Goods handling system

Abstract

The objective of this invention is to provide an item handling system that enables efficient handling operations even when multiple items are arranged and placed along the depth of a shelf, and the number of items placed at each shelf location varies. The item handling system (100) of this invention includes a handling device (400), a distance measuring device (690), and a management unit (900). The handling device is capable of handling items (BL, BS). The distance measuring device measures the distance from a predetermined location to an object in a predetermined direction. The management unit manages the presence or absence of items based on information about the distance to the object measured by the distance measuring device located at the predetermined position.

Description

Technical Field

[0001] This invention relates to an item handling system. Background Technology

[0002] In the past, "automated warehouses equipped with multiple shelves for storing goods and a goods handling device (e.g., a stacking crane) for transferring goods to the shelves" have been proposed (see, for example, Japanese Patent Application Publication No. 2003-026306). In such automated warehouses, when transferring goods, the lifting platform (transfer body) of the stacking crane is stopped in front of the target shelf, and the transfer device on the lifting platform begins the receiving or delivery of goods.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2003-026306 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] However, it is conceivable that multiple items are arranged and placed along the depth of the shelf. In such a situation, when the number of items placed in each shelf position is different, and the item handling device is repeatedly controlled, the idling time of the item handling device is high, and the operating efficiency of the item handling device becomes low.

[0008] The objective of this invention is to provide an item handling system that can efficiently perform handling operations even when multiple items are arranged and placed along the depth of a shelf, and the number of items placed at each shelf position is different.

[0009] means for solving problems

[0010] The first aspect of the present invention relates to an article handling system comprising a handling device, a distance measuring device, and a management device. The handling device is capable of handling articles. The distance measuring device measures the distance from a predetermined position to an object in a predetermined direction. The management unit manages the presence or absence of articles based on information about the distance to the object measured by the distance measuring device located at the predetermined position. Furthermore, in the description of the present invention, the terms "article" and "object" are used; "article" refers to the object to be handled, and "object" refers to all objects including the object to be handled (e.g., walls, doors, etc.).

[0011] As described above, in this goods handling system, the management department manages the presence or absence of goods based on information about the distance to the object measured by a distance measuring device located at a designated position. Therefore, this goods handling system can prevent unnecessary empty movements by the handling device. Consequently, this goods handling system enables efficient goods handling operations.

[0012] The second aspect of the present invention relates to an article handling system that is the same as the first aspect, wherein the handling device is a gripping device. The gripping device is capable of gripping articles. Furthermore, a distance measuring device is mounted on the handling device.

[0013] As described above, in this goods handling system, a distance measuring device is installed on the handling device. Therefore, in this goods handling system, the distance measuring device can move along with the handling device. Thus, in this goods handling system, it is not necessary to install distance measuring devices at each shelf location, thereby reducing the construction cost of the goods handling system.

[0014] The third aspect of the present invention relates to an article handling system that is the same as the article handling system of the first or second aspect, wherein the management unit has a storage unit. The management unit stores information indicating that no article is present in the storage unit when the distance exceeds a threshold.

[0015] As described above, in this goods handling system, the management department stores information indicating the absence of an item in the storage department when the distance exceeds a threshold. Therefore, this goods handling system can accurately determine the presence or absence of items.

[0016] The fourth aspect of the present invention relates to an item handling system, which is the same as the item handling system of the third aspect. The item handling system is an item removal system that removes items placed on a shelf having at least one column and at least one layer. Furthermore, the item handling system also includes a control unit. This control unit can also be configured as the same device as the management unit. When the control unit associates information indicating a first shelf position with information indicating no items in the management unit and stores this information in a storage unit, it moves the handling device to a predetermined position corresponding to a second shelf position. Furthermore, the second shelf position is different from the first shelf position.

[0017] As described above, in this goods handling system, when the information indicating the first shelf position is associated with information indicating no items is stored in the storage unit within the management unit, the control unit moves the handling device to a predetermined position corresponding to the second shelf position. Therefore, in this goods handling system, the operation of removing items from the shelves can be performed efficiently.

[0018] The fifth aspect of the present invention relates to an article handling system, which is the same as the article handling system of the third aspect. The article handling system is an article handling system that moves articles into a shelf having at least one column and at least one layer. Information about the dimensions of the articles is stored in a storage unit. Furthermore, the article handling system also includes a control unit. This control unit may be configured as the same device as the management unit. The control unit associates information indicating the first shelf position with numerical information based on the article dimensions, stored in the storage unit, and moves the handling device to a predetermined position corresponding to a second shelf position when the numerical information stored in the storage unit satisfies specific conditions. Furthermore, the second shelf position is different from the first shelf position.

[0019] As described above, in this goods handling system, when the information indicating the first shelf position is associated with information about a dimension shorter than the item's dimensions and stored in the storage unit within the management unit, the control unit moves the handling device to a predetermined position corresponding to the second shelf position. Therefore, this goods handling system enables efficient handling of items being moved onto the shelves. Attached Figure Description

[0020] Figure 1 This is a schematic diagram showing the overall structure of the conveying and processing system according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic block diagram illustrating the control system of the conveying and processing system according to an embodiment of the present invention.

[0022] Figure 3 This is a perspective view of a banknote container, taken from the upper right side of the front side, as an example of the object to be transported and unlocked by the transport processing system according to an embodiment of the present invention.

[0023] Figure 4 This is a perspective view of a banknote container, taken from the lower left side of the reverse side, as an example of the object to be transported and unlocked by the transport processing system according to an embodiment of the present invention.

[0024] Figure 5 This is a perspective view of a banknote holding container, viewed from the upper right side of the front side, as another example of the object to be transported and unlocked by the transport processing system according to an embodiment of the present invention.

[0025] Figure 6 This is a perspective view of a banknote holding container, viewed from the lower left side of the reverse side, as another example of the object to be transported and unlocked by the transport processing system according to an embodiment of the present invention.

[0026] Figure 7This is a perspective view of the first inbound conveyor and the inbound-side attitude change device of the conveying processing system constituting the embodiment of the present invention, viewed from the upper right side of the inbound-side attitude change device.

[0027] Figure 8 This is a rear view of the loading-side attitude change device of the conveying processing system constituting an embodiment of the present invention.

[0028] Figure 9 This is a perspective view of the item support device of the conveying and handling system according to an embodiment of the present invention, which is a conveying side posture change device.

[0029] Figure 10 This is a perspective view of the article-holding rotation device of the conveying processing system constituting an embodiment of the present invention, which is a conveying side posture change device.

[0030] Figure 11 This is a rear view of the loading-side posture changing device of the conveying processing system according to an embodiment of the present invention, showing the appearance of the slider of the article holding and rotating device moving forward while the holding part holds the banknote container.

[0031] Figure 12 This is a perspective view of the outgoing side attitude change device and the second outgoing conveyor of the conveying processing system constituting the embodiment of the present invention, viewed from the upper right side of the second outgoing conveyor.

[0032] Figure 13 This is a perspective view of the item support device of the outgoing side posture changing device of the conveying processing system according to the embodiments of the present invention.

[0033] Figure 14 This is a top view of a robotic arm with a robotic hand according to an embodiment of the present invention.

[0034] Figure 15 This is a perspective view of the robot hand according to the embodiment of the present invention, viewed from the upper left side of the frontal view.

[0035] Figure 16 This is a perspective view of the robot hand according to the embodiment of the present invention, viewed from the upper right side of the rear side.

[0036] Figure 17 This is a perspective view of the robot hand according to the embodiment of the present invention, viewed from the lower right side of the front view.

[0037] Figure 18 This is a left-side view of the robot hand according to an embodiment of the present invention.

[0038] Figure 19This is a front view of the robot hand according to an embodiment of the present invention.

[0039] Figure 20 yes Figure 19 Section II view.

[0040] Figure 21 yes Figure 19 Section II-II view.

[0041] Figure 22 This is a left-side view of the multi-joint telescopic linkage mechanism in the hand of the robot according to an embodiment of the present invention in the state of extension.

[0042] Figure 23 This is a left-side view of the fully extended multi-joint telescopic linkage mechanism in the robot hand according to an embodiment of the present invention.

[0043] Figure 24 This is a perspective view of the detachable disc spring unit according to an embodiment of the present invention.

[0044] Figure 25 This is a front view of a mobile shelf that holds banknote containers, which are the objects to be transported by a robotic arm with a robotic hand, as described in an embodiment of the present invention.

[0045] Figure 26 This is a side view of a mobile shelf on which items are placed, which are the objects to be transported by a robotic arm with a robotic hand, as described in an embodiment of the present invention.

[0046] Figure 27 This is a schematic diagram illustrating the dimensional data table involved in the embodiments of the present invention.

[0047] Figure 28 This is a schematic diagram illustrating a shelf data sheet according to an embodiment of the present invention. Additionally, this figure shows the initial state before the process of removing the banknote holding container placed on the mobile shelf is performed.

[0048] Figure 29 This is a schematic diagram illustrating a shelf data sheet according to an embodiment of the present invention. Additionally, this figure shows a state where banknote containers are removed from the mobile shelf, and no banknote containers are placed at a shelf location on a portion of the mobile shelf.

[0049] Figure 30 This is a schematic diagram illustrating a shelf data sheet according to an embodiment of the present invention. Additionally, this figure shows the process of moving a banknote container to a portion of the mobile shelf location. Detailed Implementation

[0050] <Structure of the conveying and processing system according to the embodiments of the present invention>

[0051] like Figure 1 As shown, the conveying and processing system 100 involved in the embodiments of the present invention mainly consists of a conveyor system 200, an unlocking system 300, a second robotic arm 400 with a robotic hand, and a control device 700 (see reference). Figure 2 ) and management device 900 (refer to Figure 2 It consists of a conveyor system 200, an unlocking system 300, a second robotic arm 400 with a robotic hand, and a management device 900, as shown in the figure. Figure 2 It is shown to be in communication connection with control device 700. Furthermore, in Figure 2 The figure 350 indicates the first robotic arm with a robotic hand used for banknote dispensing, which will be described later.

[0052] Additionally, in this conveying and processing system 100, a second robotic arm 400 equipped with a robotic hand handles the banknote containers BL and BS (see reference). Figures 3-6 From the mobile shelving 800 (reference) Figure 1 , Figure 25 as well as Figure 26 ) Moved into the conveyor system 200 (refer to) Figure 1 Then, the banknote containers BL and BS are unlocked by the unlocking system 300, and banknotes are removed from the banknote containers BL and BS. The empty banknote containers BL and BS are then transported from the conveyor system 200 to the mobile shelf 800 by the second robotic arm 400 equipped with a robotic hand. The following description, after explaining the structure of the banknote containers BL and BS, which are the objects of processing, will detail the components of the conveying and processing system 100.

[0053] The object of the conveying and unlocking processing of the conveying and unlocking system 100 according to the embodiments of the present invention, namely the banknote holding container, exists in two types. One of them is... Figure 3 and Figure 4 The banknote container is indicated by the symbol BL in the attached diagram; the other is... Figure 5 and Figure 6 The banknote holders are denoted by BS in the attached diagram. Furthermore, these banknote holders BL and BS are essentially the same in structure, with major differences only in size, lock position, and the presence or absence of a protrusion PT (see reference). Figure 5 and Figure 6 Therefore, only the banknote container BL will be described here. For the banknote container BS, please refer to... Figure 5 and Figure 6The "S" in the attached diagram should be replaced with "L" for illustrative purposes. Furthermore, the width and depth dimensions of the banknote container BL are approximately the same as those of the banknote container BS, but the BL is taller. Additionally, the banknote container BS has a protrusion PT on its side, but the banknote container BL does not have a protrusion.

[0054] like Figure 3 and Figure 4 As shown, the banknote 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 rotatably mounted on the front end of the top wall UL of the frame CL. 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 container BS, the lock KS is located at the lower left corner of the front door DS). The lock opens or closes when the key is inserted into the lock KL and turned. Furthermore, in an embodiment of the present invention, an IC tag storing data related to the banknote container BL is embedded on the back side of the back wall AL in the banknote container BL. This IC tag stores, for example, various data related to the banknote container BL, such as the type of banknote container BL, and identification data of the device on which it is installed (e.g., a coin-operated game machine).

[0055] 1. Conveyor system

[0056] like Figure 1 As shown, the conveyor system 200, viewed from above, is roughly U-shaped and mainly consists of a first infeed conveyor 210, an infeed-side attitude change device 220, a second infeed conveyor 230, a turntable (rotary table) 240, a first outfeed conveyor 250, an outfeed-side attitude change device 260, and a second outfeed conveyor 270. These components will be described in detail below.

[0057] (1) First inbound conveyor

[0058] The first infeed conveyor 210 is an existing automated conveyor, such as... Figure 1 and Figure 7 As shown, it extends linearly from the mounting side of the second robotic arm 400 with a robotic hand toward the mounting side of the loading-side attitude change device 220. Furthermore, as... Figure 1 and Figure 7As shown, the portion of the first infeed conveyor 210 with its second robotic arm equipped with a robotic hand positioned at the infeeding position EN of the banknote holding containers BL and BS. Figure 1 As shown, the loading position EN is housed within the grasping range of the second robotic arm 400 equipped with a robotic hand. Additionally, as... Figure 2 As shown, the first infeed conveyor 210 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the first infeed conveyor 210.

[0059] (2) Loading-in side attitude change device

[0060] 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 disposed above the article-pushing device 223, and the article-holding rotating device 222 and the article-pushing device 223 are disposed near the article-supporting device 221 in a manner opposite to the article-supporting device 221. Hereinafter, after a detailed description of these constituent elements, their operation will be described in detail.

[0061] (2-1) Article support device

[0062] The article support device 221 has the function of receiving and supporting the banknote holding containers BL and BS conveyed from the first conveyor 210, and also has the function of realizing a longitudinal rotation action based on the article holding rotation device 222 when the banknote holding containers BL and BS are rotated longitudinally by 90° by the article holding rotation device 222. Figure 9 As shown, the item support device 221 mainly consists of a base section TB, a column section TP, a front column plate section Pf, a rear column plate section Pr, a cross passage section Ac, a guide side wall Wg, an L-shaped wall Ws, a lifting platform 221B, a lifting leg 221C, a transfer roller unit 221D, and a cylinder unit 221E. These structures will be described in detail below.

[0063] like Figure 9 As shown, the pedestal section TB is a roughly rectangular thick plate component, such as... Figure 7 As shown, it serves to fix the column TP to the base BA.

[0064] like Figure 9 As shown, the column TP is a roughly rectangular thick plate member that extends upwards from the pedestal TB. Figure 9 As shown, the column TP supports the cylinder unit 221E.

[0065] 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.

[0066] The cross passage section Ac is located on the left side of the lifting platform 221B (on the side of the second inbound conveyor) when viewed from above (see reference). Figure 7 ),like Figure 9 As shown, it is supported by the front column plate Pf and the rear column plate Pr.

[0067] The guide side wall Wg is a flat wall used to guide the banknote containers BL and BS, which are conveyed by the first conveyor 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 containers BL and BS, which are conveyed by the first conveyor 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 stop, located on the rear side of the lifting platform 221B. This abutment wall portion Ls serves to prevent the banknote containers BL and BS, which are conveyed by the first conveyor 210, from moving further inward.

[0068] 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 via the platform connecting section. Additionally, as... Figure 9 As shown, slits are formed on the lifting platform 221B 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 leg Bf and the rear leg Br of the lifting leg 221C freely slide through these two slits. The front platform section Yf is a generally rectangular thick plate portion. A roller RR is rotatably installed on each of the left and right sides of the front platform section Yf. These rollers RR also rotate freely along the feeding direction Dn of the banknote holding containers BL and BS. The central platform section Yc is a generally U-shaped thick plate portion when viewed from above, as... Figure 9 As shown, a cut Rc is formed on the right side. Furthermore, this cut Rc is formed such that when the gripping part 222A of the article-holding rotating device 222 is in a longitudinal posture and its claw CR slides downwards, the claw CR does not collide with the lifting platform 221B. Additionally, as... Figure 9As shown, a roller RR is rotatably mounted at the positions before and after the cut Rc of the central platform Yc, and three roller RRs are rotatably mounted at the position on the opposite side (left side) of the cut Rc. Furthermore, these roller RRs rotate freely along the feeding direction Dn of the banknote holding 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 positions of the rear platform Yr. Furthermore, these roller RRs rotate freely along the feeding direction Dn of the banknote holding containers BL and BS. And, as... Figure 7 As shown, the lifting platform 221B is arranged with the cutout Rc facing the article-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 via the first cylinder. Furthermore, the highest raised position of the lifting platform 221B is... Figure 9 The lowest descending position is the position where the banknote containers BL and BS do not collide with the lifting platform 221B when they are rotated by the article holding rotating device 222.

[0069] The lifting leg 221C not only serves to lift the banknote container BS so that its central part in the depth direction is held by the gripping part 222A of the article-holding rotating device 222, but also serves to smoothly deliver the banknote containers BL and BS, which have undergone attitude changes through the article-holding rotating device 222, onto the track of the delivery roller unit 221D. Figure 9 As shown, it is mainly formed by the front leg Bf, the rear leg Br, and the leg connecting part (not shown). Figure 9 As shown, the front leg Bf is fitted into the slit on the front side of the lifting platform 221B. (As indicated...) Figure 9 As shown, the rear leg Br is disposed in a slit on the rear side of the lifting platform 221B. The leg connecting part is a beam extending in the front-rear direction, connecting the front leg Bf and the rear leg Br on its rear side. Furthermore, this leg connecting part is disposed in a manner that does not overlap with the platform connecting part of the lifting platform 221B. Moreover, the lifting leg 221C is mounted on the second cylinder of the cylinder unit 221E and can be raised and lowered by the second cylinder. Furthermore, the highest rising position of the lifting leg 221C is the height position at which the holding part 222A of the article holding and rotating device 222 can hold the central part of the banknote holding container BS with a lower height in the depth direction, and it is a position slightly higher than the transfer roller unit 221D, and the lowest falling position is a position lower than the top surface of the lifting platform 221B.

[0070] The transfer roller unit 221D is used to easily deliver the banknote holding containers BL and BS, whose posture has been changed by the article-holding rotation device 222, to the second transfer conveyor 230, such as... Figure 9 As shown, it is installed on both ribs of the intersection passage Ac.

[0071] 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 leg 221C. Furthermore, the first and second cylinders of this cylinder unit 221E are operated by airflow and air pressure generated using a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled to open and close by the control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0072] (2-2) Object holding and rotating device

[0073] 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 unit 222E, and a base 222F. These structures will be described in detail below.

[0074] like Figure 10 As shown, the gripping part 222A mainly consists of a pair of claw parts CR, a slide rail part SR, and a third cylinder. Figure 10 As shown, a pair of claws CR are slidably and freely mounted on the left and right sides of the slide rail SR. Furthermore, these claws CR extend or narrow along the slide rail SR via a third cylinder unit. This third cylinder unit, mounted on the slide rail SR, is actuated by airflow and air pressure generated using a solenoid valve (not shown) and a speed regulating valve (not shown) controlled by the control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0075] The rotating shaft 222B is mounted on the back side of the third cylinder unit of the gripping part 222A, and is rotated 90° clockwise or 90° counterclockwise by the first cylinder 222D. That is, when the rotating shaft 222B is rotated by the first cylinder 222D, the gripping part 222A also rotates accordingly.

[0076] The slider 222C is mounted on the back side of the first cylinder 222D, and can slide the gripping part 222A, the first cylinder 222D, and the rotating shaft part 222B in the left-right direction (towards the article support device 221) via the second cylinder unit 222E. Furthermore, the foremost position of the slider 222C is where the gripping part 222A can grip the banknote holding containers BL and BS, and the rearmost position is where the banknote holding containers BL and BS delivered to the article support device 221 do not collide with the gripping part 222A.

[0077] 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 the airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown) controlled by the control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0078] like Figure 10 As shown, the second cylinder unit 222E is fixed to 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 operates by using the airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown) controlled by the control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0079] (2-3) Item ejection device

[0080] 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 structures will be described in detail below.

[0081] The piston rod Rd moves freely within and outside the cylinder 223A. Furthermore, an abutment plate HP is mounted at the front end of the piston rod Rd. In standby mode, this abutment plate HP is positioned rearward from the gripping portion 222A of the article-holding rotation device 222 (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 the distance required to send the banknote holding containers BL and BS to the second infeed conveyor 230 via the outfeed roller unit 221D.

[0082] Cylinder 223A is located behind the abutment plate HP. As described above, cylinder 223A causes piston rod Rd to move in and out. Furthermore, cylinder 223A is actuated by the airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown) controlled by the control device 700. The solenoid valve and the speed regulating valve are connected to the compressor.

[0083] (2-4) Operation instructions for the loading-side attitude change device

[0084] The following describes in detail the control method by which the banknote containers BL and BS are rotated longitudinally by the loading-side attitude change device 220. Furthermore, in the loading-side attitude change device 220, the identification of the banknote containers BL and BS is based on image data obtained from a camera (not shown) mounted above the item support device 221. Additionally, the top walls UL and US of the banknote containers BL and BS, or the bottom walls OL and OS, are facing forward, is determined based on the image data obtained from the camera.

[0085] (2-4-1) Control method for longitudinal rotation of banknote holding container BL

[0086] The inbound attitude change device 220 was initially developed Figure 8 and Figure 9 The state shown is as follows. In this state, the banknote container BL is brought in, and when the banknote container BL is placed on the lifting platform 221B of the article support device 221, this state is detected by an infrared sensor (not shown) located near the L-shaped wall Ws of the article support device 221, and the detection signal is sent to the control device 700. Then, when the control device 700 receives the detection signal, it raises the lifting platform 221B of the article support device 221 to the highest raised position. Next, after the control device 700 moves the slider 222C of the article 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. Next, the control device 700 rotates the first cylinder 222D of the item holding rotating device 222 by rotating the holding part 222A of the item holding rotating device 222 clockwise or counterclockwise by 90°. Furthermore, when the bottom wall OL of the banknote container BL is facing forward (i.e., the loading direction Dn), the first cylinder 222D rotates the holding part 222A counterclockwise (towards the top wall UL), and when the top wall UL of the banknote container BL is facing forward, the first cylinder 222D rotates the holding part 222A clockwise (towards the top wall UL). Next, the control device 700 raises the lifting platform 221B of the article support device 221 to its highest position and raises the lifting leg 221C to its highest position. At this time, the lifting leg 221C abuts against the bottom wall OL of the banknote container BL, thus supporting the banknote container BL. Then, after the control device 700 releases the banknote container BL from the gripping part 222A, it moves the slider 222C of the article gripping rotation device 222 backward. Then, the control device 700 pushes the banknote container BL out of the lifting platform 221B via the cylinder 223A of the article ejection device 223, and moves it to the second infeed conveyor 230 via the transfer roller unit 221D.

[0087] (2-4-2) Control method for longitudinal rotation of banknote holding container BS

[0088] The processing up to the point where the control device 700 receives the detection signal from the infrared sensor is the same as described in section (2-4-1), therefore its description is omitted. When the control device 700 receives the detection signal from the infrared sensor, it raises the lifting platform 221B and lifting leg 221C of the article support device 221 to their respective highest raised positions. Next, after advancing the slider 222C of the article holding rotating device 222, the control device 700 causes the holding part 222A of the article holding rotating device 222 to hold the banknote receiving container BS. Next, the control device 700 lowers the lifting platform 221B and lifting leg 221C of the article support device 221 to their lowest lowered positions. Next, the control device 700 rotates the holding part 222A of the article holding rotating device 222 by 90° clockwise or 90° counterclockwise via the first cylinder 222D of the article holding rotating device 222. Furthermore, when the bottom wall OS of the banknote container BS faces forward (i.e., 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 container BS faces 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 raises the lifting leg 221C to its highest position. At this time, the lifting leg 221C abuts against the bottom wall OS of the banknote container, thus supporting the banknote container. The subsequent operations are the same as described in item (2-4-1), so their description is omitted.

[0089] (3) Second infeed conveyor

[0090] The second infeed conveyor 230 is an existing automated conveyor, such as... Figure 1 As shown, it extends linearly from the mounting side of the loading-side attitude change device 220 toward the mounting side of the turntable 240. Furthermore, as... Figure 1 As shown, in a top view, the conveying direction of the second infeed conveyor 230 is orthogonal to the infeeding direction Dn of the first infeed conveyor 210. Furthermore, as... Figure 2 As shown, the second infeed conveyor 230 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the second infeed conveyor 230.

[0091] (4) Turntable

[0092] Turntable 240 is an existing turntable that allows the load to rotate along a horizontal plane. Additionally, as... Figure 2 As shown, the turntable 240 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source and the rotation angle of the turntable 240.

[0093] (5) First outgoing conveyor

[0094] The first outgoing conveyor 250 is an existing automated conveyor, such as... Figure 1 As shown, it extends linearly from the mounting side of the turntable 240 toward the mounting side of the take-out side attitude change device 260. Furthermore, as... Figure 1 As shown, in top view, the outgoing direction of the first outgoing conveyor 250 is the same as the incoming direction of the second incoming conveyor 230, and orthogonal to the incoming direction Dn of the first incoming conveyor 210. Furthermore, as... Figure 2 As shown, the first conveyor 250 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the first conveyor 250.

[0095] (6) Move-out side attitude change device

[0096] like Figure 12 As shown, the loading-out 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 disposed near the item support device 261, opposite to it, and the item pushing device 263 is disposed behind the item support device 261. Additionally, the item introducing device 264 is disposed on the item support device 261. The operation of these components will be described in detail below.

[0097] (6-1) Article support device

[0098] The article support device 261 has the function of receiving and supporting the banknote holding containers BL and BS conveyed from the first conveyor 250, and also has the function of realizing a longitudinal rotation action based on the article holding rotation device 262 when the banknote holding containers BL and BS are rotated longitudinally by 90° by the article 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, a lifting leg 261C, a conveying roller unit 261D, and a cylinder unit 261E. These structures will be described in detail below.

[0099] like Figure 13 As shown, the pedestal part 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.

[0100] like Figure 13As shown, the column QP is a roughly rectangular thick plate member that extends upwards from the pedestal QB. Figure 13 As shown, this column supports the cylinder unit 261E via QP.

[0101] like Figure 12 and Figure 13 As shown, the front column plate portion Rf and the rear column plate portion Rr are roughly 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 holding containers BL and BS, which are conveyed by the first conveyor 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.

[0102] The cross passage section Ic is located on the right side of the lifting platform 261B (on the side of the first outgoing conveyor) 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 arranged before and after the cross passage section Ic, and an item introduction device 264 is arranged in the center of it.

[0103] 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, slits are formed on the lifting platform 261B 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 leg Nl and right leg Nr of the lifting leg 261C freely slide through these two slits. The left platform Zl is a thick plate portion that is approximately rectangular with a central cut Rc. This cut 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 downward, the claw does not collide with the lifting platform 261B. Furthermore, a roller RR is rotatably provided at both the front and rear positions of the left platform Zl. These rollers RR rotate freely along the loading direction Dn of the banknote receiving containers BL and BS. The central platform Zc is a thick plate portion that is approximately rectangular when viewed from above. Additionally, as... Figure 13As shown, a roller RR is rotatably mounted at both the front and rear positions of the central platform Zc. Furthermore, these roller RRs rotate freely along the feeding direction Dn of the banknote containers BL and BS. The right platform Zr is a generally rectangular, thick plate section. Also, a roller RR is rotatably mounted at both the front and rear positions of the right platform Zr. Furthermore, these roller RRs rotate freely along the feeding direction Dn of the banknote containers BL and BS. And, as... Figure 13 As shown, the lifting platform 261B is arranged with the cutout Rc facing the component-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 the first cylinder. Furthermore, the highest rising position of the lifting platform 261B is... Figure 13 The position shown is the lowest descending position, which is the position where the banknote containers BL and BS do not collide with the lifting platform 261B when the banknote containers BL and BS are rotated by the article holding rotating device 262.

[0104] The lifting leg 261C not only serves to lift the banknote container BS so that its central part in the depth direction is held by the gripping part 262A of the article-holding rotating device 262, but also serves to smoothly deliver the banknote containers BL and BS, which have undergone attitude changes through the article-holding rotating device 222, onto the track of the second delivery conveyor 270. Figure 13 As shown, it is mainly formed by the left leg Nl, the right leg Nr, and the leg connecting parts (not shown). Figure 13 As shown, the left leg Nl is positioned within the slit on the left side of the lifting platform 261B. Figure 13 As shown, the right leg Nr is disposed in the slit on the right side of the lifting platform 261B. The leg connecting part is a beam extending in the left-right direction, connecting the left leg Nl and the right leg Nr on their back side. Furthermore, this leg connecting part is disposed in a manner that does not overlap with the platform connecting part of the lifting platform 261B. Moreover, the lifting leg 261C is mounted on the second cylinder of the cylinder unit 261E and can be raised and lowered by the second cylinder. Furthermore, the highest rising position of the lifting leg 261C is the height position at which the holding part 222A of the article holding and rotating device 222 can hold the central part of the banknote holding container BS with a lower height in the depth direction, and it is a position slightly higher than the loading roller unit 261D, and the lowest falling position is a position lower than the top surface of the lifting platform 261B.

[0105] The feed roller unit 261D is used to easily transfer the banknote holding containers BL and BS from the first output conveyor 250 to the lifting platform 261B, such as... Figure 13 As shown, it is arranged in front of and behind (two ribs) of the cross passage section Ic.

[0106] 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 leg 261C. Furthermore, the first and second cylinders of cylinder unit 261E are operated by airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled to open and close by the control device 700. The solenoid valve and speed regulating valve are connected to the compressor.

[0107] (6-2) Object holding and rotating device

[0108] The item holding rotation device 262 is the same as the item holding rotation device 222 of the loading side posture change device 220, so its description is omitted here.

[0109] (6-3) Item ejection device

[0110] like Figure 12 As shown, the article ejection device 263 mainly consists of a piston 263A and a cylinder unit (not shown). These structures will be described in detail below.

[0111] Piston 263A moves freely within the cylinder unit. Furthermore, an abutment plate HP is mounted at the front end of piston 263A. When in standby mode, the abutment plate HP of piston 263A is positioned at the rear of the article support device 261 (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 the distance required to deliver the banknote containers BL and BS to the second conveyor 270.

[0112] The cylinder unit is located behind the piston 263A. As described above, this cylinder unit causes the piston 263A to move in and out. Furthermore, this cylinder unit operates by using the airflow and air pressure generated by a solenoid valve (not shown) and a speed regulating valve (not shown), which are controlled to open and close by the control device 700. The solenoid valve and the speed regulating valve are connected to the compressor.

[0113] (6-4) Item introduction device

[0114] like Figure 13 As shown, the article-introducing device 264 mainly consists of an introduction component 264A, a rotating 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 13 As shown, the infeed member 264A is rotatably supported by a bearing. 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.

[0115] (6-5) Operation instructions for removing the side attitude change device

[0116] The following describes in detail the control method by which the banknote holding containers BL and BS are rotated longitudinally by the outgoing side attitude change device 260. Furthermore, in the outgoing side attitude change device 260, the identification of the banknote holding containers BL and BS is based on image data obtained from a camera (not shown) mounted above the item support device 261. Additionally, the top walls UL and US of the banknote holding containers BL and BS, or the bottom walls OL and OS, are facing forward, is determined based on the image data obtained from the camera.

[0117] (6-5-1) Control method for longitudinal rotation of banknote holding container BL

[0118] The side attitude change device 260 was initially moved out. Figure 12 and Figure 13The banknote container BL is shown in the diagram. In this state, the banknote container BL is brought in, and when the banknote container BL is placed on the lifting platform 261B of the article support device 261, this state is detected by an infrared sensor (not shown) located near the rear column plate Rr of the article support device 261, and the detection signal is sent to the control device 700. Then, when the control device 700 receives the detection signal, it activates the article introduction device 264, and the banknote container BL is fully placed on the lifting platform 261B by the introduction member 264A. Next, the control device 700 raises the lifting platform 261B of the article support device 261 to its highest position. Next, after the slider of the article holding rotating device 262 is advanced, the control device 700 causes the holding part 262A of the article holding rotating device 262 to hold the banknote container BL. Next, the control device 700 lowers the lifting platform 261B of the article support device 261 to its lowest position. Next, the control device 700 rotates the gripping part 262A of the item gripping rotating device 262 90° counterclockwise from the loading direction Dn by using the cylinder (rotary cylinder) of the item gripping rotating device 262. Furthermore, when the banknote container BL rotates 90° clockwise, the banknote container BL is positioned with its bottom wall OL facing forward (loading direction Dx), and when the banknote container BL rotates 90° counterclockwise, the banknote 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 (e.g., based on the loading pattern of the banknote container BL onto the moving shelf 800). Next, the control device 700 raises the lifting platform 261B of the item support device 261 to its highest lifting position and raises the lifting leg 261C to its highest lifting position. At this time, the lifting leg 261C abuts against the back wall AL of the banknote holding container BL, thus supporting the banknote holding container BL. Next, after the control device 700 releases the banknote holding container BL from the gripping part 262A, it causes the slider of the article gripping rotation device 262 to retract. Then, the control device 700 pushes the banknote holding container BL out of the lifting platform 261B and moves it to the second delivery conveyor 270 via the piston 263A of the article ejection device 263.

[0119] (6-5-2) Control method for longitudinal rotation of banknote holding container BS

[0120] The process until the control device 700 activates the article-introducing device 264, and the banknote container is fully placed on the lifting platform 261B via the introduction member 264A, is the same as described in section (6-5-1), so its description is omitted. When the banknote container BS is fully placed on the lifting platform 261B via the introduction member 264A, the control device 700 raises the lifting leg 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 causes the holding part 262A of the article-holding rotating device 262 to hold the banknote container. Then, the control device 700 lowers the lifting platform 261B and the lifting leg 261C of the article support device 261 to their lowest position. Next, the control device 700 rotates the gripping part 262A of the article gripping rotating device 262 90° counterclockwise from the loading direction Dn by means of the rotating part of the article gripping rotating device 262. Then, the control device 700 raises the lifting platform 261B of the article support device 261 to its highest position and raises the lifting leg 261C to its highest position. At this time, the lifting leg 261C abuts against the back wall AS of the banknote holding container BS, thus supporting the banknote holding container BS. Subsequent operations are the same as described in item (6-5-1), so their description is omitted.

[0121] (7) Second outgoing conveyor

[0122] The second outgoing conveyor 270 is an existing automated conveyor, such as... Figure 1 and Figure 12 As shown, it extends linearly from the mounting side of the removal-side attitude change device 260 toward 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 conveyor 270 with the robotic arm equipped with a robotic hand is the delivery position EX for the banknote containers BL and BS. Figure 1 As shown, the removal position EX is housed within the grasping range of the second robotic arm 400 equipped with a robotic hand. Additionally, as... Figure 1 As shown, in top view, the outgoing direction Dx of the second outgoing conveyor 270 is orthogonal to the conveying directions of the second incoming conveyor 230 and the first outgoing conveyor 250, and parallel to the incoming direction Dn of the first incoming conveyor 210. Furthermore, as... Figure 2 As shown, the second conveyor 270 is communicatively connected to the control device 700. Furthermore, the control device 700 controls the output of the drive source of the second conveyor 270.

[0123] 2. Unlocking system

[0124] 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 components will be described in detail below.

[0125] (1) Robotic arm with a key

[0126] The key-equipped robotic arm 310 has a key mounted on its front end. The type of robotic arm used is not particularly limited; for example, it could be an existing six-axis robotic arm. Furthermore, the front end of the robotic arm is a rotatable structure, allowing the key to be rotated. In addition, the key-equipped robotic arm 310 not only opens the locks KL and KS of the banknote containers BL and BS and lifts the front doors DL and DS to open them, but also subsequently closes the front doors DL and DS of the banknote containers BL and BS and locks the locks KL and KS.

[0127] (2) Camera

[0128] A camera 320 is fixed near the key-equipped robotic arm 310. The camera 320 captures images of the banknote containers BL and BS according to instructions from the control device 700, generating image data, and then sends this image data to the control device 700. Furthermore, the control device 700 analyzes the image data to determine the type of the banknote containers BL and BS.

[0129] (3) Item Detector

[0130] An item detector 330 is fixed near the key-equipped robotic arm 310. Following instructions from the control device 700, the item detector 330 communicates with the IC tags of the banknote containers BL and BS via RFID, 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 containers BL and BS. Based on this data and the image data from the camera 320, the control device 700 acquires data on the type and size of the banknote 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 robotic arm 310 to unlock the banknote containers BL and BS. Furthermore, if the control device 700 determines that locks KL and KS are not present in the banknote containers BL and BS in the image data, it controls the turntable 240 to change the orientation of the banknote containers BL and BS.

[0131] (4) The first robotic arm with a robotic hand

[0132] like Figure 1 As shown, the first robotic arm 350 with a robotic hand according to the embodiment of the present invention is mainly composed 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 holding containers BL and BS when the front doors DL and DS are open. These constituent elements will be described in detail below.

[0133] (4-1) Robot Arm

[0134] There is no particular limitation on the 360-degree robotic arm; for example, it could be an existing six-axis robotic arm.

[0135] (4-2) First Robot Hand

[0136] The first robotic arm 370 functions to extract banknotes from the banknote containers BL and BS when the front doors DL and DS are open. For example, the robotic arms disclosed in Japanese Patent No. 6773856, Japanese Patent No. 6756018, Japanese Patent No. 6587326, and Japanese Patent No. 6587325 can be used as the first robotic arm 370. Furthermore, a camera 380 is installed on the first robotic arm 370 to identify 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 ).

[0137] 3. The second robotic arm with a robotic hand

[0138] like Figure 14 As shown, the second robotic arm 400 with a robotic hand according to the embodiments of the present invention is mainly composed of a robotic arm 500 and a second robotic hand 600. These constituent elements will be described in detail below.

[0139] (1) Robot arm

[0140] The robotic arm 500 is not specifically limited; for example, it can be any existing six-axis robotic arm (see reference). Figure 14 ).

[0141] (2) Second robot arm

[0142] 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 coil spring unit 650, a flexible tube 660, a first sensor mounting plate 670, a first distance sensor 680, a second sensor mounting plate 675, and a second distance sensor 690. These components will be described in detail below.

[0143] (2-1) Electric motor

[0144] 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, the ball screw 615 can switch the sliding direction of the horizontal slider (described later) SH by switching the rotation direction of the electric motor 610. 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.

[0145] (2-2) Framework

[0146] 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 components are described in detail below.

[0147] 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 with its rotation axis extending toward the rear end. Additionally, as... Figure 15 and Figure 16 As shown, a metal part 628 for mounting a robot arm is installed slightly rearward from the center position along the length 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.

[0148] 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 functions 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 allow for the installation of a removable disc 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 detachably support the shaft 653 of the detachable disc spring unit 650. In addition, a pair of left and right feet LG are respectively installed on the front and rear portions of the rear side of the base plate 622, and a first sensor mounting plate 670 is installed on the rear side slightly behind the opening OP of the base plate 622.

[0149] like Figure 15 and Figure 18 As 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 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 of the back panel 623. As described later, a second section K2 is rotatably mounted on the rear support protrusion 623A at its base end via a fourth link pin P4.

[0150] 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, there is a pair of left and right panels on the back side of the back panel.

[0151] 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. The vertical sidewall portion 625A, like the rear side panel 624, functions as a support pillar for the top plate 621 and the bottom plate 622. On the other hand, the horizontal sidewall portion 625B... Figure 15 As shown, the sidewall of the front portion 622A of the base plate 622 functions as a guide wall to guide the adsorption head unit 640 forward. Specifically, the guide roller 645 of the adsorption head unit 640 contacts and rolls against the inner surface of this horizontal sidewall portion 625B, guiding the adsorption head unit 640 forward. Furthermore, as... Figure 15 As shown, the front of the horizontal sidewall portion 625B opens slightly outward in the width direction. This is to facilitate receiving items pulled in by the suction head unit 640.

[0152] (2-3) Linkage Mechanism

[0153] The linkage mechanism 630 is, for example, a telescopic idler linkage mechanism used in robotic arms, etc., as described in this embodiment. Figures 22-23 As shown, it consists of 14 links (connecting rods) K1 to 14, 23 connecting pins P1 to 23, a rear vertical slider SVr, and a horizontal slider SH. These components will be described in detail below.

[0154] Linkages (connecting rods) K1-14 are plate-shaped components, and connecting pins P1-23 are shaft supports for the base, central, and front ends of linkages K1-14, forming the linkage mechanism 630. Furthermore, hereinafter, the structure consisting only of linkages K1-14 and connecting pins P1-23 is sometimes referred to as a telescopic structure. In this figure, the telescopic structure is indicated by the reference numeral KP.

[0155] The first section K1 is rotatably mounted at its base end relative to the rear vertical slider SVr via the first connecting pin P1 (see reference). Figures 20-23 (etc.). Furthermore, the first section K1 is rotatably mounted at its central portion relative to the central portion of the second section K2 via the second link pin P2, and is rotatably mounted at its front end relative 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, a horizontal slider SH is connected to the third link pin P3.

[0156] The second section K2 is rotatably mounted at the base end relative to the rear support protrusion 623A via the fourth link pin P4 (see reference). Figures 20-23 (etc.). Furthermore, the second section K2 is rotatably mounted at its central portion relative to the central portion of the first section K1 via the second link pin P2, and rotatably mounted at its front end relative to the base end of the third section K3 via the fifth link pin P5 (see reference). Figures 20-23 wait).

[0157] The third section K3 is rotatably mounted at its base end relative to the front end of the second section K2 via the fifth link pin P5, rotatably mounted at its center relative to the center of the fourth section K4 via the sixth link pin P6, and rotatably mounted at its front end relative to the base end of the sixth section K6 via the seventh link pin P7 (see reference). Figures 20-23 wait).

[0158] The fourth section K4 is rotatably mounted at its base end relative to the front end of the first section K1 via the third link pin P3, rotatably mounted at its center relative to the center of the third section K3 via the sixth link pin P6, and rotatably mounted at its front end relative to the base end of the fifth section K5 via the eighth link pin P8 (see reference). Figures 20-23 wait).

[0159] The fifth section K5 is rotatably mounted at its base end relative to the front end of the fourth section K4 via the eighth link pin P8, rotatably mounted at its center relative to the center of the sixth section K6 via the ninth link pin P9, and rotatably mounted at its front end relative to the base end of the eighth section K8 via the tenth link pin P10 (see reference). Figures 20-23 wait).

[0160] The sixth section K6 is rotatably mounted at its base end relative to the front end of the third section K3 via the seventh link pin P7, rotatably mounted at its center relative to the center of the fifth section K5 via the ninth link pin P9, and rotatably mounted at its front end relative to the base end of the seventh section K7 via the eleventh link pin P11 (see reference). Figures 20-23 wait).

[0161] Section 7 K7 is rotatably mounted at its base end relative to the front end of section 6 K6 via link pin 11, rotatably mounted at its center relative to the center of section 8 K8 via link pin 12, and rotatably mounted at its front end relative to the base end of section 10 K10 via link pin 13 (see reference). Figures 20-23 wait).

[0162] Section 8 K8 is rotatably mounted at its base end relative to the front end of section 5 K5 via the tenth link pin P10, rotatably mounted at its center relative to the center of section 7 K7 via the twelfth link pin P12, and rotatably mounted at its front end relative to the base end of section 9 K9 via the fourteenth link pin P14 (see reference). Figures 20-23 wait).

[0163] Section 9 K9 is rotatably mounted at its base end relative to the front end of section 8 K8 via the fourteenth link pin P14, rotatably mounted at its center relative to the center of section 10 K10 via the fifteenth link pin P15, and rotatably mounted at its front end relative to the base end of section 12 K12 via the sixteenth link pin P16 (see reference). Figures 20-23 wait).

[0164] Section 10 K10 is rotatably mounted at its base end relative to the front end of section 7 K7 via link pin P13, rotatably mounted at its center relative to the center of section 9 K9 via link pin P15, and rotatably mounted at its front end relative to the base end of section 11 K11 via link pin P17 (see reference). Figures 20-23 wait).

[0165] Section 11 K11 is rotatably mounted at its base end relative to the front end of Section 10 K10 via Link Pin P17, rotatably mounted at its center relative to the center of Section 12 K12 via Link Pin P18, and rotatably mounted at its front end relative to the base end of Section 14 K14 via Link Pin P19 (see reference). Figures 20-23 wait).

[0166] The twelfth section K12 is rotatably mounted at its base end relative to the front end of the ninth section K9 via the sixteenth link pin P16, rotatably mounted at its center relative to the center of the eleventh section K11 via the eighteenth link pin P18, and rotatably mounted at its front end relative to the base end of the thirteenth section K13 via the twentieth link pin P20 (see reference). Figures 20-23 wait).

[0167] The thirteenth section K13 is rotatably mounted at its base end relative to the front end of the twelfth section K12 via the twentieth link pin P20, and is rotatably mounted at its center relative to 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 front end relative 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).

[0168] Section 14 K14 is rotatably mounted at its base end relative to the front end of Section 11 K11 via Link 19 pin P19, and is rotatably mounted at its center relative to the center of Section 13 K13 via Link 21 pin P21 (see reference). Figure 23 and Figure 21 (etc.). Additionally, the fourteenth section K14 is rotatably mounted at the front end relative to the front vertical slider SVf of the adsorption head unit 640 via the twenty-third link pin P23 (see reference). Figures 20-23 wait).

[0169] Furthermore, in the telescopic structure KP constructed as described above, 14 sections K1 to 14 are arranged along an imaginary vertical plane Fp (see reference). Figure 19 The vertical plane Fp becomes the same as... Figure 19 The imaginary plane that is parallel to the plane that coincides with section II moves.

[0170] As described above, the rear vertical slider SVr can slide in the vertical direction on the rear vertical guide rail RVr of the back panel 623 (see...). 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.

[0171] 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 link pin P3. That is, the telescopic structure KP extends and retracts by moving the horizontal slider SH back and forth.

[0172] (2-4) Adsorption head unit

[0173] 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 components will be described in detail below.

[0174] like Figure 19 As shown, the front panel 641 is a plate component that appears as an inverted U-shape when viewed from the front, mainly composed of a main plate portion 641a and a lower protrusion portion 641b. (As shown...) Figure 19 As shown, the main board portion 641a is a plate portion that is approximately rectangular in shape when viewed from the front. (As shown...) Figure 19 As shown, when viewed from the front, three suction pads 643b are fixed to each of 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 such that they do not overlap with the handles HL and HS of the banknote holding containers BL and BS when the containers are facing the longitudinal direction, thus preventing them from being clamped into the handles HL and HS. Additionally, as... Figure 16 , Figure 20 and Figure 21 As shown, the front support protrusion 646 extends rearward from the upper part of the rear side surface of the main plate 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 641a in the width direction. Additionally, as... Figure 20 and 21 As shown, the front vertical guide rail RVf is disposed on the rear side of the main board portion 641a along the vertical direction. Figure 19 As shown, the lower protrusion 641b is a roughly square plate portion when viewed from the front, extending downward from the center of the lower edge of the main plate portion 641a. A fastening block 654 for a removable coil spring unit 650 is threaded onto this lower protrusion 641b. Furthermore, the screws used are easily removable screws.

[0175] like Figure 22 and Figure 23 As shown, the support plate 642 is a plate member for supporting the piping unit 643a of the adsorption pad unit 643. As described above, it extends rearward from both ends of the rear side of the main plate portion 641a of the front panel 641 in the width direction. In addition, a pair of wheels 644 are axled on the lower part of the front side of the support plate 642.

[0176] 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, a flexible tube 660 is joined to the base end of the main pipe MP, and an elastic connecting tube 643c is joined to each branch pipe BP. Furthermore, an adsorption pad 643b is joined to the front end of each elastic connecting tube 643c. Additionally, an elastic part, such as a helical spring, is provided on the elastic connecting tube 643c. The elastic part applies a force forward to the front end of the elastic connecting tube 643c. That is, the adsorption pad 643b is subjected to a forward force via the front end of the elastic connecting tube 643c. Therefore, when the adsorption pad 643b is in contact with an article and a load is applied to the adsorption pad 643b, the front end of the elastic connecting tube 643c and the adsorption 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 adsorption pad 643b is a stretchable component made of flexible material.

[0177] As described above, wheel 644 is axled and supported on the lower part of the front side of support plate 642. That is, the axis of rotation of wheel 644 is parallel to the width direction. Wheel 644 rolls on the upper surface of the front portion 622A of the base plate 622 of frame 620, and rolls on the shelf plate of the shelf when it passes the front end of the front portion 622A of the base plate 622 of frame 620.

[0178] The guide roller 645 is a cylindrical rotating body with its rotation axis in the vertical direction. As described above, it contacts and rolls against the inner side of the horizontal sidewall 625B of the front L-shaped plate 625, and guides the suction head unit 640 forward. Alternatively, if a vertical guide wall is provided on the shelf panel, the guide roller 645 contacts and rolls against the inner side of this guide wall, and guides the suction head unit 640 forward.

[0179] like Figure 20 and Figure 21 As shown, the front vertical guide rail RVf extends vertically along the rear side of the front panel 641. A front vertical slider SVf (see reference 1) is mounted on this front vertical guide rail RVf in a manner that allows it to slide freely in the vertical direction. Figure 20 and Figure 21 wait).

[0180] As described above, the front vertical slider SVf can slide vertically along the front vertical guide rail RVf. 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 on the front end of the front vertical slider SVf via the twenty-third link pin P23.

[0181] The front support protrusion 646 is a protrusion extending rearward from the rear side of the front panel 641. As described above, a thirteenth section K13 is rotatably mounted on the front end of the front support protrusion 646 via a twenty-second link pin P22.

[0182] (2-5) Detachable disc spring unit

[0183] like Figure 24 As shown, the detachable coil spring unit 650 mainly consists of a coil spring 651, a retainer 652, a shaft 653, and a fastening block 654. The coil spring 651 is a conventional component that applies force by winding around the retainer 652. That is, after the coil spring 651 is extended by a person's hand, when the hand is removed, the coil spring 651 winds around the retainer 652 by its force. The retainer 652 is a cylindrical retaining member (spool) that holds one end of the coil spring 651. Figure 24 As shown, shaft 653 extends in two directions toward retainer 652 along the axial direction of retainer 652. Furthermore, as described above, shaft 653 is composed of... Figure 17 The support claw 622B shown can be detachably supported. The fastening block 654 is a component for fixing the other end of the coil spring 651 to the lower protrusion 641b of the front panel 641 of the suction head unit 640, as described above, and is fixed to the lower protrusion 641b of the front panel 641 of the suction head unit 640 by screws.

[0184] (2-6) Flexible tube

[0185] like Figure 15 and Figure 16 As shown, the flexible tube 660 is connected to the outlet side of the original tubing 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 original 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 is formed to a sufficient length corresponding to the maximum elongation state of the linkage mechanism 630.

[0186] (2-7) First sensor mounting plate

[0187] As described above, the first sensor mounting plate 670 is mounted on the rear side of the opening OP of the base plate 622 of the frame 620, and holds the first distance sensor 680 on its two ends and the lower side of the middle portion.

[0188] (2-8) First distance sensor

[0189] The first distance sensor 680 is a sensor that detects the distance between itself and an object located on the front side, and as described above, it is held at both ends of the first sensor mounting plate 670. Furthermore, the object referred to here includes all objects placed on the mobile shelf 800, such as banknote containers BL and BS, the bottom wall 810 and top wall 830 of the mobile shelf 800, corner supports 840, central support 850, shelf panels 820, guide plates Wv, typically hinged doors, sliding doors, etc.

[0190] (2-9) Second sensor mounting plate

[0191] like Figure 17 As shown, the second sensor mounting plate 675 is mounted on the right side of the top plate 621 of the frame 620, and the second distance sensor 690 is held on its lower end side.

[0192] (2-10) Second distance sensor

[0193] The second distance sensor 690 is a sensor that detects the distance between itself and an object located on the front side, and as described above, it is held on the lower end side of the second sensor mounting plate 675. Furthermore, the object referred to here includes all objects placed on the movable shelf 800, such as the banknote holding containers BL and BS, the bottom wall 810 and top wall 830 of the movable shelf 800, the corner supports 840, the central support 850, the shelf panel 820, the guide plate Wv, and typically hinged doors, sliding doors, etc. Additionally, as... Figure 2 As shown, the second robotic arm 600 is communicatively connected to the management device 900, and the distance data between the second distance sensor 690 and the object is sent to the management device 900. Furthermore, if the second distance sensor 690 fails to detect distance for some reason, the management device 900 treats the distance data detected by the second distance sensor 690 as infinite.

[0194] 5. Control device

[0195] The control device 700 is communicatively connected to the conveyor system 200, the unlocking system 300, the drive sources of the first robotic arm 350 with a robotic hand, the second robotic arm 400 with a robotic hand, and the management device 900. It sends control signals to these systems and receives various signals and data from the item detector 330 and camera 320 of the conveyor system 200 and unlocking system 300, as well as the management device 900. Additionally, the control device 700 transmits signals and data from the first distance sensor 680, the second distance sensor 690, and other sensors to the management device 900.

[0196] The control device 700 receives various data from the management device 900, including the depth dimensions of the mobile shelf 800, the dimensions of the banknote containers BL and BS in the dimension data table 911, and the shelf dimensions in the shelf data table 912 (described later). Based on this data, the control device 700 determines the shelf position for moving the banknote containers BL and BS from the mobile shelf 800, or for moving them into the mobile shelf 800, as detailed later. Then, the control device 700 moves the second robotic arm 400 with a robotic hand, causing the second robotic hand 600 to move to the determined shelf position.

[0197] 6. Management device

[0198] like Figure 2 As shown, the management device 900 is communicatively connected to the control device 700. It receives various data (e.g., distance data between the second distance sensor 690 and the object) from the second distance sensor 690 of the second robot arm 600 via the control device 700, and also sends various information and data to the control device 700. Additionally, as... Figure 2 As shown, the management device 900 includes a storage unit 910. The storage unit 910 stores the depth dimension data of the mobile shelf 800 (i.e., the length data of the mobile shelf 800 in the front-to-back direction) (not shown) and a dimension data table 911 (see reference). Figure 27 ) and shelf data sheet 912, etc. (refer to) Figures 28-30 ).

[0199] like Figure 27 As shown in Dimension Data Table 911, the width, depth, and height dimensions of banknote containers BL and BS are associated with each other. The width dimensions of banknote containers BL and BS represent their length in the left-right direction (see reference). Figures 3-6The depth dimensions of the banknote holding containers BL and BS represent the length of the banknote holding containers BL and BS in the front-to-back direction (refer to...). Figures 3-6 The height data of the banknote holding containers BL and BS represent the vertical length data of the banknote holding containers BL and BS (refer to...). Figures 3-6 Furthermore, as mentioned above, the width and depth dimensions of the banknote container BL are approximately the same as those of the banknote container BS, but the height of the banknote container BL is greater than that of the banknote container BS. Therefore, in dimension data table 911, the relationships A≈X, B≈Y, and C>Z hold true (see reference). Figure 27 ).

[0200] like Figures 28-30 As shown, in the shelf data table 912, data representing the location of each shelf of the mobile shelf 800 (hereinafter referred to as "shelf location data") and status data corresponding to the data representing the location of each shelf of the mobile shelf 800 (hereinafter referred to as "status data") are associated. Figures 28-30 As shown, the location data of each shelf is represented in the form M(a, b), where a represents the layer number of the mobile shelf 800 and b represents the column number of the mobile shelf 800. More specifically, when the upper left of the mobile shelf 800 is set as the first column of the first layer and the lower right of the mobile shelf 800 is set as the tenth column of the sixth layer, M(1, 1) represents the position of the first column of the first layer of the mobile shelf 800 (i.e., Figure 25 The shelf position shown is PL1), M(6,10) represents the position of the sixth layer and tenth column of the movable shelf 800 (i.e., Figure 25 The shelf location shown is PL2. And, as... Figures 28-30As shown, the status data is represented by three types of numbers: "-1", "0", and "positive numbers other than -1 and 0". "-1" indicates the initial state before the process of removing the banknote containers BL and BS placed on the mobile shelf 800 (refer to the control example of the conveying system 100 described later). "0" indicates the state where the banknote containers BL and BS have been removed from the mobile shelf 800 and there are no banknote containers BL and BS placed at any shelf position on the mobile shelf 800. Furthermore, if the distance data between the second distance sensor 690 and the object is greater than a threshold, the management device 900 inputs "0" to the status data. "Positive numbers other than -1 and 0" represent the sum of the height data of the banknote containers BL and BS at each shelf position when the process of moving the banknote containers BL and BS into the mobile shelf 800 is performed (refer to the control example of the conveying system 100 described later). For example, if the height of the banknote container BL is 225mm, then a positive number other than -1 and 0 is 225 if one banknote container BL is placed on the shelf, and 450 if two banknote containers BL are placed on the shelf. Furthermore, the height is used because the banknote containers BL and BS are laid down with their handles HL and HS facing forward when placed on the mobile shelf 800 (in other words,...). Figures 3-6 The up and down directions shown are along Figure 26 The front-to-back direction shown is oriented laterally (see reference). Figure 25 ).

[0201] <Control Examples of the Conveying Processing System According to Embodiments of the Invention>

[0202] Here, the conveying and processing system 100 is used to transport the contents of the container. Figure 25 and Figure 26 The control example of the conveying and processing system 100 when the banknote containers BL and BS are moved out of the mobile shelf 800 and moved into the mobile shelf 800 will be described.

[0203] Before describing the control examples, the regulations for the mobile shelf 800 and the recycling methods for the banknote containers BL and BS that are recycled to the mobile shelf 800 are briefly explained. Figure 25 and Figure 26 As shown, the mobile shelving 800 is mainly composed of a bottom wall 810, a top wall 830, corner supports 840, a central support 850, shelving panels 820, guide panels Wv, and wheels Tr. Furthermore, although in Figure 25 Not shown in the diagram, but hinged doors or sliding doors are typically installed on the front and back sides of this mobile shelf 800. Additionally, although in Figure 26Not shown in the diagram, but side walls are provided on the left and right sides of the mobile shelf 800. The bottom wall 810 and top wall 830 are rectangular plate members of the same size. Furthermore, banknote containers BL and BS can be placed on the bottom wall 810. Corner supports 840 and central supports 850 are used to support the top wall 830 and shelf panels 820, as shown in the diagram. Figure 25 and Figure 26 As shown, the shelf panel 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 panel 820, used to hold banknote containers BL and BS, is a rectangular panel member having approximately the same dimensions as the bottom wall 810 and the top wall 830. The shelf panel 820 is as follows... Figure 25 and Figure 26 As shown, the space surrounded by the bottom wall 810, top wall 830, corner pillars 840, and central pillar 850 is divided into six sections along its height. Additionally, as... Figure 25 and Figure 26 As shown, multiple guide plates Wv are installed on the bottom wall 810 and the shelf panel 820. These guide plates Wv are generally rectangular wall components used to guide the suction head unit 640 of the second robotic arm 600 toward the inside and near the front of the moving shelf 800, and to arrange the banknote holding containers BL and BS at intervals. Figure 25 and Figure 26 As shown, it extends upwards along the depth direction from the bottom wall 810 and the upper surface of the shelf panel 820. That is, in this mobile shelf 800, it is possible to access the shelf not only from the front side (see reference 820) but also from the bottom wall 810 and the upper surface of the shelf panel 820. Figure 25 It can also place the banknote holding containers BL and BS on the bottom wall 810 and shelf plate 820 from the back side. Furthermore, such as... Figure 25 As shown, these guide plates Wv are arranged at intervals sufficient to accommodate banknote containers BL and BS (in the case of banknote container BS, the interval is such that they do 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 the banknote container BL and the width of the banknote container 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 shelf 800 can move.

[0204] In an embodiment of the present invention, a method for retrieving banknote containers BL and BS from the mobile shelf 800 is specified. This retrieval method specifies that "when the operator retrieves the banknote containers BL and BS to the mobile shelf 800, he / she grasps the handles HL and HS of the banknote containers BL and BS and pushes them into the mobile shelf 800 from their bottom walls OL and OS (see reference)." Figure 25 and Figure 26 )".

[0205] The following describes a control example of the conveying system 100 from which banknote containers BL and BS placed on the mobile shelf 800 are moved from the mobile shelf 800 to the conveying system 100, and then from the conveying system 100 to the mobile shelf 800.

[0206] First, the user of the goods conveying robot stores dimension data table 911 and shelf data table 912 in the management device 900. At this time, as... Figure 28 As shown, in the shelf data table 912, the status data is represented as "-1". Then, the user of the item conveying robot fixes the moving shelf 800 in a predetermined position with a predetermined orientation, and then activates the transfer processing system 100. When the transfer processing system 100 activates, firstly, the second robotic arm 400 with a robotic hand begins to move. The second robotic hand 600, which was waiting in the initial position, is lifted by the robotic arm 500 to a predetermined height position of the moving shelf 800, and moves to a predetermined width position of the moving shelf 800 (e.g., ...). Figure 25The robot arm 600 is positioned at shelf position PL1, and its attitude is controlled so that the front of the second robot arm 600 faces the front of the movable shelf 800 and the constitutive surface of the telescopic structure KP (the imaginary vertical plane Fp) is parallel to the vertical direction. At this time, a pair of first distance sensors 680 provided on the second robot arm 600 are opposite to the adjacent guide plates Wv and guide plates Wv. Next, the robot arm 500 controls the attitude of the second robot arm 600 so that the difference in the detected distances of the pair of first distance sensors 680 converges within an acceptable range (ideally, the difference in detected distances is 0) (at this time, the second robot arm 600 is approximately directly opposite the adjacent guide plates Wv and guide plates Wv). Next, the second distance sensor 690 detects the distance between itself and the object located on the front side. Furthermore, as mentioned above, if the second distance sensor 690 cannot detect the distance for some reason, the distance between itself and the object detected by the second distance sensor 690 is considered infinitely large. If banknote containers BL and BS are placed between adjacent guide plates Wv, the object is a banknote container BL or BS. If no banknote containers BL or BS are placed between adjacent guide plates Wv, the object is a typical hinged door, sliding door, or wall on the back side of the mobile shelf 800 (when the hinged door or sliding door is usually open). When measuring the distance to an object located on the front side, the second distance sensor 690 sends the measured distance data (hereinafter sometimes referred to as "distance data") to the management device 900. Upon receiving the distance data, the management device 900 determines whether the distance data is greater than a threshold. The threshold may be, for example, a distance exceeding the distance measured by the second distance sensor 690 when only one banknote container BS is placed at the innermost part of the mobile shelf 800 (i.e., a height smaller than the banknote container BS).

[0207] • When the distance is greater than the threshold

[0208] The management device 900 inputs "0" into the status data corresponding to the shelf location data. For example, as... Figure 29As shown, when the second distance sensor 690 detects a distance greater than a threshold at the shelf position in the first column of the first layer, the management device 900 inputs "0" to the shelf position data M(1,1) for the first column of the first layer. Then, since it is determined that there are no banknote containers BL and BS at the shelf position where "0" was input, the second robot arm 600 moves to a predetermined position corresponding to other shelf positions via the robot arm 500. In other words, the second robot arm 600 moves to the predetermined position corresponding to the shelf position where the corresponding shelf position data is represented as "-1" via the robot arm 500. Then, the second distance sensor 690 again performs the process of measuring the distance between the shelf position and the object located on the front side.

[0209] • When the distance is less than the threshold

[0210] Since it is determined that banknote containers BL and BS are placed at this shelf location, the banknote containers BL and BS are removed. First, the motor 610 of the second robot arm 600 starts to operate, the linkage mechanism 630 extends, and the pressure reducing pump starts to operate. Then, when the suction head unit 640 reaches the moving shelf 800, the guide roller 645 contacts the adjacent guide plate Wv and guide plate Wv to guide the suction head unit 640 deeper into the moving shelf 800. At this time, the wheel 644 rolls on the bottom wall 810 or shelf plate 820 of the moving shelf 800. Then, when the load of the motor 610 detected by the load detection device exceeds the threshold, the motor 610 is temporarily stopped, and the banknote containers BL and BS are suctioned by the suction pad 643b. Then, the motor 610 is reversed, the linkage mechanism 630 is retracted, and finally it returns to the initial state (retracted state). At this time, the banknote containers BL and BS are placed on the front part 622A of the base plate 622 of the second robot arm 600. In this state, the robotic arm 500 moves the second robotic hand 600 to the loading position EN of the first loading conveyor 210 (see reference). Figure 1 When the second robot hand 600 reaches the loading position EN using the robot arm 500, the motor 610 of the second robot hand 600 starts to operate, the linkage mechanism 630 extends, and the suction head unit 640 pushes the banknote holding containers BL and BS to the loading position EN. Then, the second robot hand 600 moves again via the robot arm 500 to a predetermined position corresponding to the shelf position where the banknote holding containers BL and BS have been removed. Then, the second distance sensor 690 again measures the distance between the object located on the front side at this shelf position.

[0211] Furthermore, the movements of the robotic arm 500 and the second robotic hand 600 are all achieved through the control device 700, which is communicatively connected to the robotic arm 500 and the second robotic hand 600.

[0212] After being pushed to the loading position EN of the first loading conveyor 210, the banknote holding containers BL and BS are transported by the first loading conveyor 210 to the loading side attitude change device 220, where their attitude is changed as described above, and then they are sent to the second loading conveyor 230.

[0213] After being conveyed to the second inbound conveyor 230, the banknote containers BL and BS are transported to the turntable 240. If locks KL and KS are not detected in the image data from the camera 320, the turntable 240 changes the orientation of the banknote containers BL and BS by 180°. Then, the unlocking system 300 opens the locks KL and KS of the banknote containers BL and BS. The front doors DL and DS of the banknote containers BL and BS are opened upwards by the key-equipped robotic arm 310. Banknotes are then removed from the banknote containers BL and BS by the first robotic arm 350 equipped with a robotic hand (during this time, the key-equipped robotic arm 310 inserts a key into locks KL and KS). Next, after the front doors DL and DS of the banknote containers BL and BS are closed by the key-equipped robotic arm 310, locks KL and KS are locked. Then, the banknote containers BL and BS are sent from their positions corresponding to the positions of the item detector 330 to the first outgoing conveyor 250.

[0214] After being conveyed to the first outgoing conveyor 250, the banknote containers BL and BS are transported to the outgoing side attitude change device 260, where their attitude is changed as described above, and then they are conveyed to the second outgoing conveyor 270. The banknote containers BL and BS are then transported to the outgoing position EX via the second outgoing conveyor 270.

[0215] When the banknote containers BL and BS are moved to the delivery position EX, the second robotic arm 600 moves to the delivery position EX via the robotic arm 500 (see reference). Figure 1Then, the motor 610 of the second robotic arm 600 starts to move, the linkage mechanism 630 extends, and the pressure reducing pump starts to operate. Then, when the suction head unit 640 reaches the banknote holding containers BL and BS, and the load of the motor 610 detected by the load detection device exceeds the threshold, the motor 610 is temporarily stopped, and the banknote holding containers BL and BS are adsorbed by the suction pad 643b. Then, the motor 610 is reversed, the linkage mechanism 630 is retracted, and finally it returns to the initial state (retracted state). At this time, the banknote holding containers BL and BS are placed on the front part 622A of the base plate 622 of the second robotic arm 600. Then, in this state, the second robotic arm 600 moves to the mobile shelf 800 via the robotic arm 500. Then, the second robot arm 600 moves via the robot arm 500 to the shelf position corresponding to the status data of each shelf position in the shelf data table 912, where "0" has been entered. Posture control is then performed so that the front of the second robot arm 600 faces the front of the mobile shelf 800, and the constitutive surface of the telescopic structure KP (the imaginary vertical plane Fp) is parallel to the vertical direction. At this time, a pair of first distance sensors 680 installed on the second robot arm 600 are opposite to the adjacent guide plates Wv and Wv. Next, the robot arm 500 controls the posture of the second robot arm 600 so that the difference in detection distance between the pair of first distance sensors 680 converges within an acceptable range (ideally, the difference in detection distance is 0) (at this time, the second robot arm 600 is approximately directly opposite the adjacent guide plates Wv and Wv). Then, the banknote containers BL and BS are moved into the shelf positions of the mobile shelf 800. First, the motor 610 of the second robotic arm 600 starts to move, and the linkage mechanism 630 extends. Then, when the suction head unit 640 reaches the moving shelf 800, the guide roller 645 contacts the adjacent guide plate Wv, guiding the suction head unit 640 and the banknote holding containers BL and BS deeper into the moving shelf 800. At this time, the wheels 644 roll on the bottom wall 810 or shelf plate 820 of the moving shelf 800. Then, when the load of the motor 610 detected by the load detection device exceeds the threshold, the motor 610 is temporarily stopped, and the pressure reducing pump is stopped, releasing the banknote holding containers BL and BS from the suction pad 643b. Thus, the banknote holding containers BL and BS can be placed in the shelf position of the moving shelf 800. Then, the motor 610 is reversed, the linkage mechanism 630 retracts, and finally returns to the initial state (retracted state). Then, the management device 900 adds the "height data of the banknote holding containers BL and BS" (see reference) to the state data corresponding to the corresponding shelf position data. Figure 30Then, the control device 700 refers to the status data corresponding to the data indicating the shelf position to determine whether the banknote containers BL and BS can still be moved into the shelf position. More specifically, if the value obtained by adding the height data of the banknote containers BL and BS to the status data corresponding to the shelf position data is smaller than the depth dimension data of the movable shelf 800, it is determined that the banknote containers BL and BS can still be moved into the shelf position; if the value is larger than the depth dimension data of the movable shelf 800, it is determined that the banknote containers BL and BS cannot be moved into the shelf position.

[0216] • It can also move banknote containers BL and BS into the shelf space.

[0217] The second robotic arm 600 moves to the removal position EX via the robotic arm 500 and uses the suction pad 643b to pick up the banknote containers BL and BS that have been moved to the removal position EX. Then, the second robotic arm 600 moves to the designated position corresponding to this shelf location via the robotic arm 500 and performs the aforementioned posture control. Then, the second robotic arm 600 places the banknote containers BL and BS on the shelf location and finally returns to its initial state (retracted state). Then, the management device 900 adds the "height data of the banknote containers BL and BS" to the status data corresponding to the shelf location data. Then, the control device 700 refers to the status data corresponding to the shelf location data to determine whether the banknote containers BL and BS can still be moved to the shelf location.

[0218] • Situations where banknote containers BL and BS cannot be moved to the shelf location.

[0219] The second robotic arm 600 moves to the removal position EX via the robotic arm 500 and uses the suction pad 643b to pick up the banknote containers BL and BS that have been moved to the removal position EX. Then, the second robotic arm 600 moves via the robotic arm 500 to the designated position corresponding to the shelf position where a "0" has been entered in the status data, and performs the aforementioned posture control. Then, the second robotic arm 600 places the banknote containers BL and BS at that shelf position and finally returns to the initial state (retracted state). Then, the management device 900 adds the "height data of the banknote containers BL and BS" to the status data corresponding to the corresponding shelf position data. Then, the control device 700 refers to the status data corresponding to the corresponding shelf position data to determine whether the banknote containers BL and BS can still be moved to that shelf position.

[0220] Then, when the banknote containers BL and BS are no longer moved to the moveout position EX, or when the banknote containers BL and BS cannot be moved into the respective shelf positions of the mobile shelf 800 (that is, when the total status data corresponding to each shelf position data, when the sum of the height data of the banknote containers BL and BS is greater than the depth data of the mobile shelf 800), the transfer processing system 100 ends its operation.

[0221] The following describes the process of banknote containers BL and BS, which have been moved to the moveout position EX, being moved into the shelf position of the mobile shelf 800 by the second robotic arm 400 equipped with a robotic hand, using specific figures. It is assumed that the depth of the 6-layer, 10-column mobile shelf 800 is 784 mm, the height of banknote container BL is 225 mm, the height of banknote container BS is 186 mm, and the shelf position data M(1,1) of the first layer, first column of the mobile shelf 800 is associated with the state data "0", and the shelf position data M(1,2) of the first layer, second column of the mobile shelf 800 is associated with the state data "0". For example, the second robotic arm 400 with a robotic hand moves the banknote container BL into the shelf position of the first layer, first column. Then, the management device 900 adds "225" to the state data "0" corresponding to the shelf position data M(1,1), setting the state data to "225". In this situation, since the value obtained by adding the height data "225 or 186" of the banknote containers BL and BS to the status data "225" is smaller than the depth dimension data "784" of the mobile shelf 800, the control device 700 determines that the banknote containers BL and BS can still be moved into the shelf position of the first column of the first layer. Then, when two more banknote containers BL are moved into the shelf position of the first column of the first layer, the status data corresponding to the shelf position data M(1,1) is increased from "225" to "450" ​​and from "450" ​​to "675". In this situation, since the value obtained by adding the height data "225 or 186" of the banknote containers BL and BS to the status data "675" is larger than the depth dimension data "784" of the mobile shelf 800, the control device 700 determines that the banknote containers BL and BS cannot be moved into the shelf position of the first column of the first layer. Then, the control device 700 controls the second robotic arm 400 with a robotic hand to move the banknote holding containers BL and BS, which have been moved to the moveout position EX, into the second shelf position of the first layer instead of the first shelf position of the first layer.

[0222] Furthermore, the movements of the robotic arm 500 and the second robotic hand 600 are all achieved through the control device 700, which is communicatively connected to the robotic arm 500 and the second robotic hand 600.

[0223] <Features of the conveying and processing system involved in this embodiment> (1)

[0225] In the transfer processing system 100 according to this embodiment, when the second robot arm 600 of the second robot arm 400 with a robot hand moves to a predetermined position corresponding to the shelf position of the mobile shelf 800, the second distance sensor 690 of the second robot arm 600 of the second robot arm 400 with a robot hand measures the distance between itself and an object located on the front side. Then, the management device 900 determines whether the distance is greater than a threshold. If the distance is greater than the threshold, the management device 900 reflects "0" in the state data corresponding to the shelf position data, indicating that no banknote containers BL or BS are placed at that shelf position, and the second robot arm 600 of the second robot arm 400 with a robot hand moves to a predetermined position corresponding to another shelf position. If the distance is less than the threshold, the second robot arm 600 of the second robot arm 400 with a robot hand removes the banknote containers BL or BS placed at that shelf position. Therefore, in this transfer processing system 100, the operation of removing banknote containers BL or BS from the mobile shelf 800 can be performed efficiently. (2)

[0227] In the transfer processing system 100 of this embodiment, the second robot arm 600 of the second robot arm 400 equipped with a robot hand moves to a predetermined position corresponding to the shelf position of the mobile shelf 800, and moves the banknote holding containers BL and BS into the shelf position of the mobile shelf 800. At this time, the management device 900 adds "height data of banknote holding containers BL and BS" to the status data corresponding to the shelf position data. Then, the control device 700 refers to the status data corresponding to the shelf position data to determine whether the banknote holding containers BL and BS can still be moved into the shelf position. Furthermore, if it is possible to move the banknote containers BL and BS to the shelf location, the second robotic arm 400 with a robotic hand 600 moves the banknote containers BL and BS to the shelf location. If it is not possible to move the banknote containers BL and BS to the shelf location, the second robotic arm 400 with a robotic hand 600 moves to a designated position corresponding to another shelf location where the banknote containers BL and BS are not placed, and moves the banknote containers BL and BS to that shelf location. Therefore, in this transfer processing system 100, the operation of moving banknote containers BL and BS to the mobile shelf 800 can be performed efficiently. (3)

[0229] In the conveying system 100 according to this embodiment, a second distance sensor 690, which detects the distance between itself and an object located on the front side, is mounted on the second robot arm 600 of the second robot arm 400 equipped with a robot hand. Therefore, in this conveying system 100, the second distance sensor 690 can move along with the second robot arm 600. Thus, in this conveying system 100, it is not necessary to install distance measuring devices or the like at each shelf position of the mobile shelf 800, thereby reducing the construction cost of the conveying system 100.

[0230] <Variation Example>

[0231] (A)

[0232] In the conveying and processing system 100 described in the above embodiment, banknote containers BL and BS with rotary locks are used as both the conveying object and the unlocking object. However, other types of locked banknote containers, such as banknote containers with electromagnetic locks, may also be used as the object.

[0233] (B)

[0234] In the conveying and processing system 100 described in the above embodiment, banknote containers BL and BS with rotary locks are used as both the conveying object and the unlocking object. However, other items can also be used as the object. Furthermore, in this case, it is necessary to replace the unlocking system 300, the first robotic arm 350 with a robotic hand, etc., with components suitable for handling the item.

[0235] (C)

[0236] In the conveying and processing system 100 described in the above embodiment, the second robotic arm 400 with a robotic hand is an adsorption type second robotic hand 600. However, such a robotic hand can also be a type of robotic hand that grasps objects with fingers.

[0237] (D)

[0238] In the conveying and processing system 100 described in the above embodiment, a second robotic arm 400 with a robotic hand moves banknote containers BL and BS into and out of the mobile shelf 800. However, a conveying device (transportation device) other than the second robotic arm 400 with a robotic hand can also move banknote containers BL and BS into and out of the mobile shelf 800. For example, the conveying device could be a belt conveyor extending to the innermost part of each shelf position of the mobile shelf 800. In this case, the belt conveyor moves banknote containers BL and BS removed from each shelf position of the mobile shelf 800 to the moving position EN, and moves banknote containers BL and BS moved to the moving position EX back into each shelf position of the mobile shelf 800. In this case, it is preferable to provide a distance measuring device at each shelf position of the mobile shelf 800 for detecting the distance to an object located on the front side.

[0239] (E)

[0240] The mobile shelf 800 described in the above embodiment does not have side walls, but side walls may also be provided on the mobile shelf 800.

[0241] (F)

[0242] The mobile shelving 800 described in the above embodiment adopts a 6-layer, 10-column structure. However, a mobile shelving only needs to have at least 1 layer and 1 column. In this case, the shelving position data can be changed according to the number of layers and columns of the mobile shelving.

[0243] (G)

[0244] In the conveying system 100 described in the above embodiment, when the banknote containers BL and BS are moved into the shelf position of the mobile shelf 800, the management device 900 adds the height data of the banknote containers BL and BS to the status data corresponding to the shelf position data. If the value obtained by adding the height data of the banknote containers BL and BS to the status data corresponding to the shelf position data is smaller than the depth dimension data of the mobile shelf 800, it is determined that the banknote containers BL and BS can still be moved into the shelf position. If the value is larger than the depth dimension data of the mobile shelf 800, it is determined that the banknote containers BL and BS cannot be moved into the shelf position. However, before the banknote containers BL and BS are moved into the shelf position of the mobile shelf 800, the management device 900 may first input the depth dimension data of the mobile shelf 800 (e.g., 784 mm) into the status data corresponding to the shelf position data. Furthermore, each time the banknote containers BL and BS are moved into the shelf position of the mobile shelf 800, the management device 900 can subtract the height data of the banknote containers BL and BS (e.g., 784mm → 559mm → 334mm) from the status data corresponding to each shelf position data. Then, if the status data corresponding to the shelf position data is greater than the height data of the banknote containers BL and BS, the control device 700 determines that the banknote containers BL and BS can still be moved into the shelf position; if the status data is less than the height data of the banknote containers BL and BS, it determines that the banknote containers BL and BS cannot be moved into the shelf position.

[0245] (H)

[0246] In the conveying and processing system 100 described in the above embodiments, the control device 700 and the management device 900 are respectively provided. However, the control device 700 may also be assembled in the management device 900, and the management device 900 may also be assembled in the control device 700 (that is, the control device 700 and the management device 900 may also be an integrated device).

[0247] Furthermore, the above variations can be applied individually or in combination.

[0248] Explanation of reference numerals in the attached figures

[0249] 100-level transport and handling system (goods handling system)

[0250] 400 robotic arms (handling devices) equipped with robotic hands.

[0251] 600 Second Robotic Hand (Holding Device)

[0252] 690 Second Distance Sensor (Distance Measuring Device)

[0253] 700 Control Device (Control Unit)

[0254] 800 mobile shelving (shelves)

[0255] 900 Management Device (Management Department)

[0256] 910 Storage Division

[0257] BL banknote holder (item)

[0258] BS banknote storage box (item)

Claims

1. An item handling system for moving items into a shelf having at least one column and capable of holding multiple items along the depth direction of said column, wherein... The item handling system has the following features: A handling device capable of moving items onto the shelf; A distance measuring device is used to determine the presence or absence of an item on the shelf by measuring the distance from a specified position to an object in a specified direction. as well as The management department manages the presence or absence of the item based on information about the distance to the object measured by the distance measuring device located at the designated position. The conveying device is a gripping device that can extend and retract along the depth direction to move the items onto the shelf. The management unit has a storage unit that, when the distance exceeds a threshold, stores information indicating that the item is not present. The storage unit stores information about the dimensions of the item. The item handling system also includes a control unit. When the item is moved onto the shelf, the control unit associates information representing the first shelf position of the shelf with numerical information based on the size of the item in the management unit and stores it in the storage unit. When the numerical information stored in the storage unit meets specific conditions, the control unit moves the handling device to the predetermined position corresponding to the second shelf position, which is different from the first shelf position.

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