Product conveying device

Abstract

To provide a commodity conveying device capable of successfully conveying a commodity while preventing the commodity from being damaged.SOLUTION: In a commodity conveying device, a conveying unit 30 for conveying a commodity placed on a commodity storage rack 2 to a commodity placing shelf 6 comprises: a unit body 33 which has a bottom 331 and a rear face 332 and can be moved in a vertical direction or the like; and an operation mechanism 35 which is disposed on the unit body 33 in such a manner as to be able to perform an advance movement away from the rear face 332 and a retreat movement approaching the rear face 332 and is disposed at a standby position in a normal state. When the unit body 33 is moved to a commodity take-out position of the commodity storage rack 2, the commodity conveying device performs the advance movement of the operation mechanism 35 from the standby position to engage an operation member 353 with the commodity and then performs the retreat movement to be located on the standby position, and thus places the commodity on the bottom 331. After the unit body 33 is moved to a commodity delivery position of the commodity placing shelf 6, the commodity conveying device performs the advance movement of the operation mechanism 35 from the standby position while releasing an engagement state of the operation member 353 with the commodity, and thus places the commodity on the commodity placing shelf 6.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a product conveying device, and more particularly to a product conveying device equipped with a conveying unit that conveys target products stored at the most downstream position of a product storage shelf to a product placement shelf. [Background technology]

[0002] For example, in a refrigerated warehouse (backyard) constructed in a store such as a convenience store or supermarket, a product conveying device equipped with a gripping unit as proposed in Patent Document 1 is known that conveys products from a product storage shelf where products are stored to a product placement shelf arranged in a showcase from which store customers can take out products.

[0003] Such a gripping unit is configured with a pair of left and right arm members and an arm drive unit that moves these arm members toward and away from each other, and is configured to be movable in the up and down, left and right, and front and back directions by a conveying mechanism.

[0004] In such a gripping unit, when the unit is moved by the conveying mechanism to a product removal position on a product storage shelf, the arm members are moved close to each other to clamp and grip the product in question, and when the unit is moved by the conveying mechanism to a product dispensing position on a product loading shelf, the arm members are moved away from each other to dispense the product that was being held and place it on the product loading shelf. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-78857 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the gripping unit proposed in Patent Document 1, the arm members are brought close to each other to grip the product, so it is necessary to ensure sufficient friction between the arm members and the product.As a result, the force with which the arm members move close to each other becomes greater than the strength of the product, which could result in the product being crushed or damaged.

[0007] SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a product conveying device that can convey products well while preventing damage to the products. [Means for solving the problem]

[0008] In order to achieve the above object, the product transport device of the present invention is a product transport device equipped with a transport unit that transports a target product stored at the most downstream position of any product storage shelf to a product placement shelf, the transport unit having a bottom and a back portion extending upward from an edge of the bottom and being provided with a unit main body that is movable in at least one of the vertical and horizontal directions, and an action mechanism portion that is provided on the unit main body in a manner that allows it to move forward away from the back portion and move backward close to the back portion, and that is normally positioned at a standby position above the bottom after the backward movement, and when the unit main body moves to a product removal position of the product storage shelf, the action mechanism portion is moved forward from the standby position to perform the action mechanism portion. After an acting member constituting a mechanism unit is engaged with the target product, the acting mechanism unit is retracted and placed at the standby position, thereby sliding the target product from the product storage shelf to the bottom and placing it on the bottom, thereby performing the target product removal operation, and when the unit main body with the target product placed on the bottom is moved to the product dispensing position of the product storage shelf, the acting mechanism unit is moved forward from the standby position while disengaging the acting member from the target product, thereby sliding the target product from the bottom to the product storage shelf, and then the acting mechanism unit is retracted and placed at the standby position, thereby performing the target product dispensing operation, whereby the target product is placed on the product storage shelf.

[0009] The present invention is also characterized in that, in the above-mentioned product conveying device, the acting member has a semi-cylindrical acting main body portion whose central axis extends in the vertical direction, and is provided in the acting mechanism portion in a manner such that it can rotate around the central axis between a first position in which the curved outer surface of the acting main body portion faces the back portion, and a second position in which the curved inner surface of the acting main body portion faces the back portion.

[0010] Furthermore, in the above-described product conveying device, when the unit main body is moved to the product removal position, the conveying unit advances the action mechanism part from the standby position, rotates the action member from the first position to the second position, and positions the action member upstream of the target product, and then retracts the action mechanism part and positions it at the standby position, thereby sliding the target product from the product storage shelf to the bottom and placing it on the bottom; on the other hand, when the unit main body is moved to the product dispensing position, rotates the action member from the second position to the first position while moving the action mechanism part forward from the standby position, thereby sliding the target product from the bottom to the product placement shelf, and then retracts the action mechanism part and positions it at the standby position, thereby placing the target product on the product placement shelf.

[0011] The present invention is also characterized in that, in the above-mentioned product conveying device, the conveying unit comprises a base portion installed on a conveying mechanism for moving the conveying unit in at least one of the vertical and horizontal directions, and a unit body rotation drive mechanism interposed between the base portion and the unit body for rotating the unit body around the central axis of a unit body rotation shaft extending along the vertical direction.

[0012] The present invention is also characterized in that, in the above-mentioned product conveying device, when the conveying unit is moved to the product removal position, the bottom of the unit body is positioned at a height position equal to or lower than the product storage shelf.

[0013] The present invention is also characterized in that, in the above-mentioned product conveying device, when the conveying unit is moved to the product dispensing position, the bottom of the unit body is positioned at a height position equal to or higher than the product loading shelf. [Effects of the Invention]

[0014] According to the present invention, a transport unit including a unit body having a bottom and a back portion extending upward from an edge of the bottom and movable in at least one of the vertical and horizontal directions, and an action mechanism portion provided on the unit body in a manner that allows it to move forward away from the back portion and backward toward the back portion, and that normally moves backward and is disposed in a standby position above the bottom, when the unit body is moved to a product removal position of a product storage shelf, moves the action mechanism portion forward from the standby position to engage an action member constituting the action mechanism portion with a target product, and then moves the action mechanism portion backward to return to a standby position. When the unit main body with the target product placed on the bottom is moved to the product dispensing position of the product storage shelf, the operating member disengages the target product from the bottom and moves the operating mechanism forward from the standby position, sliding the target product from the bottom to the product storage shelf, and then moving the operating mechanism back to the standby position to perform the product dispensing operation, thereby eliminating the need to grip the product by pinching it as in the past. This has the effect of preventing damage to the product and allowing it to be transported smoothly. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is an explanatory diagram showing an application example of a product conveying device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing a control system of the product conveying device according to the embodiment of the present invention. [Figure 3]FIG. 3 is an explanatory diagram schematically showing the XY transport mechanism shown in FIGS. [Figure 4] FIG. 4 is a perspective view showing the external configuration of the transport unit shown in FIG. [Figure 5] FIG. 5 is a perspective view showing a main part of the transport unit shown in FIG. [Figure 6] FIG. 6 is a perspective view showing a main part of the transport unit shown in FIG. [Figure 7] FIG. 7 is a perspective view showing a main part of the transport unit shown in FIG. [Figure 8] FIG. 8 is an explanatory diagram showing the product take-out operation of the transport unit shown in FIG. [Figure 9] FIG. 9 is an explanatory diagram showing the product take-out operation of the transport unit shown in FIG. [Figure 10] FIG. 10 is a perspective view showing the external configuration of the transport unit shown in FIG. [Figure 11] FIG. 11 is an explanatory diagram showing the product take-out operation of the transport unit shown in FIG. [Figure 12] FIG. 12 is a perspective view showing the external configuration of the transport unit shown in FIG. [Figure 13] FIG. 13 is an explanatory diagram showing the product take-out operation of the transport unit shown in FIG. [Figure 14] FIG. 14 is a perspective view showing the external configuration of the transport unit shown in FIG. [Figure 15] FIG. 15 is an explanatory diagram showing the product dispensing operation of the transport unit shown in FIG. [Figure 16] FIG. 16 is an explanatory diagram showing the product dispensing operation of the transport unit shown in FIG. [Figure 17] FIG. 17 is an explanatory diagram showing the product dispensing operation of the transport unit shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a product conveying device according to the present invention will be described in detail below with reference to the accompanying drawings.

[0017] FIG. 1 is an explanatory diagram showing an application example of a product conveying device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing a control system of a product conveying device according to an embodiment of the present invention.

[0018] The product conveying device 10 illustrated here is installed in a refrigerated warehouse known as a backyard constructed in a store such as a convenience store or supermarket, and is disposed between a product storage 1 that stores replenishment products and a showcase 5 from which store customers can take out products. In the following description, it is assumed that the product storage 1 is provided on the rear side and the showcase 5 is provided on the front side when viewed from the product conveying device 10, as shown in Figure 1.

[0019] The product storage cabinet 1 is provided with multiple product storage shelves 2 arranged in a vertical direction. These product storage shelves 2 are configured with replenishment storage columns 3 arranged side by side on the left and right along the front-to-back direction, each of which stores the same type of replenishment product in an upright position. In this product storage cabinet 1, each replenishment storage column 3 is assigned a number.

[0020] The showcase 5 is provided with a plurality of product storage shelves 6 arranged in the vertical direction. These product storage shelves 6 are configured with product storage columns 7 arranged side by side on the left and right along the front-to-rear direction, each of which stores the same type of product in an upright position. In this showcase 5, each product storage column 7 is assigned a number.

[0021] The product conveying device 10 is configured to include an XY conveying mechanism 20, a conveying unit 30, and a control unit 50.

[0022] The XY transport mechanism 20 is a conventionally known mechanism that moves the transport unit 30 in the vertical and horizontal directions. As shown in FIG. 3, the XY transport mechanism 20 is configured to include a first moving body 21 and a second moving body 22.

[0023] The first moving body 21 is an elongated body whose longitudinal direction is the left-right direction, and is provided so as to be movable in the up-down direction on a pair of left and right rails 23 that extend in the up-down direction. The second moving body 22 is provided above the first moving body 21, and is provided so as to be movable in the longitudinal direction (left-right direction) of the first moving body 21.

[0024] 4, the transport unit 30 is configured to include a base 31, a unit main body 33, and an action mechanism 35. The base 31 is formed by processing, for example, sheet metal, and is installed on the upper surface of the second movable body 22 that constitutes the XY transport mechanism 20.

[0025] The unit body 33 is formed, for example, by processing sheet metal or the like, and is configured by integrally molding a bottom portion 331 and a back portion 332. The bottom portion 331 is a rectangular, flat plate portion, the left end portion of which is bent upward in Fig. 4. The back portion 332 is a flat plate portion that extends upward from the edge portion of the bottom portion 331, i.e., the rear end portion in Fig. 4.

[0026] The bottom 331 of such a unit body 33 is attached to the base 31 via a unit body rotation drive mechanism 32. The unit body rotation drive mechanism 32 has a unit body rotation drive motor 321 which is an actuator, and is driven by the unit body rotation drive motor 321 to rotate the unit body 33 around the central axis of a unit body rotation shaft (not shown) which extends in the up-down direction.

[0027] The action mechanism unit 35 is configured to include an action mechanism base unit 351 , an action member 353 , an action member attitude detection unit 355 , and a target commodity detection unit 357 .

[0028] The action mechanism base 351 is a plate-like body formed by processing, for example, sheet metal, with both left and right end portions bent downward and the rear end portion bent upward. Such action mechanism base 351 is connected to the unit body 33 via the action mechanism drive mechanism 34.

[0029] The action mechanism drive mechanism 34 is configured to include an action mechanism drive actuator 341, an elevating body 343, and a link mechanism 345. As shown in Figures 5 and 6, the action mechanism drive actuator 341 is installed on the upper surface of the action mechanism base 351. This action mechanism drive actuator 341 has a built-in action mechanism drive motor (not shown) that rotates forward and backward in response to commands given from the control unit 50, and is connected to a screw member 342 that passes through a through hole (not shown) formed in the action mechanism base 351.

[0030] The screw member 342 is a long cylindrical member that is configured, for example, with a Napier screw or the like and extends in the vertical direction. A thread groove (not shown) is formed on the circumferential side surface of this screw member 342, and when the action mechanism drive motor rotates forward, it rotates clockwise as viewed from above, and when the action mechanism drive motor rotates reverse, it rotates counterclockwise as viewed from above.

[0031] The lifting body 343 is configured to include a driven member 3431 and a lifting member 3432. A screw hole 3431a is formed in the driven member 3431, and the screw member 342 is relatively inserted into the screw hole 3431a, thereby threadingly engaging with the screw member 342. The driven member 3431 moves relatively upward when the screw member 342 rotates clockwise as viewed from above (when the action mechanism unit drive motor is driven in forward rotation), and moves relatively downward when the screw member 342 rotates counterclockwise as viewed from above (when the action mechanism unit drive motor is driven in reverse rotation).

[0032] The lifting member 3432 is made by processing, for example, a metal plate, and is attached integrally to the driven member 3431 while allowing the screw member 342 to pass through. The lifting member 3432 moves up and down integrally with the driven member 3431 in response to the rotation of the screw member 342.

[0033] The link mechanism 345 is configured to include a first link member 3451 and a second link member 3452. The first link members 3451 are a pair of elongated members on the left and right. These first link members 3451 connect the action mechanism base 351 and a support piece 333 attached to the back surface 332 of the unit main body 33. More specifically, one end of the first link member 3451 is rotatably supported by the action mechanism base 351, and the other end is displaceably connected to an elongated hole 333a formed in the support piece 333, the elongated hole 333a having a longitudinal direction extending in the up-down direction.

[0034] The second link members 3452 are a pair of elongated members on the left and right. These second link members 3452 connect the lifting member 3432 and the support piece 333. More specifically, one end of the second link members 3452 is rotatably supported by the lifting member 3432, and the other end is rotatably supported by the upper end portion of the support piece 333. The second link members 3452 are also rotatably supported by the corresponding first link members 3451 midway along their extension.

[0035] The action mechanism part 35 connected to the unit main body 33 via such an action mechanism part drive mechanism 34 is normally positioned in a standby position above the bottom 331 of the unit main body 33, as shown in Figure 5, with the lifting member 3432 screwed onto the lower end of the screw member 342.

[0036] When the screw member 342 rotates clockwise when viewed from above (when the action mechanism drive motor rotates forward), the lifting body 343 moves relatively upward, and the action mechanism 35 moves forward in a direction away from the back part 332 of the unit main body 33, as shown in Figure 6.

[0037] On the other hand, when the screw member 342 rotates counterclockwise when viewed from above (when the action mechanism drive motor rotates in the reverse direction), the action mechanism part 35 moves backward in a direction approaching the back part 332 of the unit main body 33 as the lifting body 343 moves relatively downward.

[0038] In other words, the action mechanism part 35 is provided on the unit main body 33 in a manner that allows it to move forward away from the rear part 332 and move backward towards the rear part 332, and in the normal state it is moved backward and positioned in a standby position.

[0039] The action member 353 is molded from, for example, a resin material, and is configured by integrally molding a semi-cylindrical action main body 3531 and an action lid 3532 that closes the top opening of the action main body 3531. Here, the action main body 3531 is a semi-cylindrical member whose central axis extends in the vertical direction, and its inner diameter is larger than the outer diameter of the product to be conveyed (target product), for example, about 65 to 75 mm.

[0040] Such an action member 353 is connected to the action mechanism base 351 via the action member rotation drive mechanism 352 in a manner such that the action main body part 3531 is separated from the bottom part 331 of the unit body 33.

[0041] The acting member rotation drive mechanism 352 is configured to include an acting member rotation drive actuator 3521. As shown in Fig. 4, the acting member rotation drive actuator 3521 is installed on the upper surface of the acting mechanism base 351. This acting member rotation drive actuator 3521 is provided in such a manner that an acting member rotation drive motor 3521a, which is rotationally driven in response to a command given from the control unit 50, penetrates a part of the acting mechanism base 351, and is connected to a connecting member 3522 which penetrates a mounting hole 3511 (see Figs. 5 and 6) formed in the acting mechanism base 351.

[0042] The connecting member 3522 is a cylindrical member extending in the vertical direction, and is attached integrally to the action lid portion 3532. Here, the connecting member 3522 is attached to the action lid portion 3532 in a manner that coincides with the central axis of the action member 353.

[0043] When the action member rotation drive motor 3521a is driven to rotate, the coupling member 3522 rotates clockwise as viewed from above, and as a result, the action member 353 also rotates integrally with the coupling member 3522 around the central axis.

[0044] 4, the acting member attitude detection unit 355 is disposed on an attachment piece 354 attached to the left end portion of the acting mechanism base 351. When the contact 355a of this acting member attitude detection unit 355 is pressed by a detection protrusion 3533 provided above the edge portion of the acting main body 3531 of the acting member 353, the acting member attitude detection unit 355 is turned on and sends an on signal to the control unit 50.

[0045] The control unit 50, which receives an ON signal from the acting member attitude detection unit 355, stops driving the acting member rotation drive motor 3521a. As a result, the acting member 353 is rotatable between a first attitude in which the curved outer surface of the acting main body portion 3531 faces the back surface portion 332 of the unit main body 33 as shown in Fig. 4, and a second attitude in which the curved inner surface of the acting main body portion 3531 faces the back surface portion 332 of the unit main body 33 as shown in Fig. 7.

[0046] The target product detection unit 357 is configured with, for example, an optical sensor, and detects the presence or absence of a product in the area directly below the action lid unit 3532. When the target product detection unit 357 detects a product in the area directly below the action lid unit 3532, it sends a notification to that effect to the control unit 50.

[0047] The control unit 50 is electrically connected to the above-mentioned XY conveying mechanism 20, unit body rotation drive mechanism 32, action mechanism part drive mechanism 34, action member rotation drive mechanism 352, action member attitude detection unit 355 and target product detection unit 357, and is also electrically connected to the input operation unit 41, product removal position detection unit 42 and product dispensing position detection unit 43.

[0048] The input operation unit 41 is operated by a worker such as a store employee, etc. The input operation unit 41 inputs the number of the replenishment storage column 3 that stores the target replenishment product and the number of the product storage column 7 to which the target product is to be transported, and the results of these input operations are output to the control unit 50 as input signals.

[0049] The product removal position detection unit 42 detects whether the transport unit 30 is positioned at the front position (product removal position) of the refill storage column 3 that stores the target product, and sends the detection result to the control unit 50.

[0050] The product dispensing position detection unit 43 detects whether the transport unit 30 is positioned at the rear position (product dispensing position) of the product storage column 7, to which the target product is to be transported, and sends the detection result to the control unit 50.

[0051] The control unit 50 comprehensively controls the operation of each unit of the product conveying device 10 in accordance with programs and data stored in a memory unit 51 electrically connected to the XY conveying mechanism 20, etc. The control unit 50 may be realized by, for example, having a processing device such as a CPU (Central Processing Unit) execute a program, i.e., by software, or by hardware such as an IC (Integrated Circuit), or by a combination of software and hardware.

[0052] The product conveying device 10 having the above configuration conveys the target product from the replenishment storage column 3 with a predetermined number input through the input operation unit 41 to the product storage column 7 with a predetermined number, which is the destination, as follows: As a premise, it is assumed that the action mechanism unit 35 is placed in the standby position and the action member 353 is in the first position.

[0053] The control unit 50 drives the XY transport mechanism 20 to move the transport unit 30 in the vertical and horizontal directions, and positions the transport unit 30 at the front position (product removal position) of the replenishment storage column 3 with the predetermined number detected by the product removal position detection unit 42, as shown in Fig. 8. In this case, the transport unit 30 is positioned so that the bottom 331 of the unit body 33 is at the same height as the product storage shelf 2 that forms the bottom part of the replenishment storage column 3, or at a position lower by, for example, about 5 mm.

[0054] When the transport unit 30 is placed at the product removal position in this manner, the control unit 50 drives the action mechanism drive motor in the action mechanism drive mechanism 34 to rotate in the forward direction. This causes the lifting body 343 to move relatively upward, and the action mechanism 35 moves forward in a direction away from the back surface 332 of the unit main body 33.

[0055] The control unit 50, which has moved the action mechanism unit 35 forward, stops driving the action mechanism unit drive motor when the target product detection unit 357 detects a product at the most downstream position of the refill storage column 3 directly below the action lid unit 3532, as shown in Figures 9 and 10.

[0056] The control unit 50, which has stopped driving the action mechanism unit drive motor, drives the action member rotation drive motor 3521a in the action member rotation drive mechanism 352, and when an ON signal is subsequently sent from the action member attitude detection unit 355, stops driving the action member rotation drive motor 3521a, causing the action member 353 to assume the second attitude, as shown in Figures 11 and 12. This positions the action member 353 upstream of the target product at the most downstream position, allowing the target product to be separated from products positioned upstream of the target product.

[0057] The control unit 50, which has put the acting member 353 in the second position, drives the acting mechanism drive motor in the acting mechanism drive mechanism 34 to rotate in the reverse direction. As a result, the lifting body 343 moves relatively downward, and the acting mechanism 35 moves backward in a direction approaching the back part 332 of the unit main body 33. As the acting mechanism 35 moves backward in this manner, the target product slides along the product storage shelf 2, which is the bottom part of the replenishment storage column 3, and then slides along the bottom part 331 of the unit main body 33.

[0058] Then, when the retracting action mechanism unit 35 is placed in the standby position as shown in Figures 13 and 14, the control unit 50 stops driving the action mechanism unit drive motor in the action mechanism unit drive mechanism 34, thereby completing the operation of removing the target product.

[0059] Having thus completed the removal operation of the target product, the control unit 50 drives the unit body rotation drive motor 321 in the unit body rotation drive mechanism 32 to rotate the unit body 33, for example, by 180°, and drives the XY transport mechanism 20 to move the transport unit 30 in the vertical and horizontal directions, and places the transport unit 30 at the rear position (product dispensing position) of the product storage column 7 of the predetermined number detected by the product dispensing position detection unit 43, as shown in Fig. 15. In this case, the transport unit 30 is placed so that the bottom 331 of the unit body 33 is at the same height as the product storage shelf 6 that forms the bottom part of the product storage column 7, or at a position that is, for example, about 5 mm higher.

[0060] When the conveying unit 30 is positioned at the product dispensing position in this manner, the control unit 50 drives the acting member rotation drive motor 3521a in the acting member rotation drive mechanism 352, and when an on signal is subsequently sent from the acting member posture detection unit 355, the control unit 50 stops driving the acting member rotation drive motor 3521a, and places the acting member 353 in the first posture as shown in Figure 16.

[0061] The control unit 50, which has set the acting member 353 to the first position, drives the acting mechanism drive motor in the acting mechanism drive mechanism 34 to rotate in the forward direction. This causes the lifting body 343 to move relatively upward, and as shown in Fig. 17, the acting mechanism 35 moves forward in a direction away from the back surface 332 of the unit main body 33. As the acting mechanism 35 moves forward in this manner, the target product slides along the bottom 331 of the unit main body 33, and then slides along the product placement shelf 6, which is the bottom portion of the product storage column 7.

[0062] After advancing the action mechanism unit 35 in this manner, the control unit 50 then stops the action mechanism unit drive motor, thereby placing the target product in the specified product storage column 7.

[0063] After stopping the action mechanism unit drive motor, the control unit 50 drives the action mechanism unit drive motor in the reverse direction to move the action mechanism unit 35 backward, and when the action mechanism unit 35 is placed in the standby position, it stops the action mechanism unit drive motor, thereby completing the target dispensing operation.

[0064] As described above, according to the product conveying device 10 of the embodiment of the present invention, the conveying unit 30 comprises the unit main body 33 having the bottom part 331 and the back part 332, and arranged to be movable up and down and left and right by the XY conveying mechanism 20, and the action mechanism part 35 arranged on the unit main body 33 in a manner that allows it to move forward away from the back part 332 and move backward towards the back part 332, and is normally arranged in a standby position, and when the unit main body 33 moves to the product removal position, the action mechanism part 35 moves forward from the standby position, and the action member 353 rotates from the first position to the second position, and the action member 353 acts as an actuator. After placing the target product upstream of the product, the action mechanism unit 35 is retracted and placed in the standby position, thereby sliding the target product from the product storage shelf 2 to the bottom 331 and placing it on the bottom 331, while when the unit body 33 is moved to the product dispensing position, the action member 353 is rotated from the second position to the first position and the action mechanism unit 35 is moved forward from the standby position, thereby sliding the target product from the bottom 331 to the product placement shelf 6, and then the action mechanism unit 35 is retracted and placed in the standby position, thereby placing the target product on the product placement shelf 6, so there is no need to grip the product by clamping it as in the past. This makes it possible to transport products well while preventing them from being damaged.

[0065] In particular, the acting member 353 has a semi-cylindrical acting main body portion 3531 whose central axis extends in the vertical direction, and is provided in the acting mechanism portion 35 in a manner that allows it to rotate around the central axis between a first position in which the curved outer surface of the acting main body portion 3531 faces the back surface portion 332, and a second position in which the curved inner surface of the acting main body portion 3531 faces the back surface portion 332.Therefore, the installation space for the acting mechanism portion 35 can be made sufficiently small, and the entire device can be made smaller.

[0066] According to the product conveying device 10, the unit body 33 constituting the conveying unit 30 is rotatable around the central axis of the unit body rotation shaft by the unit body rotation drive mechanism 32 relative to the base portion 31 installed on the XY conveying mechanism 20, so that products can be conveyed smoothly even when the product storage shelf 2 and the product placement shelf 6 are arranged in different directions.

[0067] According to the above-mentioned product conveying device 10, when the conveying unit 30 is moved to the product removal position, the bottom 331 of the unit main body 33 is positioned at a height position equal to or lower than the product storage shelf 2, so that when the action mechanism part 35 is moved backward to be positioned at the standby position, the product can be reliably slid smoothly to the bottom 331.

[0068] According to the above-mentioned product conveying device 10, when the conveying unit 30 is moved to the product dispensing position, the bottom 331 of the unit main body 33 is positioned at a height position equal to or higher than the product storage shelf 6, so that when the operating mechanism part 35 is moved forward, the product can be reliably slid smoothly up to the product storage shelf 6.

[0069] Although the preferred embodiment of the present invention has been described above, the present invention is not limited to this and various modifications can be made.

[0070] In the above-described embodiment, the acting member 353 has a semi-cylindrical acting main body portion 3531 whose central axis extends in the vertical direction, and is provided in the acting mechanism portion 35 in a manner that allows it to rotate around the central axis between a first position in which the curved outer surface of the acting main body portion 3531 faces the back surface portion 332, and a second position in which the curved inner surface of the acting main body portion 3531 faces the back surface portion 332. However, in the present invention, the acting member does not necessarily have to have a semi-cylindrical element, and various forms can be adopted.

[0071] That is, the action member may have a shape that engages with the target product when the action mechanism is moved forward from the standby position when the unit main body is moved to the product removal position of the product storage shelf. In this way, when the action mechanism is moved backward to the standby position, the target product can be slid from the product storage shelf to the bottom, and the product can be placed on the bottom.

[0072] In the above-described embodiment, the unit body 33 constituting the conveying unit 30 was connected to the base portion 31 via the unit body rotation drive mechanism 32, but in the present invention, if the product storage shelf and the product placement shelf are installed in the same direction as seen from the product conveying device, the unit body rotation mechanism does not need to be provided.

[0073] In the above-described embodiment, an action member attitude detection unit 355, a target product detection unit 357, a product removal position detection unit 42, and a product dispensing position detection unit 43 are provided, but each of these detection units may be changed as appropriate if it can be replaced by other switches, image recognition by a camera, etc.

[0074] The configurations illustrated in the above embodiments are merely functional schematics and are not necessarily physically configured as shown. In other words, the distribution and integration of each device and component is not limited to that illustrated, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various usage situations, etc. [Explanation of symbols]

[0075] 2...product storage shelf, 3...replenishment storage column, 6...product placement shelf, 7...product storage column, 10...product conveying device, 20...XY conveying mechanism, 30...conveying unit, 31...base portion, 32...unit main body rotation drive mechanism, 33...unit main body, 331...bottom portion, 332...rear portion, 34...action mechanism portion drive mechanism, 341...action mechanism portion drive actuator, 342...screw member, 343...lifting body, 345...link mechanism, 35...action mechanism portion, 351...action mechanism base portion, 352...action member rotation drive mechanism, 3521...action member rotation drive actuator, 3522...connecting member, 353...action member, 3531...action main body portion, 3532...action lid portion, 355...action member attitude detection portion, 357...target product detection portion, 41...input operation portion, 42...product removal position detection portion, 43...product dispensing position detection portion, 50...control portion.

Claims

1. A product conveying device including a conveying unit that conveys a target product stored at the most downstream position of any product storage shelf to a product placement shelf, The transport unit includes: a unit body having a bottom and a back surface extending upward from an edge of the bottom, the unit body being movable in at least one of a vertical direction and a horizontal direction; an action mechanism portion provided on the unit body in a manner capable of advancing away from the rear portion and retracting toward the rear portion, and which is normally retracted and disposed at a standby position above the bottom portion; Equipped with the action mechanism portion has a semi-cylindrical action main body portion whose central axis extends along the vertical direction, and an action member is provided in a manner that the action member can rotate around the central axis between a first position in which a curved outer surface of the action main body portion faces the back surface portion and a second position in which a curved inner surface of the action main body portion faces the back surface portion, a product conveying device in which, when the unit main body is moved to a product removal position of the product storage shelf, the transport unit advances the action mechanism part from the standby position, rotates the action member from the first position to the second position, and positions the action member upstream of the target product, and then retracts the action mechanism part to place it at the standby position, thereby sliding the target product from the product storage shelf to the bottom and placing it on the bottom, thereby performing a removal operation of the target product; and, when the unit main body with the target product placed on the bottom is moved to a product dispensing position of the product storage shelf, the transport unit rotates the action member from the second position to the first position while moving the action mechanism part advanced from the standby position, thereby sliding the target product from the bottom to the product storage shelf, and then retracts the action mechanism part to place it at the standby position, thereby performing a dispensing operation of the target product, thereby placing the target product on the product storage shelf.

2. The transport unit includes: a base portion installed on a transport mechanism for moving the transport unit in at least one of a vertical direction and a horizontal direction; a unit body rotation drive mechanism interposed between the base and the unit body, for rotating the unit body around a central axis of a unit body rotation shaft extending in the up-down direction; 2. The product conveying device according to claim 1, further comprising:

3. The product conveying device according to claim 1 or claim 2, characterized in that when the conveying unit is moved to the product removal position, the bottom of the unit body is positioned at a height position equal to or lower than the product storage shelf.

4. A product conveying device as described in any one of claims 1 to 3, characterized in that when the conveying unit is moved to the product dispensing position, the bottom of the unit body is positioned at a height position equal to or higher than the product storage shelf.

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