 300 of the aforementioned embodiment, the camera 320 is fixed near the key-equipped robotic arm 310, but the camera 320 may also be mounted on the key-equipped robotic arm 310.

[0226] (E)

[0227] In the aforementioned embodiment of the transporter system 200, various data of the banknote storage containers BL and BS are obtained from the banknote storage containers BL and BS embedded with IC tags. However, various data of the banknote storage containers BL and BS can also be obtained using infrared sensors, IC sensors, barcode sensors, proximity sensors, etc.

[0228] (F)

[0229] In the aforementioned embodiment of the handling system 100, the method for recovering banknote storage containers BL and BS to the mobile shelf 800 is specified, along with the second robotic arm 400 with a robotic hand, the loading-side posture changing device 220, and the rotary table 240. The key-equipped robotic arm 310 is configured to unlock the locks KL and KS of the banknote storage containers BL and BS. However, if the method for recovering banknote storage containers BL and BS to the mobile shelf 800 is not specified, and the operator can place the banknote storage containers BL and BS in all postures on the mobile shelf 800, a posture changing device capable of standing up the banknote storage containers BL and BS (referred to as the standing posture) can be arranged in front of the loading-side posture changing device 220. Furthermore, as such a posture changing device, a posture changing device based on the same principle as the loading-side posture changing device 220 can be used.

[0230] (G)

[0231] In the aforementioned embodiment of the handling system 100, a turntable 240 may be installed in front of the loading-side posture changing device 220 to change the posture of the banknote storage containers BL and BS so that the orientation of the handles HL and HS becomes constant. In this case, the rotation direction of the rotating shaft 222B of the article holding rotating device 222 can be set to either clockwise or counterclockwise.

[0232] (H)

[0233] In the aforementioned embodiment of the loading-side posture changing device 220, when the banknote storage containers BL and BS are rotated longitudinally by the item holding rotation device 222, the lifting platform 221B and lifting feet 221C of the item support device 221 are lowered. However, at this time, the height position of the lifting platform 221B and lifting feet 221C of the item support device 221 can be maintained while the item holding rotation device 222 is raised, or the item holding rotation device 222 can be raised while the lifting platform 221B and lifting feet 221C of the item support device 221 are lowered. In the former case, a mechanism for raising and lowering the lifting platform 221B of the item support device 221 is not required, but a lifting mechanism for raising and lowering the item holding rotation device 222 needs to be provided in the item holding rotation device 222. In the latter case, a lifting mechanism for raising and lowering the item holding rotation device 222 needs to be added to the item holding rotation device 222.

[0234] (I)

[0235] In the aforementioned embodiment of the outgoing side posture changing device 260, when the banknote storage containers BL and BS are rotated longitudinally by the item holding rotation device 262, the lifting platform 261B and lifting feet 261C of the item support device 261 are lowered. However, at this time, the height position of the lifting platform 261B and lifting feet 261C of the item support device 261 can be maintained while the item holding rotation device 262 is raised, or the lifting platform 261B and lifting feet 261C of the item support device 261 are lowered while the item holding rotation device 262 is raised. In the former case, a mechanism for raising and lowering the lifting platform 261B of the item support device 261 is not required, but a lifting mechanism for raising and lowering the item holding rotation device 262 needs to be provided on the item holding rotation device 262. In the latter case, a lifting mechanism for raising and lowering the item holding rotation device 262 needs to be added to the item holding rotation device 262.

[0236] (J)

[0237] In the aforementioned embodiment of the loading-side posture changing device 220, the highest position of the lifting foot 221C is the height at which the gripping part 222A of the item gripping rotation device 222 can grip the central portion of the low-height banknote storage container BS in the depth direction, and it is slightly higher than the delivery roller unit 221D. However, the lifting position of the lifting foot 221C can also be set to two stages. That is, the first lifting position is the height at which the gripping part 222A of the item gripping rotation device 222 can grip the central portion of the low-height banknote storage container BS in the depth direction, and the second lifting position is slightly higher than the delivery roller unit 221D.

[0238] (K)

[0239] In the aforementioned embodiment of the loading-side posture change device 220, airflow and air pressure are used as the driving source, but an electric motor or the like can also be used as the driving source.

[0240] (L)

[0241] In the aforementioned embodiment of the outgoing side posture change device 260, airflow and air pressure are used as the drive source, but an electric motor or the like can also be used as the drive source.

[0242] (M)

[0243] In the aforementioned embodiment of the handling system 100, banknote storage containers BL and BS with rotary locks are used as the handling objects and unlocking objects. However, other types of locked banknote storage containers, such as banknote storage containers with electromagnetic locks, may also be used as the same objects.

[0244] (N)

[0245] In the aforementioned embodiment of the handling system 100, banknote storage containers BL and BS with rotary locks are used as the objects to be handled and unlocked. However, other items may be used as the same objects. Furthermore, in this case, the unlocking system 300, the first robotic arm 350 with a robotic hand, etc., need to be replaced with a mechanism suitable for handling the items.

[0246] (O)

[0247] In the aforementioned embodiment of the handling system 100, the robot arm 400 with the second robot hand is an adsorption type second robot hand 600. However, such a robot hand can also be a type of robot hand that uses fingers to grasp objects.

[0248] (P)

[0249] In the aforementioned embodiment of the handling system 100, a second robotic arm 400 with a robotic hand is fixedly mounted. However, the second robotic arm 400 with a robotic hand can also be mounted on a transport vehicle and moved along a predetermined track. In this way, the loading positions EN of the banknote storage containers BL and BS on the first infeeder 210 and the unloading positions EX of the banknote storage containers BL and BS on the second outfeeder 270 can be freely configured, thereby increasing the layout flexibility of the handling system.

[0250] (Q)

[0251] In the transport processing system 100 of the aforementioned embodiment, the outgoing side posture changing device 260 and the second outgoing device 270 are disposed on the opposite side of the first incoming device 210 and the incoming side posture changing device 220. Figure 1 (both the upper and lower sides), but the outgoing side posture changing device 260 and the second outgoing device 270 can also be located on the same side as the first incoming device 210 and the incoming side posture changing device 220 (in the upper and lower sides). Figure 1 In this case, both are placed on the upper side. This requires the first puller 250 to be folded back and extended, but it reduces the amount of movement of the second robotic arm 400 with the robotic hand.

[0252] (R)

[0253] In the aforementioned embodiment of the handling system 100, after the lifting platform 261B of the article support device 261 is lowered to the lowest position, the control device 700 rotates the holding part 262A (and the lifting foot 261C) of the article holding rotating device 262 by 90° in a counterclockwise direction when viewed from the loading direction Dn via the cylinder (rotary cylinder) of the article holding rotating device 262. However, it may also rotate it by 90° in a clockwise direction when viewed from the loading direction Dn.

[0254] (S)

[0255] In the aforementioned embodiment, the movable frame 800 does not have side walls, but side walls may also be provided in the movable frame 800.

[0256] Furthermore, the above variations can be applied individually or in combination.

[0257] Explanation of reference numerals in the attached figures:

[0258] 100: Material Handling System

[0259] 200: Transporter System (First Transport Device)

[0260] 210: First inbound device (transfer mechanism, first transfer mechanism)

[0261] 220: Handling-side posture change device (posture control mechanism, first posture control mechanism)

[0262] 221B: Lifting platform (loading platform)

[0263] 221C: Lifting foot (raised part)

[0264] 221E: Cylinder unit (upper and lower drive units)

[0265] 222, 262: Item holding and rotating device (longitudinal rotating mechanism, longitudinal rotating device)

[0266] 222A: Control Unit

[0267] 222D: First cylinder (longitudinal rotating part)

[0268] 230: Second inbound device (transfer mechanism, second transfer mechanism)

[0269] 240: Rotary table (posture control mechanism, second posture control mechanism)

[0270] 250: First transfer device (transfer mechanism, third transfer mechanism)

[0271] 260: Handling side posture change device (posture control mechanism, third posture control mechanism)

[0272] 270: Second transfer device (transfer mechanism, fourth transfer mechanism)

[0273] 300: Unlock System (Processing Unit)

[0274] 400: Robotic arm with robotic hand (second handling device)

[0275] 600: Second Robotic Hand

[0276] 643: Adsorption pad unit (holding part)

[0277] 500: Robotic arm (hand-operated mechanism)

[0278] 700: Control device (control unit)

[0279] 800: Mobile rack (shelf)

[0280] 820: Shelf

[0281] BL: Banknote Storage Box (Items, Box)

[0282] BS: Banknote container (items, container)

[0283] EN: Moving-in location (first location)

[0284] Example: Move out of the location (second location)

[0285] HL: handle

[0286] HS: Handle

[0287] KL: Lock

[0288] KS: Lock

[0289] UL: Top Wall

[0290] US: Top Wall

[0291] OL: Bottom wall

[0292] OS: Bottom Wall

[0293] Wv: Guide plate (guide wall)

Claims

1. A material handling system, wherein, have: The first transport device has a transport mechanism for transporting a box having a lock on the front and a handle installed on the top wall, and a posture control mechanism for controlling the posture of the box. The posture control mechanism is used to change the posture of the box and transport the box. The second transport device performs a transporting action to move the box into the first position of the first transport device in a first posture with the top wall or bottom wall facing the transport direction of the first transport device; as well as The unlocking processing device performs unlocking processing on the lock of the box body, which is in a second posture with the handle facing upward and the front facing a specific direction, as determined by the posture control mechanism in the first handling device. The posture control mechanism performs a first posture control to change the posture of the housing from the first posture to the second posture. The first posture control includes longitudinal rotation control that causes the housing to rotate longitudinally.

2. A material handling system, wherein, have: The first transport device has a transport mechanism for transporting a box having a lock on the front and a handle installed on the top wall, and a posture control mechanism for controlling the posture of the box. The posture control mechanism is used to change the posture of the box and transport the box. The third transport device performs a transporting action to move the box out from the second position of the first transport device in a third posture with the top wall or bottom wall facing the transport direction of the first transport device; as well as The unlocking processing device performs unlocking processing on the lock of the box body, which is in a second posture with the handle facing upward and the front facing a specific direction, as determined by the posture control mechanism in the first handling device. The posture control mechanism performs a second posture control to change the box body from the second posture to the third posture. The second posture control includes longitudinal rotation control that causes the housing to rotate longitudinally.

3. A material handling system, wherein, have: The first transport device includes a transport mechanism for transporting a box having a lock on the front and a handle installed on the top wall, a first posture control mechanism for controlling the posture of the box, and a second posture control mechanism for controlling the posture of the box. The first posture control mechanism and the second posture control mechanism are used to change the posture of the box and transport the box from a first position to a second position. The fourth transport device performs a transporting action of moving the box into the first position of the first transport device in a first posture with the top wall or bottom wall facing the transporting direction of the first transport device, and a transporting action of moving the box out from the second position of the first transport device in a third posture with the top wall or bottom wall facing the transporting direction of the first transport device. as well as The unlocking device performs unlocking processing on the lock of the box body, which is in a second posture with the handle facing upward and the front facing a specific direction, as controlled by the first posture control mechanism in the first transport device. The first posture control mechanism performs a first posture control to change the posture of the box from the first posture to the second posture. The second posture control mechanism performs a second posture control to change the box body from the second posture to the third posture. The first posture control and the second posture control include longitudinal rotation control that causes the housing to rotate longitudinally.

4. The handling system according to claim 3, wherein, The fourth handling device has a robotic hand and a hand-moving mechanism that enables the robotic hand to move. The hand movement mechanism is fixed. The first position and the second position are within the range that the robot hand can grasp the box.

5. The handling system according to claim 3, wherein, The fourth handling device has a robotic hand and a hand-moving mechanism that enables the robotic hand to move. The handling system also includes a mechanism moving device that enables the hand moving mechanism to move between a position where the robot hand can hold the box in the first position and a position where the robot hand can hold the box in the second position.

6. The handling system according to claim 3, wherein, The container is placed on a shelf before being moved into the first handling device. During the loading action, the box placed on the shelf is moved to the first position of the first handling device in the first posture. During the removal action, the box is moved from the second position of the first handling device to the shelf in the third posture.

7. The handling system according to claim 6, wherein, The shelf has shelves and guide walls extending vertically from the surface of the shelves. The fourth transport device hand has a gripping part that moves linearly. The guide wall guides the holding part for linear motion.

8. The handling system according to claim 3, wherein, The first posture control mechanism includes: an eleventh posture control mechanism for changing the posture of the box from the first posture to an eleventh posture in which the handle is on the upper side; and a twelfth posture control mechanism for rotating the box along a horizontal plane and changing the posture of the box from the eleventh posture to a twelfth posture in which the front faces a specific direction. The first conveying device further comprises: a first conveying mechanism including the first position; a second conveying mechanism disposed downstream of the eleventh posture control mechanism in the conveying direction; a third conveying mechanism disposed downstream of the twelfth posture control mechanism in the conveying direction; and a fourth conveying mechanism disposed downstream of the second posture control mechanism in the conveying direction and including the second position. The eleventh posture control mechanism is located downstream of the first conveying mechanism in the conveying direction. The twelfth posture control mechanism is located downstream of the second conveying mechanism in the conveying direction. The second posture control mechanism is located downstream of the third conveying mechanism in the conveying direction.

9. The handling system according to claim 8, wherein, The first posture control mechanism and the second posture control mechanism are longitudinal rotation mechanisms that hold the box and rotate the box longitudinally.

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