[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

JP5532340B2 - Goods transport equipment - Google Patents

Goods transport equipment Download PDF

Info

Publication number
JP5532340B2
JP5532340B2 JP2011087641A JP2011087641A JP5532340B2 JP 5532340 B2 JP5532340 B2 JP 5532340B2 JP 2011087641 A JP2011087641 A JP 2011087641A JP 2011087641 A JP2011087641 A JP 2011087641A JP 5532340 B2 JP5532340 B2 JP 5532340B2
Authority
JP
Japan
Prior art keywords
transfer
article
conveyor
transport
posture
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2011087641A
Other languages
Japanese (ja)
Other versions
JP2012218905A (en
Inventor
和治 吉永
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daifuku Co Ltd
Original Assignee
Daifuku Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daifuku Co Ltd filed Critical Daifuku Co Ltd
Priority to JP2011087641A priority Critical patent/JP5532340B2/en
Publication of JP2012218905A publication Critical patent/JP2012218905A/en
Application granted granted Critical
Publication of JP5532340B2 publication Critical patent/JP5532340B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Relays Between Conveyors (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

本発明は、物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されている物品搬送設備に関する。   The present invention acts on a transport conveyor for placing and transporting an article along a transport direction in a transport posture, and on an actuated portion located at an intermediate portion of the transport direction of the article in the transport posture, and intersects the transport direction. By pushing or pulling the article in the transfer direction, the transfer device for transferring the article between the transfer location of the transfer conveyor and the self, and the operation of the transfer conveyor and the transfer apparatus are controlled. The present invention relates to an article conveyance facility configured to include a control unit that performs the above-described control.

かかる物品搬送設備は、搬送コンベヤにて物品を移載箇所に載置搬送し、その移載箇所に搬送された物品を移載装置に移載する、又は、移載装置から搬送コンベヤの移載箇所に物品を移載し、その移載箇所に移載された物品を搬送コンベヤにて載置搬送するときに用いられるものである。
そして、このような物品搬送設備において、従来では、物品を搬送コンベヤの移載箇所から移載装置に移載する場合では、物品の搬送方向の中央部に位置する被作用部を移載装置にて引き操作して、当該物品を移載装置に移載している。また、物品を移載装置から搬送コンベヤの移載箇所に移載する場合では、物品の搬送方向の中央部に位置する被作用部を移載装置にて押し操作して、当該物品を搬送コンベヤの移載箇所に移載している(例えば、特許文献1参照。)。
Such an article conveyance facility places an article on a transfer location on a transfer conveyor and transfers the article conveyed to the transfer location to a transfer device, or transfers a transfer conveyor from the transfer device. It is used when an article is transferred to a location and the article transferred to the transfer location is placed and conveyed by a conveyor.
In such an article transport facility, conventionally, when transferring an article from the transfer location of the transfer conveyor to the transfer apparatus, the actuated part located at the center in the article transfer direction is used as the transfer apparatus. The article is transferred to the transfer device. In addition, when transferring an article from a transfer device to a transfer location of a transfer conveyor, an operated portion located at the center of the transfer direction of the article is pushed by the transfer device, and the transfer object is transferred to the transfer conveyor. (For example, refer patent document 1).

特開平11−29207号公報Japanese Patent Laid-Open No. 11-29207

しかしながら、上記した従来の物品搬送設備では、搬送姿勢における物品の搬送方向の中央部に位置する被作用部に作用して押し操作又は引き操作しているため、物品の重心が搬送方向の一方側に偏っている場合では、物品の平面視での姿勢が回転してしまって適切に移載できない場合があった。
具体的には、図6に示すように、物品の重心が搬送方向の一方側に偏っている場合では、移載装置4にて物品Wを押し操作して移載装置4から搬送コンベヤ3の移載箇所Aに移載するときに、物品Wが回転して物品Wの姿勢が搬送姿勢から傾くために搬送コンベヤ3のフレームに引っ掛かる可能性があり、また、移載装置4にて物品Wを引き操作して搬送コンベヤ3の移載個所Aから移載装置4に移載するときに、物品Wが回転して物品Wの姿勢が搬送姿勢から傾くことで移載箇所Aまで物品Wを押し込めない可能性がある。
However, in the above-described conventional article transport equipment, the center of gravity of the article is on one side of the transport direction because it acts on the actuated portion located at the center of the transport direction of the article in the transport posture and is pushed or pulled. In some cases, the posture of the article in a plan view rotates and cannot be transferred appropriately.
Specifically, as shown in FIG. 6, when the center of gravity of the article is biased to one side in the conveyance direction, the article W is pushed by the transfer device 4 to be transferred from the transfer device 4 to the transfer conveyor 3. When transferring to the transfer location A, the article W may rotate and the attitude of the article W may be tilted from the conveying attitude, so that the article W may be caught on the frame of the conveyor 3. When the article W is transferred from the transfer location A of the conveyor 3 to the transfer device 4 by pulling the handle W, the article W is rotated and the attitude of the article W is inclined from the transfer attitude so that the article W is transferred to the transfer location A. There is a possibility that it cannot be pushed in.

そこで、移載装置にて押し引き操作して物品を移載するときに物品が回転しないように、移載箇所の移載方向の一方側と他方側との一対の案内体を設けて、物品を移載するときに一対の案内体にて物品の両横側部を案内することで物品の姿勢が崩れることを防止することが考えられるが、受け止め体を一対設ける必要があるため、物品搬送設備のコストが高くなってしまう。   Therefore, a pair of guide bodies on one side and the other side in the transfer direction of the transfer location are provided so that the article does not rotate when the article is transferred by pushing and pulling on the transfer device. It is conceivable to prevent the posture of the article from collapsing by guiding both lateral sides of the article with a pair of guides when transferring the article. Equipment costs will be high.

本発明は、上記実状に鑑みて為されたものであって、その目的は、コストを抑えながら物品を移載するときに物品の平面視の姿勢が崩れることを防止できる物品搬送設備を提供する点にある。   The present invention has been made in view of the above circumstances, and an object thereof is to provide an article transport facility capable of preventing the posture of the article from being collapsed when the article is transferred while suppressing the cost. In the point.

本発明にかかる物品搬送設備は、物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されているものであって、その第1特徴構成は、
前記搬送コンベヤにおける前記移載箇所の搬送方向の上流側又は下流側のいずれか一方側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、前記制御手段が、前記移載箇所に位置する物品を前記受け止め体が位置する側に載置搬送するように前記搬送コンベヤを搬送作動させた状態で、前記移載装置にて物品を移載するべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成され、前記移載箇所の物品及び前記移載装置にて移載されている物品の姿勢が前記搬送姿勢から崩れているか否かを検出する姿勢検出手段が設けられ、前記制御手段が、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されている状態では、前記搬送コンベヤを搬送作動させた状態で前記移載装置にて物品を移載し、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されていない状態では、前記搬送コンベヤの搬送作動を停止させた状態で前記移載装置にて物品を移載するように、前記姿勢検出手段の検出情報に基づいて、前記搬送コンベヤ及び移載装置の作動を制御するように構成されている点にある。
The article transport facility according to the present invention acts on a transport conveyor that places and transports an article along a transport direction in a transport attitude, and an actuated part that is positioned at an intermediate portion in the transport direction of the article in the transport attitude, A transfer device that transfers an article between the transfer position of the transfer conveyor and the self by pushing or pulling the transfer article in a transfer direction that intersects the transfer direction, the transfer conveyor, and the transfer Control means for controlling the operation of the device, the first characteristic configuration,
The control means is provided with a receiving body for receiving an article transported by the transport conveyor at the transfer location on either the upstream side or the downstream side in the transport direction of the transfer location in the transport conveyor, However, in order to transfer the article by the transfer device in a state in which the transfer conveyor is transported so that the article positioned at the transfer location is mounted and transferred to the side where the receiving body is positioned, It is configured to control the operation of the transfer conveyor and the transfer device, and detects whether or not the posture of the article at the transfer location and the article transferred by the transfer device has collapsed from the transfer posture. In the state where the posture detecting means is provided and the control means detects that the posture of the article is broken by the posture detecting means, the transfer device is operated in a state where the conveying conveyor is operated to be conveyed. If the posture detecting means does not detect that the posture of the article is broken, the transfer device is moved with the transfer device stopped. As described above, the operation of the transfer conveyor and the transfer device is controlled based on the detection information of the posture detection means .

すなわち、移載箇所に位置する物品を受け止め体が位置する側に載置搬送するように搬送コンベヤを搬送作動させた状態で、移載装置にて物品を移載している。つまり、搬送コンベヤの搬送作動により物品が受け止め体に押し付けられるため、物品の平面視姿勢を搬送姿勢に維持させ易く、物品の平面視姿勢を搬送姿勢から崩れることを防止できる。このように移載対象の物品が受け止め体に押し付けられた状態で移載装置にて物品を移載することで、物品の平面視姿勢の崩れを防止した状態で物品を適切に移載することができる。
そして、受け止め体は、移載箇所の搬送方向の上流側又は下流側のいずれか一方のみでよく、また、搬送コンベヤの搬送機能は物品を載置搬送するために予め備えられている機能であり、別途新たな装置を設けることなく物品を受け止め体に押し付けることができるため、受け止め体を移載箇所の両側に設けた場合や物品を受け止め体に押し付ける装置を別途設ける場合に比べて、物品の姿勢が搬送姿勢から崩れることを低コストで防止することができる。
従って、コストを抑えながら物品を移載するときに物品の平面視の姿勢が崩れることを防止できるに至った。
また、姿勢検出手段にて物品の姿勢が崩れていることが検出されている状態では、搬送コンベヤを搬送作動させた状態で移載装置にて物品を移載するため、搬送コンベヤの搬送作動により物品の姿勢を搬送姿勢に正した状態で当該物品を移載装置にて適切に移載することができる。また、姿勢検出手段にて物品の姿勢が崩れていることが検出されていない状態では、搬送コンベヤの搬送作動を停止させた状態で移載装置にて物品を移載するため、常に搬送コンベヤを搬送作動させた状態で移載装置にて物品を移載する場合に比べて、物品の底面の摩耗を抑えることやランニングコストを抑えることができる。
That is, the article is transferred by the transfer device in a state in which the transfer conveyor is transported so that the article positioned at the transfer location is received and transferred to the side where the receiving body is positioned. That is, since the article is pressed against the receiving body by the conveying operation of the conveying conveyor, it is easy to maintain the planar view posture of the article in the conveying posture, and the planar view posture of the article can be prevented from collapsing from the conveying posture. By transferring the article with the transfer device in a state where the article to be transferred is pressed against the receiving body in this manner, the article is appropriately transferred in a state in which the collapse of the posture of the article in a plan view is prevented. Can do.
The receiving body may be only one of the upstream side and the downstream side in the transfer direction of the transfer location, and the transfer function of the transfer conveyor is a function provided in advance for loading and transferring articles. Since the article can be pressed against the receiving body without providing a separate new device, compared to the case where the receiving body is provided on both sides of the transfer location and the case where a device for pressing the article against the receiving body is provided separately. It is possible to prevent the posture from collapsing from the transport posture at low cost.
Accordingly, it has been possible to prevent the posture of the article from being collapsed when the article is transferred while suppressing the cost.
Further, in the state where the posture of the article is detected to be broken by the posture detecting means, the article is transferred by the transfer device while the transfer conveyor is being transferred. The article can be appropriately transferred by the transfer device in a state in which the attitude of the article is corrected to the conveying attitude. In addition, when the posture detection means does not detect that the posture of the article is broken, the transfer device is transferred by the transfer device while the transfer operation of the transfer conveyor is stopped. Compared with the case where the article is transferred by the transfer device in a state where the conveyance operation is performed, it is possible to suppress the wear on the bottom surface of the article and the running cost.

本発明にかかる物品搬送設備は、物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されているものであって、その第2特徴構成は、
前記搬送コンベヤにおける前記移載箇所の搬送方向の上流側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、前記搬送コンベヤが、その搬送方向の上流側端部に前記移載箇所が設定され、且つ、正方向に搬送作動することで物品を搬送方向の上流側から下流側に向けて載置搬送するように構成され、前記受け止め体が、前記移載箇所の上流側に位置固定状態で備えられ、前記制御手段が、前記移載箇所に位置する物品を上流側に載置搬送するように前記搬送コンベヤを逆方向に搬送作動させた状態で、前記移載装置から前記移載箇所に物品を移載し、その後、前記移載箇所に位置する物品を下流側に載置搬送するように前記搬送コンベヤを正方向に搬送作動させるべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成されている点にある。
The article transport facility according to the present invention acts on a transport conveyor that places and transports an article along a transport direction in a transport attitude, and an actuated part that is positioned at an intermediate portion in the transport direction of the article in the transport attitude, A transfer device that transfers an article between the transfer position of the transfer conveyor and the self by pushing or pulling the transfer article in a transfer direction that intersects the transfer direction, the transfer conveyor, and the transfer Control means for controlling the operation of the device, the second characteristic configuration,
On the upstream side in the transport direction of the transfer location in the transport conveyor, a receiving body for receiving an article transported by the transport conveyor at the transfer location is provided, and the transport conveyor is upstream in the transport direction The transfer location is set at the end, and is configured to load and transport the article from the upstream side to the downstream side in the transport direction by performing a transport operation in the forward direction. In a state where it is provided in a fixed position on the upstream side of the loading location, and the control means is configured to carry the conveying conveyor in the reverse direction so as to load and convey the article located at the transfer location on the upstream side, In order to transfer the article from the transfer device to the transfer location, and then to transport the conveyor in the forward direction so as to place and convey the article located at the transfer location downstream, the transfer Conveyor and In that it is configured to control the operation of the serial transfer device.

すなわち、移載箇所に位置する物品を受け止め体が位置する側に載置搬送するように搬送コンベヤを搬送作動させた状態で、移載装置にて物品を移載している。つまり、搬送コンベヤの搬送作動により物品が受け止め体に押し付けられるため、物品の平面視姿勢を搬送姿勢に維持させ易く、物品の平面視姿勢を搬送姿勢から崩れることを防止できる。このように移載対象の物品が受け止め体に押し付けられた状態で移載装置にて物品を移載することで、物品の平面視姿勢の崩れを防止した状態で物品を適切に移載することができる。
そして、受け止め体は、移載箇所の搬送方向の上流側のみでよく、また、搬送コンベヤの搬送機能は物品を載置搬送するために予め備えられている機能であり、別途新たな装置を設けることなく物品を受け止め体に押し付けることができるため、受け止め体を移載箇所の両側に設けた場合や物品を受け止め体に押し付ける装置を別途設ける場合に比べて、物品の姿勢が搬送姿勢から崩れることを低コストで防止することができる。
従って、コストを抑えながら物品を移載するときに物品の平面視の姿勢が崩れることを防止できるに至った。
また、移載装置にて移載箇所に移載された物品は、搬送コンベヤを正方向に搬送作動させることで、物品を上流側に設けられた移載箇所から下流側に搬送することができる。移載装置から搬送コンベヤの移載箇所に物品を移載するときは、搬送コンベヤを通常の搬送方向とは逆方向に搬送作動させた状態とすることで、移載対象の物品が移載箇所の上流側に備えられた受け止め体に押し付けられ、このように移載対象の物品が移載箇所の上流側に備えられた受け止め体に押し付けられた状態で移載装置にて物品を移載することで、物品の姿勢の崩れを防止した状態で物品を適切に移載することができる。
そして、受け止め体は、移載箇所の搬送方向の上流側に設けられるために、搬送コンベヤにて物品を移載箇所からその下流側に搬送するときに受け止め体が邪魔にならず、例えば、物品の搬送経路から退避させるために受け止め体を移動自在に設ける必要がないため、受け止め体を低コストで設けることができる。
That is, the article is transferred by the transfer device in a state in which the transfer conveyor is transported so that the article positioned at the transfer location is received and transferred to the side where the receiving body is positioned. That is, since the article is pressed against the receiving body by the conveying operation of the conveying conveyor, it is easy to maintain the planar view posture of the article in the conveying posture, and the planar view posture of the article can be prevented from collapsing from the conveying posture. By transferring the article with the transfer device in a state where the article to be transferred is pressed against the receiving body in this manner, the article is appropriately transferred in a state in which the collapse of the posture of the article in a plan view is prevented. Can do.
The receiving body may be only upstream of the transfer location in the transfer direction, and the transfer function of the transfer conveyor is a function provided in advance for loading and transferring articles, and a new device is provided separately. Since the article can be pressed against the receiving body without any problem, the posture of the article may be out of the transport position compared to the case where the receiving body is provided on both sides of the transfer location or a separate device that presses the article against the receiving body. Can be prevented at low cost.
Accordingly, it has been possible to prevent the posture of the article from being collapsed when the article is transferred while suppressing the cost.
Further , the article transferred to the transfer location by the transfer device can be conveyed downstream from the transfer location provided on the upstream side by operating the transport conveyor in the forward direction. . When transferring an article from the transfer device to the transfer location of the transfer conveyor, the transfer object is transferred to the transfer location by moving the transfer conveyor in a direction opposite to the normal transfer direction. The article is transferred by the transfer device in a state where the article to be transferred is pressed against the receiver provided upstream of the transfer location. Thus, the article can be appropriately transferred in a state in which the posture of the article is prevented from being collapsed.
Since the receiving body is provided on the upstream side of the transfer location in the transport direction, the receiving body does not get in the way when the transport conveyor conveys the article from the transfer location to the downstream side. Since the receiving body does not need to be movably provided to be retracted from the transport path, the receiving body can be provided at low cost.

本発明にかかる物品搬送設備は、物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されているものであって、その第3特徴構成は、
前記搬送コンベヤにおける前記移載箇所の搬送方向の下流側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、前記搬送コンベヤが、前記搬送コンベヤにおける搬送方向の下流側端部に前記移載箇所が設定され、前記搬送コンベヤにおける搬送方向の下流側端部に前記移載箇所が設定され、且つ、正方向に搬送作動することで物品を搬送方向の上流側から下流側に向けて載置搬送するように構成され、前記受け止め体が、前記移載箇所の下流側に位置固定状態で備えられ、前記制御手段が、前記移載箇所に位置する物品を下流側に載置搬送するように前記搬送コンベヤを正方向に搬送作動させた状態で、前記移載箇所から前記移載装置に物品を移載し、当該移載装置により移載が完了すると前記搬送コンベヤの搬送作動を停止させるべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成されている物品搬送設備。
The article transport facility according to the present invention acts on a transport conveyor that places and transports an article along a transport direction in a transport attitude, and an actuated part that is positioned at an intermediate portion in the transport direction of the article in the transport attitude, A transfer device that transfers an article between the transfer position of the transfer conveyor and the self by pushing or pulling the transfer article in a transfer direction that intersects the transfer direction, the transfer conveyor, and the transfer Control means for controlling the operation of the device, the third characteristic configuration is,
On the downstream side in the transfer direction of the transfer location in the transfer conveyor, a receiving body for receiving the article transferred by the transfer conveyor at the transfer location is provided, and the transfer conveyor is in the transfer direction of the transfer conveyor The transfer location is set at the downstream end of the transfer conveyor, the transfer location is set at the downstream end of the transfer conveyor in the transfer direction, and the article is moved upstream in the transfer direction by performing a transfer operation in the forward direction. The receiving body is provided in a fixed position on the downstream side of the transfer location, and the control means is configured to load the article positioned at the transfer location. in a state where the by conveying operation of the conveyor in the forward direction so as to place transported downstream, and transferring the article to the transfer device from said transfer location, said the transfer is complete by the transfer device Feeding the conveying operation of the conveyor in order to stop, the conveyor and configured to have that object article transport facility to control the operation of the transfer device.

すなわち、移載箇所に位置する物品を受け止め体が位置する側に載置搬送するように搬送コンベヤを搬送作動させた状態で、移載装置にて物品を移載している。つまり、搬送コンベヤの搬送作動により物品が受け止め体に押し付けられるため、物品の平面視姿勢を搬送姿勢に維持させ易く、物品の平面視姿勢を搬送姿勢から崩れることを防止できる。このように移載対象の物品が受け止め体に押し付けられた状態で移載装置にて物品を移載することで、物品の平面視姿勢の崩れを防止した状態で物品を適切に移載することができる。
そして、受け止め体は、移載箇所の搬送方向の下流側のみでよく、また、搬送コンベヤの搬送機能は物品を載置搬送するために予め備えられている機能であり、別途新たな装置を設けることなく物品を受け止め体に押し付けることができるため、受け止め体を移載箇所の両側に設けた場合や物品を受け止め体に押し付ける装置を別途設ける場合に比べて、物品の姿勢が搬送姿勢から崩れることを低コストで防止することができる。
従って、コストを抑えながら物品を移載するときに物品の平面視の姿勢が崩れることを防止できるに至った。
また、移載装置にて移載箇所に移載された物品は、搬送コンベヤを正方向に搬送作動させることで、物品を上流側から移載箇所が設定された下流側に搬送することができる。搬送コンベヤを通常の搬送方向と同様に正方向に搬送作動させた状態とすることで、移載対象の物品が移載箇所の下流側に備えられた受け止め体に押し付けられ、このように移載対象の物品が移載箇所の下流側に備えられた受け止め体に押し付けられた状態で移載装置にて物品を移載することで、物品の姿勢の崩れを防止した状態で物品を適切に移載することができる。
そして、受け止め体は、移載箇所の搬送方向の下流側に設けられるために、搬送コンベヤにて物品を上流側から移載箇所に搬送するときに受け止め体が邪魔にならず、例えば、物品の搬送経路から退避させるために受け止め体を移動自在に設ける必要がないため、受け止め体を低コストで設けることができる。
That is, the article is transferred by the transfer device in a state in which the transfer conveyor is transported so that the article positioned at the transfer location is received and transferred to the side where the receiving body is positioned. That is, since the article is pressed against the receiving body by the conveying operation of the conveying conveyor, it is easy to maintain the planar view posture of the article in the conveying posture, and the planar view posture of the article can be prevented from collapsing from the conveying posture. By transferring the article with the transfer device in a state where the article to be transferred is pressed against the receiving body in this manner, the article is appropriately transferred in a state in which the collapse of the posture of the article in a plan view is prevented. Can do.
The receiving body may be only downstream in the transfer direction of the transfer location, and the transfer function of the transfer conveyor is a function provided in advance for loading and transferring articles, and a new device is provided separately. Since the article can be pressed against the receiving body without any problem, the posture of the article may be out of the transport position compared to the case where the receiving body is provided on both sides of the transfer location or a separate device that presses the article against the receiving body. Can be prevented at low cost.
Accordingly, it has been possible to prevent the posture of the article from being collapsed when the article is transferred while suppressing the cost.
Further , the article transferred to the transfer location by the transfer device can be conveyed from the upstream side to the downstream side where the transfer location is set by operating the transfer conveyor in the forward direction. . By the conveyance conveyor and while being transported operates like a normal conveying direction to a positive direction, transfer article of the subject is pressed against the receiving member provided on the downstream side of the transfer location, thus shifting By transferring the article with the transfer device in a state where the article to be loaded is pressed against the receiving body provided on the downstream side of the transfer location, the article is appropriately placed in a state in which the posture of the article is prevented from being collapsed. Can be transferred.
Since the receiving body is provided on the downstream side of the transfer position in the transport direction, the receiving body does not get in the way when the article is transferred from the upstream side to the transfer position by the transfer conveyor. Since it is not necessary to provide the receiving body in a movable manner in order to retract it from the conveyance path, the receiving body can be provided at low cost.

本発明にかかる物品搬送設備の第特徴構成は、第2又は第3特徴構成において、前記移載装置が、自動倉庫に設置されたスタッカークレーンの昇降台に載置支持され、前記搬送コンベヤが、前記自動倉庫から物品を出庫する出庫用搬送コンベヤ又は前記自動倉庫に物品を入庫する入庫用搬送コンベヤとして設けられている点にある。 The fourth characteristic configuration of the article transport facility according to the present invention, Oite to the second or third characterizing feature, the transfer device is placed supported on the lifting platform of the installed stacker crane in the automated warehouse, the transport The conveyor is provided as an unloading conveyer for unloading articles from the automatic warehouse or an unloading conveyer for loading articles into the automatic warehouse.

すなわち、入庫用搬送コンベヤから昇降台に載置支持された移載装置への物品の移載、又は、昇降台に載置支持された移載装置から出庫用搬送コンベヤへの物品の移載を適確に行うことができながら、入庫用搬送コンベヤ又は出庫用搬送コンベヤの構成の簡素化を図ることができる。   That is, transfer of articles from the transfer conveyor to the transfer device placed and supported on the lifting platform, or transfer of articles from the transfer device placed and supported on the lift to the delivery conveyor. While being able to be performed appropriately, simplification of the configuration of the transfer conveyor for warehousing or the transfer conveyor for shipping can be achieved.

物品搬送設備の平面図Top view of the goods transport facility 移載箇所から移載装置への物品移載作用図Action diagram of article transfer from transfer location to transfer device 移載装置から移載箇所への物品移載作用図Transfer of goods from transfer device to transfer location 物品の姿勢が崩れた場合の移載箇所から移載装置への物品移載作用図Figure of the article transfer action from the transfer location to the transfer device when the attitude of the article collapses 物品の姿勢が崩れた場合の移載装置から移載箇所への物品移載作用図Figure of the article transfer action from the transfer device to the transfer location when the attitude of the article collapses 制御ブロック図Control block diagram 入庫制御のフローチャートReceipt control flowchart 出庫制御のフローチャートFlow chart for exit control 従来の物品移載作用図Conventional article transfer action diagram

以下、本発明の実施形態を図面に基づいて説明する。
図1に示すように、物品搬送設備には、物品Wを収納する収納部1を縦横に備えた物品収納棚2と、物品Wを搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤ3と、搬送姿勢における物品Wの搬送方向の中間部に位置する被作用部7に作用して、搬送方向と直交する移載方向に物品Wを押し操作又は引き操作することで、搬送コンベヤ3と自己との間及び収納部1と自己との間で物品Wを移載する移載装置4を備えたスタッカークレーン5と、搬送コンベヤ3及びスタッカークレーン5(移載装置4)の作動を制御する制御手段H(図6参照)とを備えて構成されている。ちなみに、物品収納棚2とスタッカークレーン5とで自動倉庫6が構成されている。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the article transport facility includes an article storage shelf 2 provided with storage units 1 for storing articles W vertically and horizontally, and a transfer conveyor 3 for loading and transferring the articles W along the transfer direction in a transfer posture. Acting on the actuated portion 7 located in the intermediate portion of the conveying direction of the article W in the conveying posture and pushing or pulling the article W in the transfer direction orthogonal to the conveying direction, The stacker crane 5 having the transfer device 4 for transferring the article W between itself and between the storage unit 1 and itself, and the operations of the transfer conveyor 3 and the stacker crane 5 (transfer device 4) are controlled. Control means H (refer to FIG. 6) is provided. Incidentally, the article storage shelf 2 and the stacker crane 5 constitute an automatic warehouse 6.

物品Wは、搬送姿勢において搬送方向に沿う辺が短辺となり、搬送方向と直交する辺が長辺となる平面視矩形状に形成されており、このような平面視矩形状に形成されたトレーTと、それに載置支持される荷Nとで構成されている。ちなみに、トレーTは複数個の荷Nを載置支持可能に構成されている。   The article W is formed in a rectangular shape in plan view in which the side along the transport direction in the transport posture is a short side and the side orthogonal to the transport direction is a long side, and the tray formed in such a rectangular shape in plan view It is comprised by T and the load N mounted and supported by it. Incidentally, the tray T is configured to be capable of mounting and supporting a plurality of loads N.

また、トレーTにおける搬送方向の中間部で且つ移載方向の両端部が、移載装置4が作用する被作用部7として構成されている。説明を加えると、トレーTにおける搬送方向の中間部で且つ移載方向の両端部には、移載装置4の係合爪12が下方から係合可能な係合孔7aが形成されており、移載方向の両端面が、移載装置4に係合爪12にて押し操作可能な鉛直な操作面7bに形成されている。ちなみに、係合孔7aの搬送方向の幅は、係合爪12の搬送方向の幅より大きく、また、係合孔7aの移載方向の幅は、係合爪12の移載方向の幅より大きく形成されており、係合爪12が係合孔7aに対して係脱し易くなっている。   Moreover, the intermediate part of the conveyance direction in tray T and the both ends of the transfer direction are comprised as the to-be-acted part 7 with which the transfer apparatus 4 acts. If it adds explanation, the engagement hole 7a in which the engagement claw 12 of the transfer device 4 can engage from the lower part is formed in the middle part of the conveyance direction in the tray T and both ends of the transfer direction. Both end surfaces in the transfer direction are formed on a vertical operation surface 7 b that can be pushed by the engaging claw 12 to the transfer device 4. Incidentally, the width of the engagement hole 7a in the conveyance direction is larger than the width of the engagement claw 12 in the conveyance direction, and the width of the engagement hole 7a in the transfer direction is larger than the width of the engagement claw 12 in the transfer direction. The engaging claw 12 is easily formed and disengaged from the engaging hole 7a.

自動倉庫6に設置されたスタッカークレーン5は、搬送コンベヤ3の搬送方向に沿って走行自在に設けられており、そのスタッカークレーン5には、支柱9に沿って上下方向に沿って昇降自在な昇降台10が設けられている。移載装置4は、スタッカークレーン5の昇降台10に載置支持されている。   The stacker crane 5 installed in the automatic warehouse 6 is provided so as to be able to travel along the transport direction of the transport conveyor 3, and the stacker crane 5 can be moved up and down along the support column 9 in the vertical direction. A table 10 is provided. The transfer device 4 is placed and supported on the lifting platform 10 of the stacker crane 5.

移載装置4には、上下方向及び移載方向に移動自在な係合爪12と、物品Wを移載方向に沿って案内する案内体13とが設けられている。
係合爪12は、上下方向及び搬送方向に沿う薄板状に形成されており、係合爪12として、移載方向の一方側に位置する収納部1及び搬送コンベヤ3との間で物品Wを移載するための第1係合爪12aと、移載方向の他方側に位置する収納部1及び搬送コンベヤ3との間で物品Wを移載するための第2係合爪12bとが備えられている。
そして、第1係合爪12aと第2係合爪12bとは、連結部14にて互いに連結されて一体形成されており、昇降用電動モータの作動により昇降台10に対して一体的に上下方向に昇降移動し、出退用電動モータの作動により昇降台10に対して一体的に移載方向に出退移動するように構成されている。
The transfer device 4 is provided with an engaging claw 12 that is movable in the vertical direction and the transfer direction, and a guide body 13 that guides the article W along the transfer direction.
The engagement claw 12 is formed in a thin plate shape along the vertical direction and the conveyance direction. As the engagement claw 12, the article W is placed between the storage unit 1 and the conveyance conveyor 3 located on one side in the transfer direction. A first engagement claw 12a for transferring and a second engagement claw 12b for transferring the article W between the storage unit 1 and the conveyor 3 located on the other side in the transfer direction are provided. It has been.
The first engaging claw 12a and the second engaging claw 12b are integrally formed by being connected to each other at the connecting portion 14, and are integrally moved up and down with respect to the lifting platform 10 by the operation of the lifting electric motor. It is configured to move up and down in the direction, and to move in and out in the transfer direction integrally with the lifting platform 10 by the operation of the electric motor for withdrawal.

係合爪12の移動についての詳細な説明は省略するが、係合爪12の上端が移載箇所Aに位置する物品Wの下面より下方に位置する退避高さと、係合爪12の上端が移載箇所Aに位置する物品Wの下面より上方に位置して被作用部7に作用可能な作用高さとに昇降移動可能に構成されており、また、退避高さ及び作用高さのいずれの高さにおいても、移載方向に沿って係合爪12を出退移動可能に構成されている。   Although detailed explanation about the movement of the engaging claw 12 is omitted, the retraction height where the upper end of the engaging claw 12 is located below the lower surface of the article W located at the transfer location A and the upper end of the engaging claw 12 are It is located above the lower surface of the article W located at the transfer location A and is configured to be movable up and down to an action height that can act on the actuated part 7. Even at the height, the engaging claw 12 is configured to be movable in and out along the transfer direction.

そして、図2に示すように、物品Wを搬送コンベヤ3の移載箇所Aから移載装置4に移載する場合は、対応する係合爪12を物品Wの係合孔7aに係合させるべく作用高さに上昇移動させた状態で移載装置4側に引退移動させて、物品Wを引き操作している。
また、図3に示すように、物品Wを移載装置4から搬送コンベヤ3の移載箇所Aに移載する場合は、対応する係合爪12を作用高さに上昇移動させた状態で移載箇所A側に突出移動させて、物品Wの操作面7bを押し操作している。
Then, as shown in FIG. 2, when the article W is transferred from the transfer position A of the conveyor 3 to the transfer device 4, the corresponding engagement claw 12 is engaged with the engagement hole 7 a of the article W. The article W is pulled by retreating toward the transfer device 4 while being moved up to the working height as much as possible.
In addition, as shown in FIG. 3, when the article W is transferred from the transfer device 4 to the transfer location A of the transport conveyor 3, the corresponding engagement claw 12 is moved up to the working height. The operation surface 7b of the article W is pushed and operated by projecting and moving to the placement location A side.

搬送コンベヤ3は、回転ローラ16が搬送方向に複数並設されたローラ式のコンベヤに構成されており、搬送される物品Wの両側に回転ローラ16の搬送面より上方に突出する状態で一対のガイド体17が設けられており、この一対のガイド体17にて物品Wを搬送方向に沿って案内するように構成されている。   The conveyor 3 is configured as a roller-type conveyor in which a plurality of rotating rollers 16 are arranged in the conveying direction. A pair of conveying rollers 3 protrudes above the conveying surface of the rotating roller 16 on both sides of the article W to be conveyed. A guide body 17 is provided, and the pair of guide bodies 17 is configured to guide the article W along the conveyance direction.

そして、搬送コンベヤ3における移載箇所Aの搬送方向の上流側又は下流側のいずれか一方側に、搬送コンベヤ3にて搬送される物品Wを移載箇所Aにて受け止める受け止め体18が備えられている。また、搬送コンベヤ3には、移載箇所Aの物品W及び移載装置4にて移載されている物品Wの姿勢が搬送姿勢から崩れているか否かを検出する姿勢検出手段としての物品存否検出センサ19が設けられている。
受け止め体18は、物品Wを搬送姿勢で受け止めるように移載箇所A側の面が上下方向及び移載方向に沿う平坦な面に形成されている。
また、物品存否検出センサ19は、投光器と受光器とで構成されており、投光器から投光された検出光が、搬送姿勢から崩れることで移載箇所Aから突出した物品Wにより遮断されて検出光を受光器にて受光できなくなることにより、物品Wが存在していることを検出するように構成されている。
And the receiving body 18 which receives the articles | goods W conveyed by the conveyance conveyor 3 in the transfer location A is provided in either the upstream of the conveyance direction of the transfer location A in the conveyance conveyor 3, or downstream. ing. In addition, the presence or absence of an article as an attitude detection unit that detects whether or not the attitude of the article W at the transfer location A and the article W transferred by the transfer device 4 has collapsed from the conveyance attitude. A detection sensor 19 is provided.
The receiving body 18 is formed so that the surface on the transfer location A side is a flat surface along the up-down direction and the transfer direction so as to receive the article W in the conveying posture.
Further, the article presence / absence detection sensor 19 includes a projector and a light receiver, and the detection light projected from the projector is detected by being blocked by the article W protruding from the transfer position A due to the collapse of the conveying posture. When the light cannot be received by the light receiver, the presence of the article W is detected.

搬送コンベヤ3の移載箇所Aの回転ローラ16の一部は、物品Wを移載するべく移動する係合爪12と干渉しないように短く形成されている。また、搬送コンベヤ3の移載箇所Aにおいては、物品Wを移載方向に沿って移載可能なように移載装置4が位置する側にはガイド体17が設けられていない。   A part of the rotating roller 16 at the transfer location A of the conveyor 3 is formed short so as not to interfere with the engaging claws 12 that move to transfer the article W. Moreover, in the transfer location A of the conveyance conveyor 3, the guide body 17 is not provided in the side in which the transfer apparatus 4 is located so that the goods W can be transferred along a transfer direction.

搬送コンベヤ3として、移載装置4に対して移載方向の一方側に設けられて自動倉庫6に物品Wを入庫する入庫用搬送コンベヤ3aと、移載装置4に対して移載方向の他方側に設けられて自動倉庫6から物品Wを出庫する出庫用搬送コンベヤ3bとが設けられている。   The transfer conveyor 3 is provided on one side in the transfer direction with respect to the transfer device 4 and receives the article W into the automatic warehouse 6, and the other in the transfer direction with respect to the transfer device 4. A delivery conveyor 3b for delivery of articles W from the automatic warehouse 6 is provided on the side.

入庫用搬送コンベヤ3aは、その搬送方向の下流側端部に移載箇所Aが設定され、且つ、正方向に搬送作動することで物品Wを搬送方向の上流側から下流側に位置する移載箇所Aに向けて載置搬送するように構成されている。そして、入庫用搬送コンベヤ3aに備えられる受け止め体18が、移載箇所Aの下流側に位置固定状態で備えられており、入庫用搬送コンベヤ3aに備えられる物品存否検出センサ19が、移載箇所Aの上流側に位置固定状態で備えられている。
入庫用搬送コンベヤ3aの受け止め体18は、物品Wが移載箇所Aより下流側に搬送されることを規制し、入庫用搬送コンベヤ3aの物品存否検出センサ19は、搬送姿勢から崩れることで物品Wが移載箇所Aより上流側に突出したことを検出するように設けられている。
The transfer conveyor A for warehousing is provided with a transfer location A at the downstream end in the transport direction, and moves the article W from the upstream side in the transport direction to the downstream side by operating the transport in the forward direction. It is configured to be placed and conveyed toward the location A. And the receiving body 18 with which the conveyance conveyor 3a for warehousing is provided in the position fixed state downstream from the transfer location A, and the article presence detection sensor 19 with which the conveyance conveyor 3a for warehousing is provided is a transfer location. A fixed position is provided on the upstream side of A.
The receiving body 18 of the warehousing conveyor 3a regulates that the article W is conveyed downstream from the transfer location A, and the article presence / absence detection sensor 19 of the warehousing conveyor 3a collapses from the conveying posture. It is provided to detect that W protrudes upstream from the transfer location A.

また、出庫用搬送コンベヤ3bは、その搬送方向の上流側端部に移載箇所Aが設定され、且つ、正方向に搬送作動することで物品Wを搬送方向の上流側に位置する移載箇所Aから下流側に向けて載置搬送するように構成されている。そして、この出庫用搬送コンベヤ3bに備えられる受け止め体18が、移載箇所Aの上流側に位置固定状態で備えられており、出庫用搬送コンベヤ3bに備えられる物品存否検出センサ19が、移載箇所Aの下流側に位置固定状態で備えられている。
出庫用搬送コンベヤ3bの受け止め体18は、物品Wが移載箇所Aより上流側に搬送されることを規制し、出庫用搬送コンベヤ3bの物品存否検出センサ19は、搬送姿勢から崩れることで物品Wが移載箇所Aより下流側に突出したことを検出するように設けられている。
In addition, the transfer conveyor 3b for unloading has a transfer location A at the upstream end in the transport direction, and a transfer location where the article W is positioned upstream in the transport direction by being transported in the forward direction. It is configured to be placed and conveyed from A toward the downstream side. And the receiving body 18 with which this delivery conveyor 3b is equipped is provided in the position fixed state in the upstream of the transfer location A, and the article presence detection sensor 19 with which the delivery conveyor 3b is provided is transferred. It is provided in a fixed position on the downstream side of the location A.
The receiving body 18 of the unloading conveyor 3b regulates that the article W is conveyed upstream from the transfer location A, and the article presence / absence detection sensor 19 of the unloading conveyor 3b collapses from the conveying posture. It is provided to detect that W protrudes downstream from the transfer location A.

物品Wを自動倉庫6に入庫する場合、制御手段Hは、入庫用搬送コンベヤ3aを正方向に搬送作動させて物品Wを移載箇所Aまで搬送し、その後、物品存否検出センサ19にて物品Wの姿勢の崩れていることが検出されていない状態では、入庫用搬送コンベヤ3aの搬送作動を停止させた状態で移載箇所Aから移載装置4に物品Wを移載し、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されている状態では、入庫用搬送コンベヤ3aを正方向に搬送作動させた状態で移載箇所Aから移載装置4に物品Wを移載するべく、入庫用搬送コンベヤ3a及び移載装置4の作動を制御するように構成されている。
ちなみに、入庫用搬送コンベヤ3aを移載箇所Aに位置する物品Wを下流側に載置搬送するように搬送作動させた状態を、入庫用搬送コンベヤ3aを正方向に搬送作動させた状態と称している。
When the article W is received in the automatic warehouse 6, the control means H operates the entry conveyor 3 a in the forward direction to convey the article W to the transfer location A, and then the article presence / absence detection sensor 19 detects the article W. In a state where it is not detected that the posture of W is broken, the article W is transferred from the transfer position A to the transfer device 4 in a state where the transfer operation of the warehousing transfer conveyor 3a is stopped, and the presence / absence detection of the article is detected. In a state where the sensor 19 detects that the posture of the article W is broken, the article W is transferred from the transfer location A to the transfer device 4 in a state where the warehousing conveyor 3a is transported in the forward direction. In order to mount, it is comprised so that the operation | movement of the conveyance conveyor 3a for warehousing and the transfer apparatus 4 may be controlled.
By the way, the state in which the warehousing conveyor 3a is transported so that the article W positioned at the transfer location A is placed and transported downstream is referred to as the state in which the warehousing conveyor 3a is transported in the forward direction. ing.

また、物品Wを自動倉庫6から出庫する場合、制御手段Hは、物品存否検出センサ19にて物品Wの姿勢の崩れていることが検出されていない状態では、出庫用搬送コンベヤ3bの搬送作動を停止させた状態で移載装置4から移載箇所Aに物品Wを移載し、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されている状態では、出庫用搬送コンベヤ3bを逆方向に搬送作動させた状態で、移載装置4から移載箇所Aに物品Wを移載し、その後、出庫用搬送コンベヤ3bを正方向に搬送作動させて物品Wを移載箇所Aから搬送するべく、出庫用搬送コンベヤ3b及び移載装置4の作動を制御するように構成されている。
ちなみに、出庫用搬送コンベヤ3bを移載箇所Aに位置する物品Wを下流側に載置搬送するように搬送作動させた状態を、出庫用搬送コンベヤ3bを正方向に搬送作動させた状態と称し、出庫用搬送コンベヤ3bを移載箇所Aに位置する物品Wを上流側に載置搬送するように搬送作動させた状態を、出庫用搬送コンベヤ3bを逆方向に搬送作動させた状態と称している。
When the article W is delivered from the automatic warehouse 6, the control means H performs the delivery operation of the delivery conveyor 3 b in a state where the article presence / absence detection sensor 19 does not detect that the attitude of the article W has collapsed. In the state where the article W is transferred from the transfer device 4 to the transfer location A in a state in which the article is stopped, and the article presence / absence detection sensor 19 detects that the attitude of the article W is broken, With the conveyor 3b transported in the reverse direction, the article W is transferred from the transfer device 4 to the transfer location A, and then the delivery conveyor 3b is transported in the forward direction to transfer the article W. In order to carry from the location A, it is comprised so that the operation | movement of the conveyance conveyor 3b for a delivery and the transfer apparatus 4 may be controlled.
By the way, the state in which the delivery conveyor 3b is transported so that the article W located at the transfer location A is placed and transported downstream is referred to as the state in which the delivery conveyor 3b is transported in the forward direction. The state in which the delivery conveyor 3b is transported so that the article W positioned at the transfer location A is placed and transported upstream is referred to as the state in which the delivery conveyor 3b is transported in the reverse direction. Yes.

このように制御手段Hは、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されている状態では、移載箇所Aに位置する物品Wを受け止め体18が位置する側に載置搬送するように搬送コンベヤ3を搬送作動させた状態で移載装置4にて物品Wを移載し、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されていない状態では、搬送コンベヤ3の搬送作動を停止させた状態で移載装置4にて物品Wを移載するように、物品存否検出センサ19の検出情報に基づいて、搬送コンベヤ3及び移載装置4の作動を制御するように構成されている。   In this way, the control means H receives the article W located at the transfer location A on the side where the receiving body 18 is located when the article presence / absence detection sensor 19 detects that the posture of the article W is broken. The article W is transferred by the transfer device 4 in a state in which the transfer conveyor 3 is transported so as to be placed and transferred, and it is not detected by the article presence / absence detection sensor 19 that the posture of the article W is broken. In the state, the transfer conveyor 3 and the transfer device 4 are moved based on the detection information of the article presence / absence detection sensor 19 so that the transfer device 4 transfers the article W while the transfer operation of the transfer conveyor 3 is stopped. It is comprised so that the action | operation of may be controlled.

物品Wを自動倉庫6に入庫するときに制御手段Hが実行する入庫制御について、図7のフローチャートに基づいて説明する。
入庫制御では、まず、入庫用搬送コンベヤ3aを正方向に搬送作動させて、物品存否検出センサ19にて物品Wの存在が検出された後、物品Wが入庫用搬送コンベヤ3aの移載箇所Aまで載置搬送されるのに要する時間として設定された設定時間が経過するまで、入庫用搬送コンベヤ3aの搬送作動が継続する。(ステップ1,2)
そして、設定時間が経過したときに、物品存否検出センサ19にて物品Wの存在が検出されない場合は、入庫用搬送コンベヤ3aの作動を停止し、物品Wを入庫用搬送コンベヤ3aの移載箇所Aから移載装置4に物品Wを移載するべく移載装置4による移載作動が開始される。(ステップ3,4,5)
設定時間が経過したときに、物品存否検出センサ19にて物品Wの存在が検出されている場合は、入庫用搬送コンベヤ3aによる搬送に不具合が生じているとして、入庫用搬送コンベヤ3aの作動を停止させて警報を作動させる等のエラー処理を実行する。(ステップ10)
The warehousing control executed by the control means H when warehousing the article W into the automatic warehouse 6 will be described based on the flowchart of FIG.
In the warehousing control, first, the warehousing transport conveyor 3a is transported in the forward direction, and after the presence of the article W is detected by the article presence / absence detection sensor 19, the article W is transferred to the transfer conveyor A of the warehousing conveyor 3a. Until the set time which is set as the time required for the placement and transportation is passed, the transport operation of the warehousing transport conveyor 3a is continued. (Steps 1 and 2)
If the presence of the article W is not detected by the article presence / absence detection sensor 19 when the set time has elapsed, the operation of the warehousing conveyor 3a is stopped, and the article W is transferred to the warehousing conveyor 3a. The transfer operation by the transfer device 4 is started to transfer the article W from A to the transfer device 4. (Steps 3, 4 and 5)
If the presence of the article W is detected by the article presence / absence detection sensor 19 when the set time has elapsed, it is determined that there is a problem in the transportation by the warehousing transport conveyor 3a, and the operation of the warehousing transport conveyor 3a is performed. Error processing such as stopping and activating an alarm is executed. (Step 10)

図4(a)に示すように、移載装置4にて物品Wを移載している途中に、物品存否検出センサ19にて物品Wの存在が検出されると、物品Wの姿勢が崩れたとして、図4(b)に示すように、入庫用搬送コンベヤ3aを正方向に搬送作動を開始させる。(ステップ6,7)
移載装置4による移載が完了すると、移載装置4の作動を停止させ、入庫用搬送コンベヤ3aを作動させていた場合はその作動を停止させて、入庫制御を終了する。(ステップ8,9)
As shown in FIG. 4A, when the presence of the article W is detected by the article presence / absence detection sensor 19 while the article W is being transferred by the transfer device 4, the posture of the article W collapses. As shown in FIG. 4B, the warehousing conveyor 3a is started to move in the forward direction. (Steps 6 and 7)
When the transfer by the transfer device 4 is completed, the operation of the transfer device 4 is stopped. If the transfer conveyor 3a for storage is operated, the operation is stopped and the storage control is terminated. (Steps 8 and 9)

次に、物品Wを自動倉庫6から出庫するときに制御手段Hが実行する出庫制御について、図8のフローチャートに基づいて説明する。
出庫制御では、まず、物品Wを移載装置4から出庫用搬送コンベヤ3bの移載箇所Aに移載するべく移載装置4の移載作動が開始される。(ステップ11)
図5(a)に示すように、移載装置4にて物品Wを移載している途中に、物品存否検出センサ19にて物品Wの存在が検出されると、物品Wの姿勢が崩れたとして、図5(b)に示すように、出庫用搬送コンベヤ3bを逆方向の搬送作動を開始させる。(ステップ12,13)
移載装置4による移載が完了すると、移載装置4の作動を停止させ、出庫用搬送コンベヤ3bを正方向に搬送作動を開始し、物品Wを所定位置まで搬送した後に出庫用搬送コンベヤ3bの作動を停止させて、出庫制御を終了する。(ステップ14〜16)
Next, the delivery control performed by the control means H when the article W is delivered from the automatic warehouse 6 will be described based on the flowchart of FIG.
In the delivery control, first, the transfer operation of the transfer device 4 is started to transfer the article W from the transfer device 4 to the transfer location A of the delivery conveyor 3b. (Step 11)
As shown in FIG. 5A, when the presence of the article W is detected by the article presence / absence detection sensor 19 while the article W is being transferred by the transfer device 4, the posture of the article W collapses. As shown in FIG. 5 (b), the transporting conveyor 3b for shipping starts the transporting operation in the reverse direction. (Steps 12 and 13)
When the transfer by the transfer device 4 is completed, the operation of the transfer device 4 is stopped, the transfer conveyor 3b for shipping is started in the forward direction, and after the article W is transferred to a predetermined position, the transfer conveyor 3b for discharge. Is stopped, and the exit control is terminated. (Steps 14-16)

このように移載箇所Aに位置する物品Wが受け止め体18側に搬送されるように搬送コンベヤ3を搬送作動させながら移載装置4にて物品Wを移載することで、移載装置4と搬送コンベヤ3の移載箇所Aとの間で物品Wを移載するときに物品Wの姿勢を搬送姿勢に維持させ易く、物品Wの移載を適確に行うことができる。また、搬送コンベヤ3を搬送作動させることで、移載箇所Aに対して搬送方向の一方側のみに受け止め体18を設けるだけでよいので、搬送コンベヤ3の構成の簡素化、ひいては、物品搬送設備の構成の簡素化を図ることができる。   In this way, the transfer device 4 is transferred by the transfer device 4 while the transfer conveyor 4 is moved so that the load W located at the transfer location A is transferred to the receiving body 18 side. When the article W is transferred between the transfer conveyor 3 and the transfer location A of the transfer conveyor 3, it is easy to maintain the attitude of the article W in the transfer attitude, and the transfer of the article W can be performed accurately. Further, since the transport conveyor 3 is transported, it is only necessary to provide the receiving body 18 on one side in the transport direction with respect to the transfer location A. Therefore, the configuration of the transport conveyor 3 is simplified, and the article transport equipment Simplification of the configuration can be achieved.

〔別実施形態〕
(1) 上記実施形態では、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されている状態では、搬送コンベヤ3を搬送作動させた状態で移載装置4にて物品Wを移載し、物品存否検出センサ19にて物品Wの姿勢が崩れていることが検出されていない状態では、搬送コンベヤ3の搬送作動を停止させた状態で移載装置4にて物品Wを移載したが、移載装置にて物品を移載する間、常に搬送コンベヤ3を搬送作動させた状態で移載装置4にて物品Wを移載するようにしてもよい。
[Another embodiment]
(1) In the above embodiment, in the state where the article presence / absence detection sensor 19 detects that the posture of the article W has collapsed, the article W is moved by the transfer device 4 while the transfer conveyor 3 is being transferred. When the article presence / absence detection sensor 19 does not detect that the posture of the article W has collapsed, the article W is transferred by the transfer device 4 in a state where the conveyance operation of the conveyor 3 is stopped. Although the article has been transferred, the article W may be transferred by the transfer apparatus 4 while the transfer conveyor 3 is always being transported during the transfer of the article by the transfer apparatus.

(2) 上記実施形態では、搬送コンベヤ3における搬送方向の端部に移載箇所Aを設定したが、搬送コンベヤ3における搬送方向の中間部に移載箇所Aを設定してもよい。
この場合、搬送コンベヤ3にて搬送される物品Wを受け止める作用位置と、搬送コンベヤ3による物品Wの搬送を許容する退避位置とに移動自在な可動式の受け止め体18を、搬送コンベヤ3における移載箇所Aの搬送方向の上流側又は下流側のいずれか一方に設ける。そして、受け止め体18を移載箇所Aの搬送方向の下流側に設けた場合は、搬送コンベヤ3を正方向に搬送作動させて物品Wを受け止め体18に押し付け、受け止め体18を移載箇所Aの搬送方向の上流側に設けた場合は、搬送コンベヤ3を逆方向に搬送作動させて物品Wを受け止め体18に押し付ける。
(2) In the said embodiment, although the transfer location A was set to the edge part of the conveyance direction in the conveyance conveyor 3, you may set the transfer location A in the intermediate part of the conveyance direction in the conveyance conveyor 3. FIG.
In this case, the movable receiving body 18 that is movable between the working position for receiving the articles W conveyed by the conveyor 3 and the retracted position for allowing the articles W to be conveyed by the conveyor 3 is transferred to the conveyor 3. It is provided on either the upstream side or the downstream side of the loading position A in the transport direction. When the receiving body 18 is provided on the downstream side of the transfer position A in the transport direction, the transport conveyor 3 is transported in the forward direction to press the article W against the receiving body 18, and the receiving body 18 is moved to the transfer position A. Is provided on the upstream side in the transport direction, the transport conveyor 3 is transported in the opposite direction to press the article W against the receiving body 18.

(3) 上記実施形態では、入庫用搬送コンベヤ3aと出庫用搬送コンベヤ3bとの両方に受け止め体18を備えたが、入庫用搬送コンベヤ3a又は出庫用搬送コンベヤ3bのいずれか一方の搬送コンベヤ3のみに受け止め体18を備えてもよい。 (3) In the said embodiment, although the receiving body 18 was provided in both the conveyance conveyor 3a for warehousing, and the conveyance conveyor 3b for warehousing, the conveyance conveyor 3 of any one of the conveyance conveyor 3a for warehousing or the conveyance conveyor 3b for warehousing. Only the receiving body 18 may be provided.

(4) 上記実施形態では、入庫用搬送コンベヤ3aと出庫用搬送コンベヤ3bとを別々に設けたが、搬送方向を正方向に搬送作動させた状態と逆方向に搬送させた状態とに切り換えることで、1台の搬送コンベヤ3を入庫用搬送コンベヤ3aと出庫用搬送コンベヤ3bとに兼用してもよい。 (4) In the above embodiment, the entrance conveyor 3a and the exit conveyor 3b are provided separately, but the transport direction is switched between the forward transport state and the reverse transport state. Therefore, one conveyor 3 may be used as both the warehousing conveyor 3a and the warehousing conveyor 3b.

(5) 上記実施形態では、物品Wを、搬送方向に沿う辺が短辺となり、搬送方向と直交する辺が長辺となる姿勢を搬送姿勢としたが、物品Wを、搬送方向に沿う辺が長辺となり、搬送姿勢と直交する辺が短辺となる姿勢を搬送姿勢としてもよい。また、荷Nを載置支持したトレーTを物品Wとしたが、荷を載置支持したパレットや荷を収納したカートンケース、又は、荷そのものを物品Wとしてもよい。
また、上記実施形態では、搬送方向での幅が同じサイズの物品Wを搬送したが、搬送方向での幅が異なる複数サイズの物品Wを搬送してもよい。
(5) In the above-described embodiment, the article W is defined as a conveyance posture in which the side along the conveyance direction is a short side and the side orthogonal to the conveyance direction is the long side, but the article W is a side along the conveyance direction. It is good also as a conveyance attitude | position in which the side becomes a long side and the side orthogonal to a conveyance attitude | position becomes a short side. Although the tray T on which the load N is placed and supported is the article W, the pallet on which the load is placed and supported, the carton case storing the load, or the load itself may be used as the article W.
Moreover, in the said embodiment, although the articles | goods W of the same width in a conveyance direction were conveyed, you may convey the articles | goods W of several sizes from which the width | variety in a conveyance direction differs.

3 搬送コンベヤ
3a 入庫用搬送コンベヤ
3b 出庫用搬送コンベヤ
5 スタッカークレーン
6 自動倉庫
7 被作用部
10 昇降台
18 受け止め体
19 姿勢検出手段
A 移載箇所
H 制御手段
W 物品
DESCRIPTION OF SYMBOLS 3 Conveyor 3a Conveyor for warehousing 3b Conveyor for unloading 5 Stacker crane 6 Automatic warehouse 7 Operated part 10 Lifting stand 18 Receiving body 19 Posture detection means A Transfer location H Control means W Goods

Claims (5)

物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、
前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、
前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されている物品搬送設備であって、
前記搬送コンベヤにおける前記移載箇所の搬送方向の上流側又は下流側のいずれか一方側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、
前記制御手段が、前記移載箇所に位置する物品を前記受け止め体が位置する側に載置搬送するように前記搬送コンベヤを搬送作動させた状態で、前記移載装置にて物品を移載するべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成され
前記移載箇所の物品及び前記移載装置にて移載されている物品の姿勢が前記搬送姿勢から崩れているか否かを検出する姿勢検出手段が設けられ、
前記制御手段が、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されている状態では、前記搬送コンベヤを搬送作動させた状態で前記移載装置にて物品を移載し、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されていない状態では、前記搬送コンベヤの搬送作動を停止させた状態で前記移載装置にて物品を移載するように、前記姿勢検出手段の検出情報に基づいて、前記搬送コンベヤ及び移載装置の作動を制御するように構成されている物品搬送設備。
A transport conveyor for placing and transporting articles in the transport direction along the transport direction;
The transfer position of the transfer conveyor is operated by pushing or pulling the load in the transfer direction that intersects the transfer direction by acting on the acting part located in the intermediate part of the transfer direction of the article in the transfer posture. A transfer device for transferring an article between the user and the self;
An article transport facility configured to include a control means for controlling the operation of the transport conveyor and the transfer device,
On either the upstream side or the downstream side in the transport direction of the transfer location in the transport conveyor, a receiving body for receiving the article transported by the transport conveyor at the transfer location is provided,
The control means transfers the article by the transfer device in a state where the transfer conveyor is transported so that the article positioned at the transfer location is mounted and transferred to the side where the receiving body is positioned. Therefore, it is configured to control the operation of the transfer conveyor and the transfer device ,
Posture detecting means is provided for detecting whether or not the posture of the article at the transfer location and the article transferred by the transfer device has collapsed from the transport posture;
In the state in which the control means detects that the posture of the article is broken by the posture detection means, the article is transferred by the transfer device in a state where the transfer conveyor is transported and operated, In a state where the posture detection means does not detect that the posture of the article has collapsed, the posture detection is performed such that the article is transferred by the transfer device while the transfer operation of the transfer conveyor is stopped. Article transport equipment configured to control the operation of the transport conveyor and transfer device based on detection information of the means .
物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、
前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、
前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されている物品搬送設備であって、
前記搬送コンベヤにおける前記移載箇所の搬送方向の上流側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、
前記搬送コンベヤが、その搬送方向の上流側端部に前記移載箇所が設定され、且つ、正方向に搬送作動することで物品を搬送方向の上流側から下流側に向けて載置搬送するように構成され、
前記受け止め体が、前記移載箇所の上流側に位置固定状態で備えられ、
前記制御手段が、前記移載箇所に位置する物品を上流側に載置搬送するように前記搬送コンベヤを逆方向に搬送作動させた状態で、前記移載装置から前記移載箇所に物品を移載し、その後、前記移載箇所に位置する物品を下流側に載置搬送するように前記搬送コンベヤを正方向に搬送作動させるべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成されている物品搬送設備。
A transport conveyor for placing and transporting articles in the transport direction along the transport direction;
The transfer position of the transfer conveyor is operated by pushing or pulling the load in the transfer direction that intersects the transfer direction by acting on the acting part located in the intermediate part of the transfer direction of the article in the transfer posture. A transfer device for transferring an article between the user and the self;
An article transport facility configured to include a control means for controlling the operation of the transport conveyor and the transfer device,
On the upstream side in the transport direction of the transfer location in the transport conveyor, a receiving body for receiving the articles transported by the transport conveyor at the transfer location is provided,
The transfer conveyor sets the transfer location at the upstream end in the transfer direction, and carries the article in the forward direction so that the article is placed and transferred from the upstream side to the downstream side in the transfer direction. Composed of
The receiving body is provided in a fixed position on the upstream side of the transfer location,
The control means transfers the article from the transfer device to the transfer location in a state in which the transfer conveyor is transported in the reverse direction so that the article located at the transfer location is placed and conveyed upstream. To control the operation of the transfer conveyor and the transfer device so that the transfer conveyor is transferred in the forward direction so that the article located at the transfer position is mounted and transferred downstream. configured have that thing goods transport equipment.
物品を搬送姿勢で搬送方向に沿って載置搬送する搬送コンベヤと、
前記搬送姿勢における物品の搬送方向の中間部に位置する被作用部に作用して、前記搬送方向と交差する移載方向に物品を押し操作又は引き操作することで、前記搬送コンベヤの移載箇所と自己との間で物品を移載する移載装置と、
前記搬送コンベヤ及び前記移載装置の作動を制御する制御手段とを備えて構成されている物品搬送設備であって、
前記搬送コンベヤにおける前記移載箇所の搬送方向の下流側に、前記搬送コンベヤにて搬送される物品を前記移載箇所にて受け止める受け止め体が備えられ、
前記搬送コンベヤが、前記搬送コンベヤにおける搬送方向の下流側端部に前記移載箇所が設定され、前記搬送コンベヤにおける搬送方向の下流側端部に前記移載箇所が設定され、且つ、正方向に搬送作動することで物品を搬送方向の上流側から下流側に向けて載置搬送するように構成され、
前記受け止め体が、前記移載箇所の下流側に位置固定状態で備えられ、
前記制御手段が、前記移載箇所に位置する物品を下流側に載置搬送するように前記搬送コンベヤを正方向に搬送作動させた状態で、前記移載箇所から前記移載装置に物品を移載し、当該移載装置により移載が完了すると前記搬送コンベヤの搬送作動を停止させるべく、前記搬送コンベヤ及び前記移載装置の作動を制御するように構成されている物品搬送設備。
A transport conveyor for placing and transporting articles in the transport direction along the transport direction;
The transfer position of the transfer conveyor is operated by pushing or pulling the load in the transfer direction that intersects the transfer direction by acting on the acting part located in the intermediate part of the transfer direction of the article in the transfer posture. A transfer device for transferring an article between the user and the self;
An article transport facility configured to include a control means for controlling the operation of the transport conveyor and the transfer device,
On the downstream side in the transport direction of the transfer location in the transport conveyor, a receiving body for receiving the article transported by the transport conveyor at the transfer location is provided,
In the transport conveyor, the transfer location is set at the downstream end in the transport direction of the transport conveyor, the transfer location is set at the downstream end in the transport direction of the transport conveyor, and in the forward direction. It is configured to place and convey articles from the upstream side to the downstream side in the conveyance direction by carrying out the conveyance operation,
The receiving body is provided in a fixed position on the downstream side of the transfer location;
The control means transfers the article from the transfer location to the transfer device in a state in which the transfer conveyor is transported in the forward direction so that the article located at the transfer location is placed and conveyed downstream. mounting to, the by the transfer device and transfer is completed in order to stop the conveying operation of the conveyor, the conveyor and the transfer device configured to have that object article transport facility to control the operation of.
前記移載箇所の物品及び前記移載装置にて移載されている物品の姿勢が前記搬送姿勢から崩れているか否かを検出する姿勢検出手段が設けられ、
前記制御手段が、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されている状態では、前記搬送コンベヤを搬送作動させた状態で前記移載装置にて物品を移載し、前記姿勢検出手段にて物品の姿勢が崩れていることが検出されていない状態では、前記搬送コンベヤの搬送作動を停止させた状態で前記移載装置にて物品を移載するように、前記姿勢検出手段の検出情報に基づいて、前記搬送コンベヤ及び移載装置の作動を制御するように構成されている請求項2又は3記載の物品搬送設備。
Posture detecting means is provided for detecting whether or not the posture of the article at the transfer location and the article transferred by the transfer device has collapsed from the transport posture;
In the state in which the control means detects that the posture of the article is broken by the posture detection means, the article is transferred by the transfer device in a state where the transfer conveyor is transported and operated, In a state where the posture detection means does not detect that the posture of the article has collapsed, the posture detection is performed such that the article is transferred by the transfer device while the transfer operation of the transfer conveyor is stopped. 4. The article conveyance facility according to claim 2 , wherein the article conveyance facility is configured to control the operations of the conveyance conveyor and the transfer device based on detection information of the means.
前記移載装置が、自動倉庫に設置されたスタッカークレーンの昇降台に載置支持され、
前記搬送コンベヤが、前記自動倉庫から物品を出庫する出庫用搬送コンベヤ又は前記自動倉庫に物品を入庫する入庫用搬送コンベヤとして設けられている請求項1〜4のいずれか1項に記載の物品搬送設備。
The transfer device is placed and supported on a lifting platform of a stacker crane installed in an automatic warehouse,
The article conveyance according to any one of claims 1 to 4, wherein the conveyance conveyor is provided as an unloading conveyer for unloading articles from the automatic warehouse or an unloading conveyer for receiving articles into the automatic warehouse. Facility.
JP2011087641A 2011-04-11 2011-04-11 Goods transport equipment Active JP5532340B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011087641A JP5532340B2 (en) 2011-04-11 2011-04-11 Goods transport equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011087641A JP5532340B2 (en) 2011-04-11 2011-04-11 Goods transport equipment

Publications (2)

Publication Number Publication Date
JP2012218905A JP2012218905A (en) 2012-11-12
JP5532340B2 true JP5532340B2 (en) 2014-06-25

Family

ID=47270829

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011087641A Active JP5532340B2 (en) 2011-04-11 2011-04-11 Goods transport equipment

Country Status (1)

Country Link
JP (1) JP5532340B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7376911B2 (en) * 2019-10-28 2023-11-09 伊東電機株式会社 Transfer equipment and conveyor equipment

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0228834U (en) * 1988-08-13 1990-02-23
JP2900183B2 (en) * 1990-08-29 1999-06-02 ニチバン株式会社 Automatic transfer device for tape application device
JPH0748566Y2 (en) * 1991-07-02 1995-11-08 西部電機株式会社 Pusher
JPH1129207A (en) * 1997-07-11 1999-02-02 Kongo Co Ltd Load transferring device

Also Published As

Publication number Publication date
JP2012218905A (en) 2012-11-12

Similar Documents

Publication Publication Date Title
JP6256702B2 (en) Container lifting and lowering transport device for article transport
JP6532232B2 (en) Article transfer apparatus and article transfer method
US20120201642A1 (en) Article Transfer Device and Stacker Crane Having Same
JP2009120317A (en) Automated warehouse
JP4296498B2 (en) Pallet transport device
JP5532340B2 (en) Goods transport equipment
JP2007269459A (en) Article conveying facility
JP2020075795A (en) Storage system
JP5601514B2 (en) Roll body storage equipment
JP2008044729A (en) Automated warehouse and storage and retrieval control method
JP4941713B2 (en) Article conveying device
JP5610228B2 (en) Article conveying equipment and article conveying method
JP5258122B2 (en) Load carrier supply / discharge device
JP2011042497A (en) Conveyor device
KR20140018420A (en) Load apparatus for storage and retrieval of tote box in automated warehouse
JP6287514B2 (en) Article conveying device
JP6135402B2 (en) Transport device and transport equipment
JP5104558B2 (en) Transport vehicle and transfer method of transport vehicle
JP5170541B2 (en) Goods storage equipment
JP2010159118A (en) Automated warehouse
JP7153107B1 (en) Pallet exchange device and pallet exchange method
JP7302586B2 (en) Goods storage facility
JP2007284151A (en) Facility for cargo work
JP5212730B2 (en) Goods transport equipment
JP6554968B2 (en) Automatic warehouse

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130227

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20140107

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20140227

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20140327

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20140409

R150 Certificate of patent or registration of utility model

Ref document number: 5532340

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250