Stacking device and stacking and unloading system

Abstract

To reduce the positioning number in a series of processes from a stacking process to a placing process.SOLUTION: A stacking apparatus comprises a first holding part capable of holding a plurality of stacked containers; a second holding part capable of holding the plurality of stacked containers; a rotor rotatable with a rotational axis along a vertical direction as a center, that supports the first holding part and the second holding part; and a drive part for rotating the rotor in such a manner that a first state where the first holding part is located at a first position at which the plurality of stacked containers are collected, and the second holding part is located at a second position for carrying out the plurality of stacked containers; and a second state where the second holding part is located at the first position, and the first holding part is located at the second position are switched.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a stacking device and a stacking and unloading system.

Background Art

[0002] In factories, bento boxes, prepared foods, etc. that are transported to stores such as supermarkets and convenience stores are manufactured. In factories, a stacking process for stacking containers such as trays in which bento boxes or prepared foods are stored, and an unloading process for unloading a plurality of stacked containers from the factory are performed. The unloading process includes a placement process of placing a plurality of stacked containers on the placement surface of a transport vehicle such as a trolley. For example, Patent Document 1 discloses a stacking device for stacking a plurality of containers and a placement device for placing a plurality of stacked containers on a transport vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, it is necessary to separately perform the positioning of the container with respect to the stacking device and the positioning of the container with respect to the placement device at different stages. In view of the above circumstances, an object of the present invention is to reduce the number of positionings in a series of processes from the stacking process to the placement process.

Means for Solving the Problems

[0005] In order to solve the above problems, a stacking device according to a preferred embodiment of the present invention includes a first gripping part capable of gripping a plurality of stacked containers, a second gripping part capable of gripping a plurality of stacked containers, a rotating body that supports the first gripping part and the second gripping part and is rotatable about a rotation axis along the vertical direction, and a first gripping part is located at a first position for collecting a plurality of stacked containers, and a second gripping part is located at a second position for carrying out a plurality of stacked containers. A driving part for rotating the rotating body so that a first state and a second state in which the second gripping part is located at the first position and the first gripping part is located at the second position are switched.

[0006] In order to solve the above problems, a stacking and carrying-out system according to a preferred embodiment of the present invention includes the above-described stacking device, a conveyor that moves one or more containers to a position overlapping the first position when viewed from the vertical direction, and a placement surface on which a plurality of containers can be placed, and a transport vehicle that is arranged at a position overlapping the second position when viewed from the vertical direction.

Effect of the Invention

[0007] According to the stacking device of the present invention, the number of positionings in a series of processes from the stacking process to the placement process can be reduced.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. However, in each figure, the dimensions and scales of each part are appropriately different from the actual ones. Further, since the embodiments described below are preferred specific examples of the present invention, various technically preferable limitations are imposed. However, the scope of the present invention is not limited to these embodiments unless there is a description to particularly limit the present invention in the following description.

[0010] 1. First Embodiment FIG. 1 is an explanatory diagram for explaining a stacked and carried-out system 1 according to the first embodiment. The stacked and carried-out system 1 is a system for sorting a pallet FD containing containers filled with box lunches or prepared dishes, containers filled with noodles, etc., for each store such as a supermarket and a convenience store. More specifically, the stacked and carried-out system 1 stacks a plurality of pallet FDs for each store, and places a plurality of stacked pallet FDs on the mounting surface of a transport vehicle in order to carry out the plurality of stacked pallet FDs for each store. In the present embodiment, as an example of the transport vehicle, the stacked and carried-out system 1 places a plurality of pallet FDs on the mounting surface CAF of an automatic guided vehicle (AGV) CA. The automatic guided vehicle CA carries out a plurality of pallet FDs to a transport vehicle such as a truck. The plurality of pallet FDs are loaded onto the transport vehicle and transported to the store. Note that the stacked and carried-out system 1 may have a trolley that moves manually instead of the automatic guided vehicle CA.

[0011] The pallet FD is a thin transport container. In the stacked and carried-out system 1, a plurality of pallet FDs are used. In the following description, when a plurality of pallet FDs are collectively referred to, they are referred to as pallet FD, and when each of the plurality of pallet FDs is distinguished, it may be referred to as pallet FD-i. i is an integer of 1 or more. The plurality of pallet FDs may have the same shape as each other, or may have different shapes to the extent that they can be stacked. For example, the height of the pallet FD may be individually different for each pallet FD. Hereinafter, for the sake of simplifying the explanation, it is assumed that the plurality of pallet FDs have substantially the same shape. The shape of the pallet FD will be described later with reference to FIG. 2. Note that the stacking FD is an example of a "container". However, the stacking and unloading system 1 is not limited to the stacking FD, and any container capable of stacking may be used.

[0012] The stacking and unloading system 1 is provided inside a factory that manufactures bento ingredients, pre-cooked mixed vegetables, noodles, or the like. There may be one or more stacking and unloading systems 1 in a single factory.

[0013] The stacking and unloading system 1 includes a stacking device 2, a conveyor 4, a control device 8, and an automated guided vehicle CA. The stacking device 2 stacks a plurality of stacking FDs based on instructions from the control device 8 and places the stacked stacking FDs on the automated guided vehicle CA. The conveyor 4 conveys the stacking FD into the stacking device 2 based on instructions from the control device 8. The conveyor 4 is, for example, a roller conveyor, a chain conveyor, a belt conveyor, or the like. Note that the conveyor 4 is an example of a "conveyor".

[0014] In the following, it will be described assuming that the direction in which the conveyor 4 conveys the stacking FD is the -X direction, and the direction opposite to the -X direction is the +X direction. The -X direction and the +X direction are collectively referred to as the "X-axis direction". Also, the vertical direction is referred to as the "Z-axis direction", the upper side in the vertical direction is referred to as the "+Z direction", and the lower side in the vertical direction is referred to as the "-Z direction". Also, for ease of understanding, the +Z direction may be referred to as the "upward direction" and the -Z direction may be referred to as the "downward direction". The direction orthogonal to the X-axis direction and the Z-axis direction is referred to as the "Y-axis direction". In this embodiment, one of the Y-axis directions is referred to as the +Y direction and the other is referred to as the -Y direction. Using the X-axis, Y-axis, and Z-axis, it can also be said that FIG. 1 is a view of the stacking and unloading system 1 broken along a plane parallel to the XZ plane and viewed from the +Y direction to the -Y direction.

[0015] The stacking device 2 includes four gripping parts 21, a rotating disk 23, a driving part 25, a rotating column 26, a lifting part 27, and a housing 29. The gripping part 21 grips a plurality of stacked weight boxes FD. In the present embodiment, the gripping part 21 can grip up to five stacked weight boxes FD. However, the number of weight boxes FD that the gripping part 21 can grip may be two or more. For example, it may be able to grip six weight boxes FD. The rotating disk 23 is a rotating body that supports the four gripping parts 21 and is rotatable about a rotation axis Az along the Z-axis direction. The rotating disk 23 is a flat disk parallel to the XY plane. However, the stacking device 2 may have a member formed by combining a member extending in one direction parallel to the XY plane and a member extending in a direction perpendicular to this one direction and parallel to the XY plane instead of the rotating disk 23. Note that the rotating disk 23 is an example of a "rotating body".

[0016] The driving part 25 rotates the rotating disk 23 every 90 degrees. Typically, the driving part 25 is a motor. The rotating column 26 is a columnar member that supports the rotating disk 23 and extends in the Z-axis direction. With reference to FIG. 2, the state of the stacking device 2 according to the operation of the driving part 25 will be described.

[0017] FIG. 2 is a view of the stacking and unloading system 1 seen from above downward. However, in FIG. 2, for ease of understanding the position of the gripping part 21, the display of the housing 29 is omitted, the rotating disk 23 is shown by a two-dot chain line, and the gripping part 21, the rotating column 26, the lifting part 27, and the weight box FD that are normally hidden by the rotating disk 23 are shown by solid lines.

[0018] The stacking device 2 has, as four gripping parts 21, a gripping part 21-1, a gripping part 21-2, a gripping part 21-3, and a gripping part 21-4. In the following description, when collectively referring to the four gripping parts 21, they are referred to as the gripping part 21, and when distinguishing each of the four gripping parts 21, they are referred to as the gripping part 21-j. j is an integer from 1 to 4. Note that any one of the four gripping parts 21 is an example of the "first gripping part", and the gripping part 21 located on the opposite side of the rotating support column 26 across the rotating support column 26 is an example of the "second gripping part".

[0019] In the state shown in FIG. 2, when viewed from above, with the rotating support column 26 as a reference, the gripping part 21-1 is located in the +X direction, the gripping part 21-2 is located in the +Y direction, the gripping part 21-3 is located in the -X direction, and the gripping part 21-4 is located in the -Y direction. The state of the stacking device 2 shown in FIG. 2 is referred to as the "initial state".

[0020] The position of the gripping part 21-1 in the initial state is the position where the gripping part 21 performs a stacking process of stacking a plurality of weights FD. Also, the position of the gripping part 21-3 in the initial state is the position where the gripping part 21 performs a placement operation of placing the stacked plurality of weights FD on the placement surface CAF of the automated guided vehicle CA. The position of the gripping part 21-1 in the initial state value is the position P1 illustrated in FIGS. 1 and 2. The position of the gripping part 21-3 in the initial state value is the position P2 illustrated in FIGS. 1 and 2. The position P1 and the position P2 are located on opposite sides of each other across the rotation axis Az. The position P1 is an example of the "first position", and the position P2 is an example of the "second position". As illustrated in FIG. 2, when viewed from the +Z direction, the position P1, the rotation axis Az, and the position P2 are located on the virtual straight line L1.

[0021] The drive unit 25 rotates the rotating disk 23 by 90 degrees clockwise around the rotation axis Az when viewed from above. Note that the drive unit 25 may rotate the rotating disk 23 by 90 degrees counterclockwise around the rotation axis Az when viewed from above. Note that the state where any one of the four gripping parts 21 is located at the position P1 corresponds to the "first state", and the state where the gripping part 21 has moved to the position P2 corresponds to the "second state".

[0022] The tray FD has a substantially rectangular parallelepiped shape and has an opening facing upward. Further, a flange FDf is provided at the upper part of the tray FD so as to surround the four sides of the tray FD. In FIGS. 1 and 2, in order to avoid complication of the drawing, the symbol of the flange FDf is shown for the tray FD-x on the conveyor 4, and the display of the flange FDf of the other trays FD is omitted. Also, in the present embodiment, in order to make it difficult for a plurality of stacked trays FD to move horizontally, when the tray FD-1 is loaded on the tray FD-2, a part of the bottom of the tray FD-1 fits into the opening of the tray FD-2. However, when the tray FD-1 is loaded on the tray FD-2, the bottom of the tray FD-1 does not have to fit into the opening of the tray FD-2. The configuration of the gripping portion 21 will be described with reference to FIGS. 3 and 4.

[0023] 1.1. Configuration of the gripping portion 21 FIG. 3 is a diagram showing the configuration of the gripping portion 21. In the following description, in addition to the Z-axis, the u-axis and the v-axis will be appropriately used for explanation. One direction along the u-axis is referred to as the “+u direction”, the opposite direction of the +u direction is referred to as the “-u direction”, and the +u direction and the -u direction are collectively referred to as the “u-axis direction”. The +u direction can be said to be the direction toward the rotation axis Az. Also, one direction along the v-axis is referred to as the “+v direction”, the opposite direction of the +v direction is referred to as the “-v direction”, and the +v direction and the -v direction are collectively referred to as the “v-axis direction”. The +v direction can be said to be the direction in which the rotating disk 23 rotates.

[0024] Here, the u-axis and the v-axis are the coordinate axes of the gripping portion 21, and the relative position and attitude relationship with the aforementioned X-axis and Y-axis change due to the rotation of the rotating disk 23. FIG. 2 shows the u-axis and the v-axis at each position of the gripping portion 21. As illustrated in FIG. 2, when the gripping portion 21 is located at the position P2, the +u direction coincides with the +X direction and the +v direction coincides with the +Y direction. FIG. 3 is a view of the gripping portion 21 seen from the +u direction to the -u direction. The gripping portion 21 picks up a plurality of stacked trays FD, holds the picked-up plurality of trays FD, and places the held plurality of trays FD on the mounting surface CAF of the automated guided vehicle CA. As shown in FIG. 3, the gripping portion 21 includes a slider lock mechanism 211a, a slider lock mechanism 211b, and a guide portion 212.

[0025] The slider lock mechanism 211a is located in the +v direction with respect to the slider lock mechanism 211b. In the following description, the slider lock mechanism 211a and the slider lock mechanism 211b are collectively referred to as the slider lock mechanism 211. Also, regarding the elements of the slider lock mechanism 211, when the suffix "a" or "b" is not added to the element reference number, the elements of the slider lock mechanism 211 are collectively referred to, and when the suffix "a" or "b" is added to the element reference number, the elements of the slider lock mechanism 211 are distinguished and denoted.

[0026] The slider lock mechanism 211 has a moving part 2110 and an engaging part 2116. The moving part 2110 moves the engaging part 2116 in the upward and downward directions. The moving part 2110 has a base plate 2111, a slider 2113, and a slider base 2115.

[0027] The base plate 2111 is a flat member for connecting the slider lock mechanism 211 to the rotating disk 23. The upper end of the slider lock mechanism 211 is connected to the rotating disk 23. The slider 2113 is a member including a motor that generates power to move the slider base 2115. The slider 2113a is fixed to the -v direction surface of the base plate 2111a, and the slider 2113b is fixed to the +v direction surface of the base plate 2111b. As a specific configuration for moving the slider base 2115, the slider 2113 has a motor and a wire (not shown). The motor is inside the slider 2113 and is provided at the upper end. The wire is provided inside the slider 2113. One end of the wire is attached to the motor, and the other end is attached to the slider base 2115. The slider base 2115 is a flat member extending in the Z-axis direction. The slider base 2115 is attached so as to be movable in the Z-axis direction with respect to the slider 2113. The engaging part 2116 is fixed to the lower end of the slider base 2115.

[0028] In the following description, the state where the slider base 2115 has moved to the upper end of the movable range, in other words, the state where the engaging portion 2116 has moved to the upper end of the movable range, is referred to as the "ascending state". Similarly, the state where the slider base 2115 has moved to the lower end of the movable range, in other words, the state where the engaging portion 2116 has moved to the lower end of the movable range, is referred to as the "descending state". Since the state of the engaging portion 2116 shown in FIG. 3 is the state where the engaging portion 2116 has moved to the lower end of the movable range, it is the descending state.

[0029] The engaging portion 2116 engages with the lowest stacked weight FD among the plurality of stacked weights FD. The engaging portion 2116 has a power unit 2117 and a rotating claw 2119. The power unit 2117 is a power source for rotating the rotating claw 2119. The rotating claw 2119a rotates from a state extending in the Z-axis direction to a state extending in the v-axis direction about a rotation axis Aua parallel to the u-axis. Similarly, the rotating claw 2119b rotates from a state extending in the Z-axis direction to a state extending in the v-axis direction about a rotation axis Aub parallel to the X-axis. In the following description, as shown in FIG. 3, the state where the rotating claw 2119 extends in the Z-axis direction is referred to as the "open state", and the state where the rotating claw 2119 extends in the v-axis direction is referred to as the "closed state". The power unit 2117 fixes the rotating claw 2119 so that the rotating claw 2119 does not transition to the open state due to a downward stress when the rotating claw 2119 is in a flat state. Since the state of the rotating claw 2119 shown in FIG. 3 is the state where the rotating claw 2119 extends in the Z-axis direction, it is the open state. An example where the state of the engaging portion 2116 is the ascending state and the state of the rotating claw 2119 is the closed state is shown using FIG. 4. The guide portion 212 will also be described using FIG. 4.

[0030] FIG. 4 is a diagram showing that the state of the engaging portion 2116 is the ascending state and the state of the rotating claw 2119 is the closed state. The diagram shown in FIG. 4 is, like FIG. 3, a view of the gripping portion 21 seen from the +u direction to the -u direction. As shown in FIG. 4, the gripping portion 21 grips five stacked weights FD, namely, weight FD-1, weight FD-2, weight FD-3, weight FD-4, and weight FD-5.

[0031] As illustrated in FIG. 4, when the engaging portion 2116 is in the closed state, the engaging portion 2116 engages with the lowermost weight FD-5 among the stacked plurality of weights FD. The rotating claws 2119a are composed of two members arranged at intervals along the u-axis. Similarly, the rotating claws 2119b are composed of two members arranged at intervals along the u-axis. Therefore, the weight FD-5 is supported by the rotating claws 2119 arranged at four locations. The engaging portion 2116 engaging with the weight FD-5 means that the rotating claws 2119 support the lower surface of the flange FDf.

[0032] When the engaging portion 2116 moves upward by the moving portion 2110, the guide portion 212 suppresses the movement of the stacked plurality of weights FD in the u-axis direction or the v-axis direction. The guide portion 212 is composed of four members, namely, a guide plate 213a, a guide plate 213b, a guide plate 215a, and a guide plate 215b. However, the guide portion 212 may have a member in which one of the guide plate 213a and the guide plate 213b is combined with one of the guide plate 215a and the guide plate 215b, or a member in which all of the guide plate 213a, the guide plate 213b, the guide plate 215a, and the guide plate 215b are combined, that is, a single member.

[0033] The guide plate 213a is located in the +v direction with respect to the guide plate 213b. In the following description, the guide plate 213a and the guide plate 213b are collectively referred to as the guide plate 213. In order to facilitate the weight FD to enter between the guide plate 213a and the guide plate 213b, the interval between the two is widened in the vicinity of the lower end portions of the guide plate 213a and the guide plate 213b. Note that the u-axis direction and the v-axis direction are examples of the "horizontal direction".

[0034] The guide plate 213a has a surface 213aF that abuts against the side surfaces of each of the plurality of weights FD held by the gripping portion 21. More specifically, the surface 213aF abuts against the +v-direction surfaces of the flanges FDf of each of the plurality of weights FD. The normal direction of the surface 213aF is the v-axis direction. The guide plate 213b has a surface 213bF that abuts against the side surfaces of the plurality of weights FD held by the gripping portion 21. More specifically, the guide plate 213b abuts against the -v-direction surfaces of the flanges FDf of each of the plurality of weights FD. The normal direction of the surface 213bF is the v-axis direction. Note that the surfaces 213aF and 213bF are examples of the "first surface".

[0035] The guide plate 215a is located farther from the rotary support column 26 than the guide plate 215b. In the following description, the guide plate 215a and the guide plate 215b are collectively referred to as the guide plate 215. When looking at the gripping portion 21 from the +u direction to the -u direction, since the guide plate 215b is hidden behind the guide plate 215a, in FIGS. 3 and 4, the guide plate 215b is shown by a dashed line. Further, in FIGS. 3 and 4, in order to show the guide plate 215b, the size of the guide plate 215b is shown smaller than the size of the guide plate 215a, but the size of the guide plate 215b may be the same as or larger than the size of the guide plate 215a. The surfaces of the guide plate 215 will be described with reference to FIG. 5.

[0036] FIG. 5 is a view of the state shown in FIG. 4 when looking at the gripping portion 21 from the +v direction to the -v direction. However, in FIG. 5, in order to show the positional relationship between the engaging portion 2116a and the guide plate 213a, the guide plate 215a and the engaging portion 2116a hidden by the base plate 2111a are shown by dashed lines. As illustrated in FIG. 5, in order to make it easier for the weight FD to enter between the guide plate 215a and the guide plate 215b, the interval between the two is widened in the vicinity of the lower end portions of the guide plate 215a and the guide plate 215b.

[0037] As illustrated in FIG. 5, the guide plate 215a has a surface 215aF that abuts against the side surfaces of each of the plurality of trays FD gripped by the gripping portion 21. More specifically, the surface 215aF abuts against the +u-direction surface of the flange FDf of each of the plurality of trays FD. The normal direction of the surface 215aF is the u-axis direction. The guide plate 215b has a surface 215bF that abuts against the side surfaces of each of the plurality of trays FD gripped by the gripping portion 21. More specifically, the surface 215bF abuts against the -u-direction surface of the flange FDf of each of the plurality of trays FD. The normal direction of the surface 215bF is the u-axis direction. Note that the surfaces 215aF and 215bF are examples of the "second surface".

[0038] As illustrated in FIG. 5, in the ascending state, when viewed from the +v direction, which is the normal direction of the surface 213aF, the surface 213aF does not overlap with the engaging portion 2116.

[0039] The positional relationship among the surfaces 213aF and 213bF, and the surfaces 215aF and 215bF will be described with reference to FIG. 2. The normals of the surfaces 213aF and 213bF are the virtual straight line L2 shown in FIG. 2. The virtual straight line L2 is a straight line along the Y-axis direction. On the other hand, the normals of the surfaces 215aF and 215bF are the virtual straight line L1. The virtual straight line L1 is a straight line along the X-axis. Therefore, when viewed from above, the normal direction of the surfaces 213aF and 213bF and the normal direction of the surfaces 215aF and 215bF are orthogonal. Note that orthogonality is an example of "intersection".

[0040] Furthermore, with reference to FIGS. 2 and 4, the positional relationship between surfaces 213aF and 213bF, and surfaces 215aF and 215bF, and the engaging portion 2116 will be described. In FIG. 2, the gripping portion 21-1 is in a state of gripping a plurality of trays FD. In FIG. 2, among the rotating claws 2119 of the gripping portion 21-1, portions that are not visible due to the plurality of trays FD are indicated by dashed lines. As illustrated in FIG. 2, in a state where the gripping portion 21-1 grips a plurality of trays FD, when viewed from above, surface 213aF overlaps with rotating claw 2119a, and surface 213bF overlaps with rotating claw 2119b. In the present embodiment, "overlap" includes the concept that two objects completely overlap, a part of one object overlaps with the whole of the other object, and a part of one object overlaps with a part of the other object. In a state where the gripping portion 21-1 grips a plurality of trays FD, when viewed from above, surface 215aF does not overlap with engaging portions 2116a and 2116b, and surface 215bF does not overlap with engaging portions 2116a and 2116b.

[0041] Furthermore, as illustrated in FIG. 4, in the ascending state, when viewed from the +u direction, which is the normal direction of surface 215aF, the lowermost tray FD-5 among the plurality of trays FD gripped by the gripping portion 21-1 overlaps with surface 215aF. Similarly, although not illustrated in FIG. 4, when viewed from the +u direction, tray FD-5 overlaps with surface 215bF.

[0042] Returning to FIG. 1 for explanation. The elevating unit 27 moves the tray FD upward. The elevating unit 27 includes an elevating conveyor 271 and a lifter 272. The elevating conveyor 271 moves the tray FD conveyed into the stacking device 2 by the conveying conveyor 4 to the stacking position Pa shown in FIG. 1. Similar to the conveying conveyor 4, the elevating conveyor 271 is, for example, a roller conveyor, a chain conveyor, a belt conveyor, or the like. The upper surface of the elevating conveyor 271 is a placement surface 271F on which the tray FD can be placed. As illustrated in FIG. 2, when viewed from above, in the initial state, the placement surface 271F overlaps with the gripping portion 21-1. The lifter 272 moves the tray FD placed on the placement surface 271F of the elevating conveyor 271 upward. In the following description, the position of the conveyor 4 in the Z-axis direction is referred to as the "conveyor initial position". The stacking position Pa is the position of the heavy load FD placed on the placement surface 271F of the lifting part 27 located at the conveyor initial position, and when viewed from above, the center of gravity of the heavy load FD overlaps with the position P1.

[0043] The housing 29 houses the four gripping parts 21, the rotating disk 23, the driving part 25, the rotating column 26, and the lifting part 27. However, the stacking device 2 may not have the housing 29. The housing 29 is provided with an opening 291 and an opening 292. The opening 291 is provided for conveying the heavy load FD into the stacking device 2 and is provided at a position in the +X direction with respect to the rotating column 26. The conveying conveyor 4 is inserted into the opening 291. The opening 292 is provided for unloading a plurality of heavy loads FD loaded on the automated guided vehicle CA and is provided at a position in the -X direction with respect to the rotating column 26.

[0044] The control device 8 controls the stacking device 2, the conveying conveyor 4, and the automated guided vehicle CA. Typically, the control device 8 is a computer having a storage unit 81. The storage unit 81 stores the control program of the stacking and unloading system 1 and the number (hereinafter referred to as the "stacking number") N of the heavy loads FD to be conveyed to each store. The stacking number N is a numerical value set individually for each store.

[0045] 1.2. Operations of the stacking and unloading system 1 A series of operations of the stacking and unloading system 1 will be described with reference to FIGS. 6 to 28.

[0046] FIG. 6 is a diagram for explaining a series of operations of the stacking and unloading system 1. The stacking and unloading system 1 executes a stacking process, a rotation process of rotating the rotating disk 23 90 degrees clockwise when viewed from above, and a placement process. An example of the execution timing of each process will be described with reference to FIG. 6.

[0047] At the start of period T1 illustrated in FIG. 6, the state of the stacking device 2 is the initial state. The stacking process using the gripping part 21-1 at position P1 is executed. In period T2 following period T1, the rotating disk 23 rotates 90 degrees by the rotation process, and the gripping part 21-2 moves to position P1. In period T3 following period T2, the stacking process using the gripping part 21-2 is executed. In period T4 following period T3, the rotating disk 23 rotates 90 degrees by the rotation process, the gripping part 21-3 moves to position P1, and the gripping part 21-1 moves to position P2. In period T5 following period T4, the stacking process using the gripping part 21-3 and the placing process using the gripping part 21-1 are executed in parallel. However, the stacking process and the placing process may be executed sequentially. In period T6 following period T5, the rotating disk 23 rotates 90 degrees by the rotation process, the gripping part 21-4 moves to position P1, and the gripping part 21-2 moves to position P2. In period T7 following period T6, the stacking process using the gripping part 21-4 and the unloading process using the gripping part 21-2 are executed in parallel. The above processes are sequentially repeated. For the sake of simplifying the description, it is assumed that in each of the four stacking processes shown in FIG. 6, the number of stacked items N is always 5. In actuality, since the number of stacked items N varies from store to store, the required period for one stacking process may also vary for each stacking process. The details of the stacking process, the rotation process, and the placing process will be described below.

[0048] 1.2.1. Stacking process FIGS. 7 and 8 are flowcharts showing the stacking process. The control device 8 executes initial settings (step S2). As the initial settings, the control device 8 sets the position of the elevating conveyor 271 to the conveyor initial position, sets the engaging part 2116 to the raised state, sets the rotating claw 2119 to the open state, and positions the automated guided vehicle CA at the placement position P3. However, the process of positioning the automated guided vehicle CA at the placement position P3 does not necessarily have to be executed in step S2, and may be executed at the latest immediately before the placement process is executed.

[0049] Fig. 9 shows the state of the stacking and unloading system 1 after the processing of step S2. Hereinafter, from Fig. 9 to Fig. 20, the figure shown on the left is a view of the stacking and unloading system 1 seen from the +Y direction to the -Y direction, and the figure shown on the right is a view of the stacking and unloading system 1 seen from the +X direction to the -X direction. As illustrated in Fig. 9, the engaging portion 2116 of the gripping portion 21-1 is in the raised state, the rotating claw 2119 of the gripping portion 21-1 is set in the open state, and the automated guided vehicle CA is positioned at the mounting position P3.

[0050] After the processing of step S2, under the control of the control device 8, the conveying conveyor 4 conveys the first stack FD into the stacking device 2, and the lifting conveyor 271 positions the first stack FD so that the first stack FD is located at the stacking position Pa (step S4). Fig. 10 shows the state of the stacking and unloading system 1 after the processing of step S4. As illustrated in Fig. 10, as the first stack FD, the stack FD-1 is located at the stacking position Pa.

[0051] After the processing of step S4, under the control of the control device 8, the lifting unit 27 raises the lifting conveyor 271 and moves the first stack FD to the picking position Pb (step S6). The picking position Pb is a position above the rotating claw 2119 in which the flange FDf of the stack FD is in the raised state when viewed from the +X direction. Fig. 11 shows the state of the stacking and unloading system 1 after the processing of step S6.

[0052] After the processing of step S6, under the control of the control device 8, the gripping portion 21-1 rotates the rotating claw 2119 and picks up the first stack FD (step S8). Fig. 12 shows the state of the stacking and unloading system 1 after the processing of step S8. As illustrated in Fig. 12, the rotating claw 2119 is in the closed state, and the engaging portion 2116 engages with the stack FD-1.

[0053] After the process of step S8 ends, under the control of the control device 8, the lifting unit 27 lowers the lifting conveyor 271 to the conveyor initial position (step S10). FIG. 13 shows the state of the stacking and unloading system 1 after the process of step S10 ends. As illustrated in FIG. 13, since the weight FD-1 is engaged with the engaging portion 2116, it does not move in step S10.

[0054] After the process of step S10 ends, the control device 8 sets the variable i to 2 (step S12). The variable i is a local variable used in one stacking process and indicates the i-th weight FD. After the process of step S12, the control device 8 determines whether to stack the (i - 1)-th weight FD on the i-th weight FD (step S22). Specifically, the control device 8 refers to the stacking number N stored in the storage unit 81 and determines to stack the (i - 1)-th weight FD on the i-th weight FD when the variable i is less than or equal to the stacking number N, and determines not to stack the (i - 1)-th weight FD on the i-th weight FD when the variable i is greater than the stacking number N.

[0055] When it is determined to stack the (i - 1)-th weight FD on the i-th weight FD (step S22: Yes), under the control of the control device 8, the conveyor 4 conveys the i-th weight FD into the stacking device 2 and positions the i-th weight FD so that the i-th weight FD is located at the stacking position Pa on the placement surface 271F of the lifting conveyor 271 (step S24). FIG. 14 shows the state of the stacking and unloading system 1 after the process of step S24 ends. As illustrated in FIG. 14, as the second weight FD, the weight FD-2 is located at the stacking position Pa.

[0056] After the process of step S24 ends, under the control of the control device 8, the lifting unit 27 moves the lifting conveyor 271 upward to move the i-th bale FD to the connection position Pc with the (i - 1)-th bale FD (step S26). The connection position Pc is, when viewed from the +X direction, the position where the (i - 1)-th bale FD that is engaged with the engaging portion 2116 and located at the picking position Pb is loaded onto the i-th bale FD. When the i-th model number FD is located at the connection position Pc, since the (i - 1)-th bale FD is supported by the lifting unit 27, the force applied to the rotating claw 2119 decreases. FIG. 15 shows the state of the stacking and unloading system 1 after the process of step S24 ends. As illustrated in FIG. 15, the bale FD-2 is located at the connection position Pc. As a specific process of step S26, the storage unit 81 stores information indicating the length in the Z-axis direction from the stacking position Pa to the connection position Pc. The control device 8 raises the lifting conveyor 271 by this length.

[0057] After the process of step S26 ends, under the control of the control device 8, the gripping unit 21 rotates the rotating claw 2119 and sets the rotating claw 2119 to the open state (step S28). FIG. 16 shows the state of the stacking and unloading system 1 after the process of step S28 ends. As illustrated in FIG. 16, the rotating claw 2119 is in the open state, and the engagement of the engaging portion 2116 with respect to the bale FD-1 is released.

[0058] After the process of step S28 ends, as shown in FIG. 17, the lifting unit 27 moves the i-th bale FD to the picking position Pb by raising the lifting conveyor 271 under the control of the control device 8 (step S30).

[0059] After the process of step S30 ends, as shown in FIG. 18, the gripping unit 21 rotates the rotating claw 2119 under the control of the control device 8 to pick up the i-th bale FD (step S32).

[0060] After the process of step S32 ends, as shown in FIG. 19, the lifting unit 27 lowers the lifting conveyor 271 to the conveyor initial position (step S34).

[0061] After the process of step S34 ends, the control device 8 increments the value of the variable i by 1 (step S36), and returns the process to step S22. If it is determined that the (i - 1)-th pallet weight FD is not loaded onto the i-th pallet weight FD (step S22: No), the stacking and unloading system 1 ends the stacking process shown in FIGS. 7 and 8. As described above, the processes from step S24 to step S36 are repeated N - 1 times for the number of stacks. As a result, the pallet weights FD with the number of stacks N are stacked in the gripping unit 21. FIG. 20 shows the state of the stacking and unloading system 1 when the stacking process is completed after stacking five pallet weights FD. The state illustrated in FIG. 20 is a state in which the processes from step S24 to step S36 are repeated four times. As illustrated in FIG. 20, the pallet weights FD - 1 to FD - 5 are stacked. FIG. 21 shows the state of the stacking and unloading system 1 when the rotation process in the period T2 is completed.

[0062] 1.2.2. Placement process FIGS. 22 and 23 show the state of the stacking and unloading system 1 immediately before the rotation process in the period T4 is executed and the placement process using the gripping unit 21 - 1 is executed. In FIGS. 21 and 22, the display of the guide unit 212 is omitted to avoid complication of the drawing. In FIG. 23 and FIGS. 25 to 28 described later, the left - hand side figure is a view of the stacking and unloading system 1 from the +Y direction to the -Y direction, and the right - hand side figure is a view of the stacking and unloading system 1 from the -X direction to the +X direction. As illustrated in FIG. 23, before the placement process is executed, the automated guided vehicle CA is positioned at the placement position P3.

[0063] FIG. 24 is a flowchart showing the placement process. Under the instruction of the control device 8, the slider lock mechanism 211 lowers the engaging portion 2116 by the moving portion 2110 and loads the pallet weight FD onto the automated guided vehicle CA (step S42). FIG. 25 shows the state of the stacking and unloading system 1 after the process of step S42 ends. As illustrated in FIG. 25, the pallet weights FD - 1 to FD - 5 are loaded onto the automated guided vehicle CA.

[0064] After the process of step S42 ends, under the control of the control device 8, the gripping part 21 rotates the rotating claw 2119 and sets the rotating claw 2119 to the open state (step S44). FIG. 26 shows the state of the stacking and unloading system 1 after the process of step S44 ends. As illustrated in FIG. 26, the rotating claw 2119 of the gripping part 21-1 is in the open state, and the engagement of the engaging part 2116 with respect to the pallet FD-5 is released.

[0065] After the process of step S44 ends, as illustrated in FIG. 27, under the instruction of the control device 8, the slider lock mechanism 211 is raised by the moving part 2110 until the engaging part 2116 is in the raised state (step S46).

[0066] After the process of step S46 ends, as illustrated in FIG. 28, under the instruction of the control device 8, the automated guided vehicle CA unloads the pallet FD from the stacking device 2 (step S48). After the process of step S48 ends, the stacking and unloading system 1 ends the placement process shown in FIG. 24.

[0067] 1.3. Summary of the First Embodiment According to the above description, the stacking device 2 in the first embodiment includes a gripping part 21-1 (an example of the "first gripping part"), a gripping part 21-3 (an example of the "second gripping part"), a rotating disk 23 (an example of the "rotating body"), and a driving part 25. The gripping part 21-1 and the gripping part 21-3 can grip a plurality of stacked pallets FD (an example of the "container"). The rotating disk 23 supports the gripping part 21-1 and the gripping part 21-3 and is rotatable about a rotation axis Az along the vertical direction. The driving part 25 rotates the rotating disk 23 so that an initial state (an example of the "first state") and a state in which the rotating disk 23 rotates 180 degrees from the initial state (an example of the "second state") are switched. In the initial state, the gripping part 21-1 is located at the position P1 for picking up a plurality of stacked pallets FD, and the gripping part 21-3 is located at the position P2 for unloading a plurality of stacked pallets FD. In the state where the rotating disk 23 rotates 180 degrees from the initial state, the gripping part 21-3 is located at the position P1, and the gripping part 21-1 is located at the position P2. According to the first embodiment, since the positioning of the plurality of weight FDs is only once at position P1 and the positioning of the plurality of weight FDs at position P2 is unnecessary, compared with an aspect having a stacking device that executes stacking processing and a placement device that executes placement processing, the number of positionings in a series of processes from stacking processing to placement processing can be reduced. As a specific process for positioning the weight FD, for example, the control device 8 measures the current position of the weight FD, calculates the difference from the position where the weight FD is originally placed to the current position, and executes a process of adjusting the position of the weight FD until this difference becomes equal to or less than the allowable range. Thus, it takes a certain period of time to execute the positioning of the weight FD. In the first embodiment, since the number of positionings can be reduced, the period required for a series of processes from stacking processing to unloading processing can be shortened. Also, in an aspect having a stacking device and a placement device that execute stacking processing, two devices are required, but the stacking device 2 in the first embodiment can execute stacking work and placement work. Therefore, the first embodiment can realize a less expensive device configuration compared with an aspect having a stacking device and a placement device that execute stacking processing.

[0068] Also, as illustrated in FIG. 2, when viewed from the vertical direction, position P1, rotation axis Az, and position P2 are located on a virtual straight line L1 that is a straight line. When viewed from the vertical direction, compared with an aspect in which position P1, rotation axis Az, and position P2 are not on the same straight line, since position P1 and position P2 are separated, it becomes difficult for the plurality of weight FDs gripped by the gripping portion 21 at position P1 and the plurality of weight FDs gripped by the gripping portion 21 at position P2 to come into contact.

[0069] Further, the gripping part 21-1 has an engaging part 2116, a moving part 2110, and a guiding part 212. The engaging part 2116 engages with the bottommost one of the stacked plurality of weights FD. The moving part 2110 moves the engaging part 2116 in the upward and downward directions. The guiding part 212 suppresses the horizontal movement of the stacked plurality of weights FD when the engaging part 2116 is moved upward by the moving part 2110. The guiding part 212 has a surface 213aF and a surface 213bF (an example of the "first surface") that contact the side surfaces of each of the plurality of weights FD gripped by the gripping part 21-1, and a surface 215aF and a surface 215bF (an example of the "second surface") that contact the side surfaces of each of the plurality of weights FD gripped by the gripping part 21-1. When viewed from above, the v-axis direction, which is the normal direction of the surfaces 213aF and 213bF, and the u-axis direction, which is the normal direction of the surfaces 215aF and 215bF, are orthogonal (an example of "intersecting"). According to the first embodiment, when viewed from above, displacement of the weights FD in two different directions can be suppressed with respect to the plurality of weights FD. In particular, since the plurality of weights FD rotate clockwise about the rotation axis Az, at the start of rotation, a force in the -v direction acts on the plurality of weights FD, during rotation, a centrifugal force in the -u direction acts on the plurality of weights FD, and at the end of rotation, a force in the +v direction acts on the plurality of weights FD. Thus, since forces in various directions act on the plurality of weights FD, by suppressing displacement in two different directions, displacement of the weights FD in the horizontal direction can be suppressed as compared with a mode of suppressing displacement of the weights FD in only one direction.

[0070] Also, as illustrated in FIG. 2, in a state where the gripping portion 21-1 grips a plurality of tanshige FD, when viewed from above, the surface 213aF overlaps with the engaging portion 2116a, and the surface 213bF overlaps with the engaging portion 2116b. In a state where the gripping portion 21-1 grips a plurality of tanshige FD, when viewed from above, the surfaces 215aF and 215bF do not overlap with the engaging portion 2116a and the engaging portion 2116b. As illustrated in FIG. 5, in an ascending state where the engaging portion 2116 is moved to the upper end of the movable range by the moving portion 2110, when viewed from the +v direction which is an example of the normal direction of the surface 213aF, the surfaces 213aF and 213bF do not overlap with the engaging portion 2116a and the engaging portion 2116b. As illustrated in FIG. 4, in the ascending state, when viewed from the +u direction which is an example of the normal direction of the surface 215aF, the tanshige FD located at the lowermost stage among the plurality of tanshige FD gripped by the gripping portion 21-1 overlaps with the surfaces 215aF and 215bF. According to the first embodiment, the guide plate 215a having the surface 215aF and the guide plate 215b having the surface 215bF can suppress the displacement of the tanshige FD located at the lowermost stage in the X-axis direction. Further, since the surfaces 213aF and 213bF do not overlap with the engaging portion 2116a and the engaging portion 2116b when viewed from the +v direction, it is possible to suppress the guide plate 213a having the surface 213aF from contacting the engaging portion 2116a, and it is possible to suppress the guide plate 213b having the surface 213bF from contacting the engaging portion 2116a.

[0071] In addition, the stacking device 2 has a placement surface 271F on which the lot weight FD (an example of "one or more containers") can be placed, and has a lifting part 27 that can move the placement surface 271F upward and downward. The gripping part 21-1 has an engaging part 2116 that engages with the lowermost lot weight FD among the stacked plurality of lot weights FD. When viewed from above, in the initial state, the placement surface 271F overlaps with the gripping part 21-1, and the placement surface 271F is positioned below the gripping part 21-1. The lifting part 27 moves the placement surface 271F upward to stack the lot weight FD-1 on the lot weight FD-2 in a state where the engaging part 2116 engages with the lot weight FD-1 (an example of "the first container") and the lot weight FD-2 (an example of "the second container") is placed on the placement surface 271F. The gripping part 21-1 grips the stacked lot weight FD-1 and lot weight FD-2 by the engaging part 2116 engaging with the lot weight FD-2 in a state where the lot weight FD-1 is stacked on the lot weight FD-2. According to the first embodiment, the lifting part 27 can move up and down to stack a plurality of lot weights FD.

[0072] In addition, the stacking and unloading system 1 includes a stacking device 2, a conveyor 4 (an example of "conveyor") that moves a plurality of lot weights FD (an example of "one or more lot weights") to a position overlapping the position P1 when viewed from above, and an automated guided vehicle CA (an example of "transport vehicle") that has a placement surface CAF on which a plurality of lot weights FD can be placed and is arranged at a position overlapping the position P2 when viewed from above. According to the first embodiment, since the number of positionings can be reduced, a stacking and unloading system 1 that can shorten the period required for a series of processes from the stacking process to the placement process can be provided.

[0073] 2. Modification The present disclosure is not limited to the embodiments exemplified above. Specific modification modes are exemplified below. Two or more modes arbitrarily selected from the following examples may be combined.

[0074] 2.1. First modification In the stacking process according to the first embodiment, the lifting part 27 moves up and down to stack a plurality of weight FDs. On the other hand, in the first modification, the difference from the first embodiment is that the engaging part 2116 moves up and down to stack a plurality of weight FDs.

[0075] FIG. 29 is an explanatory diagram for explaining the stacking and unloading system 1A according to the first modification. The stacking and unloading system 1A is different from the stacking and unloading system 1 in that it has a stacking device 2A instead of the stacking device 2 and a conveying conveyor 4A instead of the conveying conveyor 4. The stacking device 2A is different from the stacking device 2 in that it does not have a lifting part 27. The conveying conveyor 4A is different from the conveying conveyor 4 in that it conveys the weight FD from the outside of the stacking device 2A to the stacking position Pa.

[0076] 2.1.1. Stacking process in the first modification FIGS. 30 and 31 are flowcharts showing the stacking process in the first modification. The control device 8 executes the initial setting in the first modification (step S52). As the initial setting in the first modification, the control device 8 sets the engaging part 2116 in the raised state, sets the rotating claw 2119 in the open state, and positions the automated guided vehicle CA at the mounting position P3.

[0077] After the process of step S52 is completed, under the control of the control device 8, the conveying conveyor 4A conveys the first weight FD into the stacking device 2A and positions it at the stacking position Pa on the conveying conveyor 4A (step S54). The stacking position Pa in the first modification is the position of the weight FD placed on the conveying conveyor 4A, and when viewed from above, it is the position where the center of gravity of the weight FD overlaps with the position P1. After the process of step S52 is completed, as illustrated in FIG. 32, under the control of the control device 8, the slider lock mechanism 211 moves the engaging part 2116 to the stacking position Pa by the moving part 2110 (step S56).

[0078] After the process of step S56 ends, the slider lock mechanism 211 rotates the rotary claw 2119 under the control of the control device 8 to pick up the first weight FD (step S58). After the process of step S58 ends, under the control of the control device 8, the slider lock mechanism 211 raises the engaging portion 2116 by the moving portion 2110 until it is in the raised state (step S60).

[0079] After the process of step S60 ends, the control device 8 sets the variable i to 2 (step S62). After the process of step S62, the control device 8 determines whether to stack the (i - 1)-th weight FD on the i-th weight FD (step S72). If it is determined that the (i - 1)-th weight FD is to be stacked on the i-th weight FD (step S72: Yes), under the control of the control device 8, the conveyor 4A conveys the i-th weight FD into the stacking device 2A and positions the i-th weight FD at the stacking position Pa on the conveyor 4A (step S74).

[0080] After the process of step S74 ends, under the control of the control device 8, the slider lock mechanism 211 lowers the engaging portion 2116 to move the (i - 1)-th weight FD to the loading position Pd. The loading position Pd is the position where, when viewed from the +X direction, the (i - 1)-th weight FD engaged with the engaging portion 2116 is stacked on the i-th weight FD positioned at the stacking position Pa. When the (i - 1)-th weight FD is positioned at the loading position Pd, since the (i - 1)-th weight FD is supported by the conveyor 4A via the i-th weight FD, the force applied to the rotary claw 2119 decreases. FIG. 33 shows the state of the stacking and unloading system 1 after the process of step S76 ends. As illustrated in FIG. 33, the weight FD - 1 is positioned at the loading position Pd.

[0081] After the process of step S76 ends, the slider lock mechanism 211 sets the rotating claw 2119 to the open state under the control of the control device 8 (step S78). After the process of step S78 ends, under the control of the control device 8, the slider lock mechanism 211 lowers the engaging portion 2116 to the stacked position Pa (step S80). After the process of step S80 ends, the slider lock mechanism 211 rotates the rotating claw 2119 under the control of the control device 8 to pick up the i-th weight FD (step S82).

[0082] After the process of step S82 ends, the slider lock mechanism 211 raises the engaging portion 2116 by the moving portion 2110 until it is in the raised state (step S84). After the process of step S84 ends, the control device 8 increments the value of the variable i by 1 (step S86) and returns the process to step S72. If it is determined that the (i - 1)-th weight FD is not loaded onto the i-th weight FD (step S72: No), the stacked unloading system 1A ends the stacking process shown in FIGS. 30 and 31. As described above, the processes from step S74 to step S86 are repeated N - 1 times. As a result, the weights FD with the stacking number N are stacked in the gripping portion 21.

[0083] 2.1.2. Summary of the First Modification According to the above description, the stacked unloading system 1A in the first modification has the conveying conveyor 4A. When viewed from above, in the initial state, the conveying conveyor 4A overlaps with the gripping portion 21-1, and the conveying conveyor 4A is located below the gripping portion 21-1. The gripping portion 21 has an engaging portion 2116 that engages with the lowermost weight FD among the stacked weights FD, and a moving portion 2110 that moves the engaging portion 2116 in the upward and downward directions. The moving portion 2110 loads the weight FD-1 onto the weight FD-2 by moving the engaging portion 2116 downward in a state where the engaging portion 2116 engages with the weight FD-1 and the weight FD-2 is placed on the conveying conveyor 4A. The gripping portion 21-1 grips the stacked weights FD-1 and FD-2 when the engaging portion 2116 engages with the weight FD-2 in a state where the weight FD-1 is loaded onto the weight FD-2. According to the first modification example, since the stacking and unloading system 1A does not have the lifting part 27, it can have a simpler configuration compared to the stacking and unloading system 1.

[0084] When comparing the first modification example with the first embodiment, the stacking process in the first modification example has a process of lowering the tray weight FD as shown in step S76 and a process of raising the tray weight FD as shown in steps S60 and S84. When the tray weight FD is raised and lowered, inertial force acts on the containers accommodated in the tray weight FD, and there is a possibility that the containers will collapse. Therefore, it is preferable that the number of times of raising and lowering the tray weight FD is as small as possible. On the other hand, the stacking process in the first embodiment has a process of raising the tray weight FD as shown in steps S6 and S30, but does not have a process of lowering the tray weight FD. Therefore, the stacking process in the first embodiment can reduce the possibility that the containers accommodated in the tray weight FD will collapse because there is no process of lowering the tray weight FD compared to the stacking process in the first modification example.

[0085] 2.2. Second Modification Example The surfaces 213aF of the guide plate 213a and the surfaces 213bF of the guide plate 213b in the first embodiment and the first modification example do not overlap with the tray weight FD with which the engaging portion 2116 engages when viewed from the +v direction in the raised state, but may overlap with the tray weight FD due to having notches.

[0086] FIG. 34 and FIG. 35 are diagrams for explaining the gripping portion 21B in the second modification example. FIG. 34 shows a state in which the gripping portion 21B is viewed from the +u direction to the -u direction. FIG. 35 shows a state in which the gripping portion 21B is viewed from the +v direction to the -v direction. In FIGS. 34 and 35, the state of the engaging portion 2116 of the gripping portion 21B is in the raised state, and the state of the rotating claws 2119 is in the closed state.

[0087] As illustrated in FIG. 34, the gripping portion 21B is different from the gripping portion 21 in that it has a guide portion 212B instead of the guide portion 212. The guide portion 212B is different from the guide portion 212 in that it has a guide plate 213aB instead of the guide plate 213a and a guide plate 213bB instead of the guide plate 213b.

[0088] As illustrated in FIG. 35, the guide plate 213aB has a notch 213aK at its -Z direction end. In FIG. 35, although the illustration of the guide plate 213bB is omitted, the guide plate 213bB also has a notch similar to the guide plate 213aB. As illustrated in FIG. 35, in the raised state, when viewed from the +v direction, all of the engaging portion 2116a is located inside the notch 213aK. However, in the raised state, when viewed from the +v direction, a part of the engaging portion 2116a may be located inside the notch 213aK. Further, as illustrated in FIG. 35, in the raised state, when viewed from the +v direction, the lowest weight FD-5 among the plurality of weights FD gripped by the gripping portion 21-1 overlaps with the surface 213aF of the guide plate 213aB. Although not illustrated in FIG. 35, in the raised state, when viewed from the +v direction, all of the engaging portion 2116b is located inside the notch of the guide plate 213bB, and the lowest weight FD-5 overlaps with the surface 213bF of the guide plate 213bB. Note that any one of the guide plate 213aB and the guide plate 213bB corresponds to the "portion having the first surface". As described in the first embodiment, the guide portion 212B may be a single member, and among this single member, it suffices to have a notch in the portion having a surface with the v-axis direction as the normal direction. The "portion of the guide portion having the first surface" includes the meaning that it is one of the plurality of members when the guide portion 212B is composed of a plurality of members, and the meaning that it is a part of this single member when the guide portion 212B is composed of a single member.

[0089] According to the second modification example, in the ascending state, when viewed from the +v direction, since the entire engaging portion 2116a is located inside the notch 213aK, it is possible to suppress the guide plate 213aB from contacting the engaging portion 2116a. Further, in the ascending state, when viewed from the +v direction, since the bottommost weight FD-5 overlaps with the non-notched portion of the guide plate 213aB, it is possible to suppress the weight FD-5 from being displaced in the +v direction. Similarly, in the ascending state, when viewed from the +v direction, since the entire engaging portion 2116b is located inside the notch of the guide plate 213bB, it is possible to suppress the guide plate 213bB from contacting the engaging portion 2116b. Further, in the ascending state, when viewed from the +v direction, since the weight FD-5 overlaps with the non-notched portion of the guide plate 213bB, it is possible to suppress the weight FD-5 from being displaced in the -v direction.

[0090] 2.3. Third modification example The stacking device 2 in the first embodiment, the first modification example, and the second modification example has four gripping portions 21, but is not limited thereto, and may have two or more gripping portions 21. For example, the stacking device 2 may have two gripping portions 21.

[0091] FIG. 36 is a view of the stacking and unloading system 1C in the third modification example as viewed from above downward. In FIG. 36, the display of the housing 29 and the guide portion 212 is omitted, the rotating disk 23 is shown by a two-dot chain line, and the gripping portion 21, the rotating column 26, and the weight FD that are originally hidden by the rotating disk 23 and not visible are shown by solid lines.

[0092] The stacking and unloading system 1C is different from the stacking and unloading system 1 in that it has a stacking device 2C instead of the stacking device 2. The stacking device 2C is different from the stacking device 2 in that it has two gripping portions 21, namely, a gripping portion 21-1 and a gripping portion 21-2. Further, the drive unit 25 in the second modification example is different from the drive unit 25 in the first embodiment in that it rotates the rotating disk 23 every 180 degrees.

[0093] 2.4. Fourth modification example In the first embodiment, the first modification, the second modification, and the third modification, the position P1 where the stacking process is executed and the position P2 where the placing process is executed are located opposite to each other with the rotation axis Az interposed therebetween, but the present invention is not limited thereto. Further, in the first embodiment, the first modification, the second modification, and the third modification, in the stacking device 2, there is one position P1 where the stacking process is executed and one position P2 where the placing process is executed, but there may be two or more integer positions.

[0094] FIG. 37 is a view of the stacking and unloading system 1D in the fourth modification as seen from above downward. In FIG. 36, the display of the housing 29 and the guide portion 212 is omitted, the rotating disk 23 is shown by a two-dot chain line, and the gripping portion 21, the rotating column 26, and the counterweight FD that are originally hidden by the rotating disk 23 are shown by solid lines.

[0095] The stacking and unloading system 1D is different from the stacking and unloading system 1 in that it has a stacking device 2D instead of the stacking device 2, has an automated guided vehicle CAd instead of the automated guided vehicle CA, and further has a conveying conveyor 4D and an automated guided vehicle CAD. The conveying conveyor 4D is located in the -X direction with respect to the stacking device 2D and conveys the counterweight FD in the +X direction. The automated guided vehicle CAd unloads a plurality of counterweights FD from the stacking device 2D in the -Y direction. The automated guided vehicle CAD unloads a plurality of counterweights FD from the stacking device 2D in the +Y direction. The stacking device 2D is different from the stacking device 2 in that it has a lifting portion 27D. The lifting portion 27D is located between the rotating column 26 and the conveying conveyor 4D and moves the counterweight FD conveyed by the conveying conveyor 4D upward.

[0096] Inside the stacking and unloading system 1D, there are a position P1d and a position P1D where the stacking process is executed, and a position P2d and a position P2D where the placing process is executed. The position P1d is located in the +X direction with respect to the rotating support column 26, the position P1D is located in the -X direction with respect to the rotating support column 26, the position P2d is located in the -Y direction with respect to the rotating support column 26, and the position P2D is located in the +Y direction with respect to the rotating support column 26. When starting to execute the placing process, the automated guided vehicle CAd is positioned at a position that overlaps with the position P2d when viewed from the +Z direction. When starting to execute the placing process, the automated guided vehicle CAD is positioned at a position that overlaps with the position P2D when viewed from the +Z direction.

[0097] As illustrated in FIG. 37, the stacking and unloading system 1D has a path R1 and a path R2 for unloading the stack FD. The path R1 passes on the conveyor 4, passes through the positions P1d and P2d, and is a path that goes in the -Y direction from the position P2d. The path R2 passes on the conveyor 4d, passes through the positions P1D and P2D, and is a path that goes in the +Y direction from the position P2D. In the following description, the position P1 is a general term for the position P1d and the position P1D, and the position P2 is a general term for the position P2d and the position P2D. The position P2 is a position where the position P1 is rotated 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction.

[0098] The gripping part 21 located at the position P1d is used for the stacking process at the position P1d, and when the rotating disk 23 rotates 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction, it is located at the position P2d and is used for the placing process. The gripping part 21 located at the position P2d, when the rotating disk 23 rotates 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction, is located at the position P1D and is used for the stacking process. The gripping part 21 located at the position P1D, when the rotating disk 23 rotates 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction, is used for the placing process at the position P2D. The gripping part 21 located at the position P2D, when the rotating disk 23 rotates 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction, is used for the stacking process at the position P1d.

[0099] In the above-described fourth modification example, in the stacking device 2D, there were two positions, i.e., the position P1 where the stacking process is executed and the position P2 where the placing process is executed. However, there may be three or more positions. Also, the position P2 was the position where the position P1 was rotated 90 degrees clockwise about the rotation axis Az when viewed from the +Z direction. However, it is not limited to 90 degrees. For example, it may be the position rotated 60 degrees clockwise or the position rotated 45 degrees clockwise.

[0100] 2.5. Fifth Modification Example In each of the above-described forms, the gripping portion 21 gripped the weight FD by engagement, but it is not limited thereto. For example, when the weight FD is made of metal, the gripping portion 21 may grip the weight FD by generating a magnetic force. Or, the gripping portion 21 may have a pair of clamping pieces, and grip the weight FD by clamping the weight FD with this integrated clamping piece.

[0101] 2.6. Sixth Modification Example In each of the above-described forms, the normal directions of the surfaces 213aF and 213bF and the normal directions of the surfaces 215aF and 215bF were orthogonal, but they may intersect. Specifically, when viewed from the +Z direction, if the weight FD is a polygon different from a quadrilateral, the guide portion 212 may have guide plates along each of a plurality of sides of this polygon. For example, when the weight FD is a regular pentagon when viewed from the +Z direction, the normal directions of any two of the five guide plates along each of the five sides of the regular pentagon do not intersect orthogonally but intersect.

[0102] 2.7. Seventh Modification Example In the stacking process in each of the above-described forms, one or more weights FD gripped by the gripping portion 21 were loaded onto one weight FD, but it is not limited thereto. In the stacking process, the stacking device 2 may load one or more weights FD gripped by the gripping portion 21 onto a plurality of weights FD. More specifically, the conveyor 4 may convey a plurality of pre-stacked weights FD. The stacking device 2 loads one or more weights FD gripped by the gripping portion 21 onto the uppermost weight FD among a plurality of pre-stacked weights FD. Note that the plurality of stacked weight FDs stacked in advance are an example of "one or more containers".

Explanation of symbols

[0103] 1, 1A, 1C, 1D... stacking and unloading system, 2, 2A, 2C, 2D... stacking device, 4, 4A, 4D... conveyor, 8... control device, 21, 21-1, 21-2, 21-3, 21-4, 21B... gripping part, 23... rotating disk, 25... driving part, 26... rotating support column, 27, 27D... lifting part, 29... housing, 81... storage part, 211, 211a, 211b... slider lock mechanism, 212, 212B... guide part, 213, 213a, 213aB, 213b, 213bB... guide plate, 213aF, 213bF, 215aF, 215bF... surface, 213aK... notch, 215, 215a... guide plate, 215b... guide plate, 271... lifting conveyor, 271F... placement surface, 272... lifter, 291, 292... opening, 2110... moving part, 2111, 2111a, 2111b... base plate, 2113, 2113a, 2113b... slider, 2115... slider base, 2116, 2116a, 2116b... engaging part, 2117... power part, 2119, 2119a, 2119b... rotating claw, Aua, Aub, Az... rotating shaft, CA... automated guided vehicle, CAF... placement surface, FD, FD-1, FD-2, FD-3, FD-4, FD-5... weight, FDf... flange, L1, L2... virtual straight line, N... number of stacked layers, P1, P2... position, P3... placement position, Pa... stacking position, Pb... picking position, Pc... connecting position, Pd... loading position, R1, R2... path, T1, T2, T3, T4, T5, T6, T7... period.

Claims

1. a first gripping part capable of gripping a plurality of stacked containers; a second gripping part capable of gripping a plurality of stacked containers; a rotating body that supports the first gripping part and the second gripping part and is rotatable about a rotation axis along the vertical direction; a first state in which the first gripping part is located at a first position for picking up a plurality of stacked containers and the second gripping part is located at a second position for carrying out the plurality of stacked containers, and a second state in which the second gripping part is located at the first position and the first gripping part is located at the second position, and a driving part for rotating the rotating body so as to switch between the first state and the second state; comprising the first gripping part an engaging part that engages with the container located at the lowermost stage among the plurality of stacked containers; a moving part that moves the engaging part upward and downward in the vertical direction; a guide part that suppresses the horizontal movement of the plurality of stacked containers when the engaging part is moved upward in the vertical direction by the moving part; having the guide part has two first surfaces that abut against the side surfaces of each of the plurality of containers gripped by the first gripping part, and two second surfaces that abut against the side surfaces of each of the plurality of containers gripped by the first gripping part; when viewed from the vertical direction, the normal direction of the two first surfaces and the normal direction of the two second surfaces intersect; in the ascending state where the engaging part has moved to the upper end of the movable range by the moving part, the distance between the portions of the two first surfaces that abut against the container located at the lowermost stage is shorter than the distance between the lower ends of the two first surfaces in the vertical direction; in the ascending state, the distance between the portions of the two second surfaces that abut against the container located at the lowermost stage is shorter than the distance between the lower ends of the two second surfaces in the vertical direction; a stacking device.

2. when viewed from the vertical direction, the first position, the rotation axis, and the second position are located on the same straight line; The stacking device according to Claim 1.

3. in the state where the first gripping part grips a plurality of containers, when viewed from the vertical direction, the two first surfaces overlap with the engaging part; in the state where the first gripping part grips a plurality of containers, when viewed from the vertical direction, the two second surfaces do not overlap with the engaging part; in the ascending state, when viewed from the normal direction of the two first surfaces, the two first surfaces do not overlap with the engaging part; In the ascending state, when viewed from the normal direction of the two second surfaces, the lowermost container among the plurality of containers gripped by the first gripping portion overlaps with the two second surfaces. The stacking device according to claim 1.

4. A portion of the guide portion having the two first surfaces has a notch at the lower end in the vertical direction. In the ascending state, when viewed from the normal direction of the two first surfaces, part or all of the engaging portion is located inside the notch. In the ascending state, when viewed from the normal direction of the two first surfaces, the lowermost container overlaps with the two first surfaces. The stacking device according to claim 3.

5. It has a placement surface on which one or more containers can be placed, and has a lifting portion capable of moving the placement surface upward and downward in the vertical direction. The first gripping portion is It has an engaging portion that engages with the lowermost container among the stacked plurality of containers. When viewed from the vertical direction, in the first state, the placement surface overlaps with the first gripping portion, and the placement surface is located below the first gripping portion. The lifting portion loads the first container onto the second container by moving the placement surface upward in the vertical direction in a state where the engaging portion engages with the first container and the second container is placed on the placement surface. The first gripping portion grips the stacked first container and the second container by the engaging portion engaging with the second container in a state where the first container is loaded onto the second container. The stacking device according to claim 1 or 2.

6. The stacking device according to any one of claims 1 to 5, A conveyor that moves one or more containers to a position overlapping the first position when viewed from the vertical direction, A transport cart having a placement surface on which a plurality of containers can be placed and arranged at a position overlapping the second position when viewed from the vertical direction, A stacking and unloading system having the above.

Images