Note: Descriptions are shown in the official language in which they were submitted.
1
SPECIFICATION
TITLE OF INVENTION: TRANSPORT PROCESSING SYSTEM AND VERTICALLY
ROTATING DEVICE
TECHNICAL FIELD
[0001] The present invention relates to a conveying processing system. The
invention also relates
to a vertical rotation device which can be incorporated in the conveying
processing system.
BACKGROUND ART
[0002] In the past, a "unlocking system comprising a camera, a first arm to
which one or more
keys are attached, and a control device for locating a keyhole based on an
image from a camera and
for unlocking by inserting a key into a keyhole and rotating the key by
controlling the first arm" has
been proposed (see, for example, Unexamined Japanese Patent Publication No.
2020-073297). In
this unlocking system, a bill storage container is conveyed by a conveying
conveyor to the front of
the robot arm including the key. A posture that can be taken at that time is a
posture in which a
surface having the keyhole faces the camera, or is a posture in which an
opposite surface faces the
camera. These posture of the bill storage container are taken manually when
the bill storage container
is placed on the conveying conveyor.
PRIOR ART DOCUMENT
PATENT DOCUMENT
[0003] PATENT DOCUMENT 1: Unexamined Japanese Patent Publication No. 2020-
073297
SUMMARY OF THE INVENTION
PROBLEM TO BE SOLVED BY THE INVENTION
[0004] Incidentally, the above-described bill storage container exceeds 3kg
when it is heavy in a
state in which the bill is stored. Even if the conveying conveyor is nearby,
it is difficult to manually
convey such a heavy object to the conveying conveyor. In addition, for
example, when collecting
the bill storage container from a game machine or the like to a movable shelf,
it may be superior in
work efficiency to place the bill storage container on the movable shelf in a
posture different from
a posture at the time of unlocking processing by an unlocking device.
[0005] It is an object of the present invention not only to enable an object
(for example, a bill
storage container and the like) to be automatically placed at a conveying-in
position of a conveying
processing system including a processing device (for example, a unlocking
device and the like) for
applying processing to the object and a conveying device for conveying the
object to a processing
position of the processing device, but also to enable the object to be placed
at the time of conveying
in the object in a posture different from a posture at the time of processing
the object.
[0006] Further, it is another object of the present invention to enable the
object to be conveyed out
after processing of the object by the processing device in a posture different
from a posture at the
time of processing.
MEANS FOR SOLVING THE PROBLEMS
[0007] A conveying processing system according to a first aspect of the
present invention
comprises a first conveying device, a second conveying device, and a
processing device. The first
conveying device includes a conveying mechanism and a posture control
mechanism. The conveying
mechanism conveys an object. The posture control mechanism can control a
posture of the object.
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The first conveying device changes the posture of the object by the posture
control mechanism and
conveys the object from a first position to a second position. The second
conveying device performs
at least one operation of a conveying-in operation and a conveying-out
operation. The conveying-in
operation is an operation of conveying in the object in a first posture to the
first position of the first
conveying device. The conveying-out operation is an operation of conveying out
the object in a
second posture from the second position of the first conveying device. The
processing device applies
a processing to the object which is made into a third posture by the first
conveying device. Then,
when the conveying-in operation is performed by the second conveying device,
the posture control
mechanism performs a first posture control. In the first posture control, the
posture of the object is
changed from the first posture to the third posture. Further, when the
conveying-out operation is
performed by the second conveying device, the posture control mechanism
performs a second
posture control. In the second posture control, the object in the third
posture is changed to the second
posture.
[0008] In this conveying processing system, if the second conveying device
performs the
conveying-in operation, the object can be automatically placed on the first
position of the first
conveying device. Further, in this conveying processing system, the second
conveying device can
convey in the object in the first posture to the first position of the first
conveying device, and the
posture control mechanism of the first conveying device can change the object
in the first posture to
the third posture. That is, in this conveying processing system, the object
can be placed at the time
of conveying in the object in a posture different from a posture at the time
of processing the object.
[0009] Further, in this conveying processing system, if the second conveying
device performs the
conveying-out operation, the object can be conveyed out from the second
position of the first
conveying device in the second posture. For this reason, in this conveying
processing system, the
object can be conveyed out after processing of the object by the processing
device in a posture
different from a posture at the time of processing.
[0010] The conveying processing system according to a second aspect of the
present invention is
the conveying processing system according to the first aspect, and the second
conveying device
includes a robot hand and a hand moving mechanism. The hand moving mechanism
is capable of
moving the robot hand. Further, this hand moving mechanism is fixed. Then, the
first position and
the second position are within a range in which the robot hand can grasp the
object.
[0011] For this reason, in this conveying processing system, it is possible to
convey in the object
to the first conveying device and to convey out the object from the first
conveying device by one
second conveying device.
[0012] The conveying processing system according to a third aspect of the
present invention is the
conveying processing system according to the first aspect, and the second
conveying device includes
a robot hand and a hand moving mechanism. The hand moving mechanism is capable
of moving the
robot hand. This conveying processing system further includes a mechanism
moving device. The
mechanism moving device is capable of moving the hand moving mechanism between
a position
where the robot hand can grasp the object positioned in the first position and
a position where the
robot hand can grasp an object positioned in the second position.
[0013] For this reason, in this conveying processing system, the first
position and the second
position of the first conveying device can be freely set, and it is possible
to convey in the object to
the first conveying device and to convey out the object from the first
conveying device by one second
conveying device.
[0014] The conveying processing system according to a fourth aspect of the
present invention is
the conveying processing system according to any one of the first to third
aspects, and the object is
a box body. The box body is placed on a shelf before being conveyed in the
first conveying device.
Then, in the conveying-in operation, the box body placed on the shelf is
conveyed in the first posture
to the first position of the first conveying device. Further, in the conveying-
out operation, the box
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body is conveyed in the second posture from the second position of the first
conveying device to the
shelf.
[0015] For this reason, in this conveying processing system, if the second
conveying device
performs the conveying-in operation, it is possible to automatically convey
the box body in the first
posture to the first position of the first conveying device from the shelf,
and if the second conveying
device performs the conveying-out operation, it is possible to automatically
convey the box in the
second posture to the shelf from the second position of the first conveying
device.
[0016]
The conveying processing system according to a fifth aspect of the present
invention is the
conveying processing system according to the fourth aspect, and the shelf
includes a shelf plate and
a guide wall. The guide wall extends in the vertical direction from a plate
surface of the shelf plate.
Incidentally, the shelf plate may extend upward or downward. Further, the
robot hand includes a
grasping portion. The grasping portion moves linearly. Then, the guide wall
guides the grasping
portion which moves linearly.
[0017] For this reason, in this conveying processing system, by placing the
box body along the
guide wall when placing the box body on the shelf, when conveying the box body
to the first position
of the first conveying device from the shelf, the grasping portion can easily
grasp the box body.
Further, in this conveying processing system, when conveying the box body to
the shelf from the
second position of the first conveying device, the grasping portion can easily
place the box body on
the shelf.
[0018] The conveying processing system according to a sixth aspect of the
present invention is the
conveying processing system according to the fourth aspect or the fifth
aspect, the box body includes
a lock on a front and a handle attached to a top wall. The first conveying
device includes a first
conveying mechanism, a first posture control mechanism, a second conveying
mechanism, a second
posture control mechanism, a third conveying mechanism, a third posture
control mechanism and a
fourth conveying mechanism. The first conveying mechanism includes the first
position. The first
posture control mechanism is disposed on a downstream side in a conveying
direction of the first
conveying mechanism. The second conveying mechanism is disposed on a
downstream side in a
conveying direction of the first posture control mechanism. The second posture
control mechanism
is disposed on a downstream side in a conveying direction of the second
conveying mechanism. The
third conveying mechanism is disposed on a downstream side in a conveying
direction of the second
posture control mechanism. The third posture control mechanism is disposed on
a downstream side
in a conveying direction of the third conveying mechanism. The fourth
conveying mechanism is
disposed on a downstream side in a conveying direction of the third posture
control mechanism.
Further, the fourth conveying mechanism includes the second position. Then, in
the first position,
the box body is placed in a posture in which the top wall or a bottom wall
faces a conveying direction
of the first conveying device. In the second position, the box body has a
posture in which the top
wall or the bottom wall faces the conveying direction of the first conveying
device. The first posture
control mechanism changes the box body to a posture in which the handle is
positioned on the upper
side. The second posture control mechanism can rotate the box body along the
horizontal plane to
change the box body to a posture in which the front faces a specific
direction. The third posture
control mechanism changes the box body to a posture in which the top wall or
the bottom wall faces
the conveying direction of the first conveying device. In addition, the
processing device applies an
unlocking processing to the lock of the box body in the posture in which the
front face faces the
specific direction.
[0019] As described above, in this conveying processing system, the box body
is placed in the
posture in which the top wall or the bottom wall faces the conveying direction
of the first conveying
device in the first position of the first conveying device. Next, the box body
assume the posture in
which the handle is positioned on the upper side by the first posture control
mechanism. Next, when
the posture of the box body is in the posture in which the front of the box
body faces the specific
direction, the box body is conveyed in the as-is posture, and the lock of the
box body is unlocked by
the processing device. On the other hand, when the posture of the box body is
not in the posture in
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which the front of the box body faces the specific direction, the posture of
the box body is changed
to the posture in which the front faces the specific direction by the second
posture control mechanism,
and then the lock of the box body is unlocked by the processing device.
Thereafter, the posture of
the box body is changed to the posture in which the top wall or the bottom
wall faces the conveying
direction of the first conveying device by the third posture control
mechanism. That is, when the
conveying processing system is used, the box body can be placed on the shelf
in the posture in which
the top wall or the bottom wall faces outward when the box is transferred to
the shelf by a person.
That is, a worker can insert the box body into the shelf from both sides of
the shelf while holding
the handle of the box body, and can place the box body on the shelf. For this
reason, a collecting
worker of the box body can easily place the box body on the shelf. On the
other hand, when returning
the box body to the shelf from the second position, the box body can be placed
on the shelf in the
posture in which the top wall or the bottom wall faces outward by the robot
hand. That is, the worker
can easily grasp the handle of the box body when putting his/her hand from the
side surface of the
shelf. For this reason, when the box body is returned to the original
location, the worker can easily
return the box body to the original location.
[0020] The conveying processing system according to a seventh aspect of the
present invention is
the conveying processing system according to the sixth aspect, and the first
posture control
mechanism and the third posture control mechanism are vertical rotation
mechanisms. The vertical
rotation mechanism grasps the box body and rotates the box body vertically.
[0021] In this conveying processing system, the posture of the box body can be
efficiently changed.
[0022] A vertical rotation device according to a eighth aspect of the present
invention comprises
a placing table, a grasping portion, a vertical rotation portion, a vertical
drive portion and a control
unit. An object is placed on the placing table. The grasping portion can grasp
the object. The vertical
rotation portion rotates the grasping portion vertically. The vertical drive
portion moves at least one
of the placing table and the grasping portion so that the placing table and
the grasping portion are
separated in the vertical direction. Then, the control unit causes the
grasping portion to grasp the
object placed on the placing table. After that, the control unit separates the
placing table and the
grasping portion in the vertical direction by the vertical drive portion and
then rotates the grasping
portion vertically by the vertical rotation portion, and places the object on
the placing table again.
The rotation angle is preferably 90 .
[0023] For this reason, this vertical rotation device can efficiently change a
posture of the object.
[0024] The vertical rotation device according to a ninth aspect of the present
invention is the
vertical rotation device according to the eighth aspect, and a lifting portion
is disposed on the placing
table. The lifting portion lifts the object upward. Then, the control unit
causes the lifting portion to
lift the object placed on the placing table, and then causes the grasping
portion to grasp the object.
[0025] In this vertical rotation device, for example, not only the object that
do not require lifting
by the lifting portion but also the object having a height lower than the
object can be grasped and
rotated vertically. For this reason, it is possible to cope with objects
having different heights.
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Fig. 1 is a schematic diagram showing an overall configuration of a
conveying processing
system according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram showing a control system of the conveying
processing system according to an embodiment of the present invention.
Fig. 3 is an external perspective view of an example of a bill storage
container to be
conveyed and unlocked by the conveying processing system according to an
embodiment of the
present invention when viewed from the right obliquely above the front side.
Fig. 4 is an external perspective view of an example of the bill storage
container to be
conveyed and unlocked by the conveying processing system according to an
embodiment of the
present invention when viewed from the left obliquely below the back side.
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Fig. 5 is an external perspective view of another example of the bill storage
container to be
conveyed and unlocked by the conveying processing system according to an
embodiment of the
present invention when viewed from the right obliquely above the front side.
Fig. 6 is an external perspective view of another example of the bill storage
container to be
conveyed and unlocked by the conveying processing system according to an
embodiment of the
present invention when viewed from the left obliquely below the back side.
Fig. 7 is a perspective view of a first conveying-in conveyor and a conveying-
in side
posture changing device that constitute the conveying processing system
according to an
embodiment of the present invention when viewed from the right obliquely above
the conveying-in
side posture changing device side.
Fig. 8 is a back view of the conveying-in side posture changing device that
constitutes the
conveying processing system according to an embodiment of the present
invention.
Fig. 9 is a perspective view of an object support device that constitutes the
conveying-in
side posture changing device of the conveying processing system according to
an embodiment of
the present invention.
Fig. 10 is a perspective view of an object grasping rotation device that
constitutes the
conveying-in side posture changing device of the conveying processing system
according to an
embodiment of the present invention.
Fig. 11 is a back view of the conveying-in side posture changing device that
constitutes the
conveying processing system according to an embodiment of the present
invention, and is a view
showing a state that a slider of the object grasping rotation device moves
forward and a grasping
portion is grasping the bill storage container BL.
Fig. 12 is a perspective view of a conveying-out side posture changing device
and a second
conveying-out conveyor that constitutes the conveying processing system
according to an
embodiment of the present invention when viewed from the right obliquely above
the second
conveying-out conveyor side.
Fig. 13 is a perspective view of an object support device that constitutes the
conveying-out
side posture changing device of the conveying processing system according to
an embodiment of
the present invention.
Fig. 14 is a plan view of a robot arm with a robot hand according to an
embodiment of the
present invention.
Fig. 15 is a perspective view of a robot hand according to an embodiment of
the present
invention when viewed from the left obliquely above the front side.
Fig. 16 is a perspective view of the robot hand according to an embodiment of
the present
invention when viewed from the right obliquely above the rear side.
Fig. 17 is a perspective view of the robot hand according to an embodiment of
the present
invention when viewed from the right obliquely below the front side.
Fig. 18 is a left side view of the robot hand according to an embodiment of
the present
invention.
Fig. 19 is a front view of the robot hand according to an embodiment of the
present
invention.
Fig. 20 is an I-I cross-sectional view of Fig. 19.
Fig. 21 is a II-II cross-sectional view of Fig. 19.
Fig. 22 is a left side view of a state in which the articulated telescopic
link mechanism is
extended in the robot hand according to an embodiment of the present
invention.
Fig. 23 is a left side view of a state in which the articulated telescopic
link mechanism is
fully extended in the robot hand according to an embodiment of the present
invention.
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Fig. 24 is a perspective view of the detachable spiral spring unit of the
robot hand according
to an embodiment of the present invention.
Fig. 25 is a front view of a movable shelf on which the bill storage container
to be conveyed
by the robot arm with the robot hand according to an embodiment of the present
invention is placed.
Fig. 26 is a right side view of the movable shelf on which an object to be
conveyed by the
robot arm with the robot hand according to an embodiment of the present
invention is placed.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0027] <Configuration of a conveying processing system according to an
embodiment of the
present invention>
The conveying processing system 100 according to an embodiment of the present
invention, as shown in Fig. 1, mainly comprises a conveying conveyor system
200, an unlocking
system 300, a second robot arm 400 with a robot hand, and a control device 700
(see Fig. 2). Here,
the conveying conveyor system 200, the unlocking system 300 and the second
robot arm 400 with
the robot hand are communicatively connected to the control device 700 as
shown in Fig.2.
Incidentally, a first robot arm with a robot hand for taking out a bill is
showed by a reference sign
350 in Fig. 2, and it will be described later.
[0028] Incidentally, in this conveying processing system 100, the bill storage
container BL,BS
(see Figs. 3 to 6) is conveyed in the conveying conveyor system 200 (see Fig.
1) from a movable
shelf 800 (see Figs. 1, 25 and 26) by the second robot arm 400 with the robot
hand. Then, after the
bill storage container BL,BS is unlocked by the unlocking system 300 and a
bill is taken out from
the bill storage container BL,BS, the empty bill storage container BL,BS is
conveyed from the
conveying conveyor system 200 to the movable shelf 800 by the second robot arm
400 with the
robot hand. Hereinafter, after a structure and the like of the bill storage
container BL,BS to be
processed is described, components of the conveying processing system 100 will
be described in
detail.
[0029] There are 2 types of bill storage containers that are subjected to a
conveying processing
and a unlocking processing of the conveying processing system 100 according to
an embodiment
of the present invention. One of them is the bill storage container showed by
a reference sign BL
in Figs. 3 and 4, and the other is the bill storage container showed by a
reference sign BS in Figs. 5
and 6. Incidentally, the essential configuration of these bill storage
containers BL,BS is
substantially the same, and the only major differences are the dimension, the
position of a lock,
and the presence or absence of a protrusion portion PT (see Figs. 5 and 6).
Therefore, only the bill
storage container BL will be described here, and the bill storage container BS
will be understood
by replacing "S" in the reference sign in Figs. 5 and 6 with "L".
Incidentally, the bill storage
container BL has a width dimension and a depth dimension substantially equal
to those of the bill
storage container BS, but has a height higher than that of the bill storage
container BS. Further, the
protrusion portion PT is attached to a side surface of the bill storage
container BS, but a protrusion
portion is not attached to the bill storage container BL.
[0030] As shown in Figs. 3 and 4, the bill storage container BL mainly
includes a housing CL, a
front door DL, a handle HL, and a lock KL. The housing CL, as shown in Figs. 3
and 4, is mainly
formed from a top wall UL, a bottom wall OL, a right side wall RL, a left side
wall LL and a back
wall AL. The front door DL is attached to a front end of the top wall UL of
the housing CL so as to
be rotatable in the vertical direction. The handle HL, as shown in Fig. 3, is
attached to the top wall
UL so as to extend in the front-back direction in the width direction center
of the top wall UL. The
lock KL is a normal rotary lock and is disposed at a lower right corner of the
front door DL (in the
bill storage container BS, a lock KS is disposed at a lower left corner of a
front door DS). When a
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key is rotated with the key inserted into this lock KL, the lock is opened or
closed. Further, in an
embodiment of the present invention, an IC tag or the like for storing
information about the bill
storage container BL is embedded on a back side of the lock KL and the front
door DL of the bill
storage container BL. This IC tag stores, for example, various types of
information about the bill
storage container BL. The various types of information about the bill storage
container BL is, for
example, a type of the bill storage container BL, identification information
of a device (for
example, such as a game machine of a slot machine or the like) which had been
set, and the like.
[003111. Conveying conveyor system
As shown in Fig. 1, the conveying conveyor system 200 has a substantially U-
shape in a
plan view, and mainly includes a first conveying-in conveyor 210, a conveying-
in side posture
changing device 220, a second conveying-in conveyor 230, a turntable (rotary
table) 240, a first
conveying-out conveyor 250, a conveying-out side posture changing device 260
and a second
conveying-out conveyor 270. Hereinafter, these components will be described in
detail.
[0032] (1) First conveying-in conveyor
The first conveying-in conveyor 210 is an existing automatic conveying
conveyor, and
extends linearly toward an installation side of the conveying-in side posture
changing device 220
from an installation side of the second robot arm 400 with the robot hand as
shown in Figs. 1 and
7. Incidentally, as shown in Figs. 1 and 7, a portion of an installation side
of the second robot arm
with the robot hand of this first conveying-in conveyor 210 is a conveying-in
position EN of the
bill storage container BL,BS. As shown in Fig. 1, this conveying-in position
EN is within the
graspable range of the second robot arm 400 with the robot hand. Further, this
first conveying-in
conveyor 210, as shown in Fig. 2, is communicatively connected to the control
device 700. Then,
an output of a drive source of the first conveying-in conveyor 210 is
controlled by the control
device 700.
[0033] (2) Conveying-in side posture changing device
As shown in Figs. 7 and 8, the conveying-in side posture changing device 220
mainly
includes an object support device 221, an object grasping rotation device 222,
and an object
pushing out device 223. Incidentally, the object grasping rotation device 222
is disposed above the
object pushing out device 223 as shown in Figs. 7 and 8, and the object
grasping rotation device
222 and the object pushing out device 223 are disposed immediately beside the
object support
device 221 so as to face the object support device 221. Hereinafter, these
components will be
described in detail, and then the operation thereof will be described in
detail.
[0034] (2-1) Object support device
The object support device 221 has a function of receiving and supporting the
bill storage
container BL,BS conveyed from the first conveying-in conveyor 210. Further,
when the bill
storage container BL,BS is vertically rotated by 90 by the object grasping
rotation device 222, the
object support device 221 has a function of realizing a vertical rotation
operation by the object
grasping rotation device 222. As shown in Fig. 9, the object support device
221 mainly includes a
pedestal portion TB, a column portion TP, a front column plate portion Pf, a
rear column plate
portion Pr, an intersecting passage portion Ac, a guide side wall Wg, an L-
shaped wall Ws, an
elevating table 221B, an elevating leg 221C, a conveying-out roller unit 221D,
and an air cylinder
unit 221E. Hereinafter, these configurations will be described in detail.
[0035] The pedestal portion TB is a thick plate member having a substantially
rectangular shape
as shown in Fig. 9, and serves to fix the column portion TP to a base table BA
as shown in Fig. 7.
[0036] The column portion TP is a thick plate member having a substantially
rectangular shape
as shown in Fig. 9, and extends upward from the pedestal portion TB. This
column portion TP
supports the air cylinder unit 221E as shown in Fig. 9.
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[0037] The front column plate portion Pf and the rear column plate portion Pr
are a substantially
rectangular plate member as shown in Figs. 7 and 9, are disposed along the
front-back direction so
as to sandwich the column portion TP, and are fixed to the base table BA.
Further, as shown in Fig.
9, the front column plate portion Pf and the rear column plate portion Pr are
fastened to the
intersecting passage portion Ac, respectively.
[0038] The intersecting passage portion Ac is disposed on the left side (the
side of the second
conveying-in conveyor) of the elevating table 221B in a plan view (see Fig.
7), and is supported by
the front column plate portion Pf and the rear column plate portion Pr as
shown in Fig. 9.
[0039] The guide side wall Wg is a flat wall for guiding the bill storage
container BL,BS that is
conveyed through the first conveying-in conveyor 210 to the elevating table
221B, and is disposed
on the right side of the front side of the elevating table 221B. The L-shaped
wall Ws is a wall
having an L-shape in a plan view, and is formed of a guide side wall portion
Lg and a abutting wall
portion Ls. The guide side wall portion Lg is a flat wall portion for guiding
the bill storage
container BL,BS that is conveyed through the first conveying-in conveyor 210
to the elevating
table 221B, and is disposed on the right side of the rear side of the
elevating table 221B. The
abutting wall portion Ls is a so-called stopper, and is disposed on the rear
side of the elevating
table 221B. The abutting wall portion Ls serves to block the bill storage
container BL,BS that is
conveyed through the first conveying-in conveyor 210 so as not to go to the
back further.
[0040] The elevating table 221B is formed from a front table portion Yf, a
central table portion
Yc, a rear table portion Yr, and a table connecting portion (not shown).
Incidentally, the front table
portion Yf, the central table portion Yc and the rear table portion Yr are
connected at the left and
right ends by the table connecting portion. Further, as shown in Fig. 9, a
slit is formed between the
front table portion Yf and the central table portion Yc and between the
central table portion Yc and
the rear table portion Yr in this elevating table 221B. Incidentally, as
described later, a front leg Bf
and a rear leg Br of the elevating leg 221C are inserted through these two
slits so as to be freely
elevated. The front table portion Yf is a substantially rectangular thick
plate portion. Then, one
roller RR is rotatably provided at each of the left and right portions of this
front table portion Yf.
Incidentally, these rollers RR are rotatable along the conveying-in direction
Dn of the bill storage
container BL,BS. The central table portion Yc is a thick plate portion having
a substantially
concave shape in a plan view, and a notch Rc is formed on the right side as
shown in Fig. 9.
Incidentally, when a grasping portion 222A of the object grasping rotation
device 222 becomes a
vertical posture and its claw portion CR slides downward, this notch Rc is
formed so that the claw
portion CR does not collide with the elevating table 221B. Further, as shown
in Fig. 9, one roller
RR is rotatably provided at each of the front and rear portions of the notch
Rc of this central table
portion Yc, and three rollers RR are rotatably provided at the portion of the
opposite side (left
side) of the notch Rc. Incidentally, these rollers RR are rotatable along the
conveying-in direction
Dn of the bill storage container BL,BS. The rear table portion Yr is a
substantially rectangular
thick plate portion. Then, One roller RR is rotatably provided at each of the
left and right portions
of this rear table portion Yr. Incidentally, these rollers RR are rotatable
along the conveying-in
direction Dn of the bill storage container BL,BS. Then, this elevating table
221B is disposed so
that the notch Rc faces the object grasping rotation device 222 as shown in
Fig. 7. This elevating
table 221B is attached to a first air cylinder of the air cylinder unit 221E,
and can be elevated by
the first air cylinder. Incidentally, the uppermost position of this elevating
table 221B is a position
shown in Fig. 9, and the lowermost position is a position where the bill
storage container BL,BS
does not collide with the elevating table 221B when the bill storage container
BL,BS is rotated by
the object grasping rotation device 222.
[0041] The elevating leg 221C not only serves to lift the bill storage
container BS in order to
CA 03200202 2023- 5- 25
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allow the grasping portion 222A of the object grasping rotation device 222 to
grasp the bill storage
container BS at a central portion in the depth direction thereof, but also
serves as a rail that
smoothly sends out the bill storage container BL,BS to the conveying-out
roller unit 221D after a
posture of the bill storage container BL,BS is changed by the object grasping
rotation device 222.
The elevating leg 221C, as shown in Fig. 9, is mainly formed from a front leg
Bf, a rear leg Br and
a leg connecting portion (not shown). The front leg Bf is disposed in the slit
of the front side of the
elevating table 221B as shown in Fig. 9. The rear leg Br is disposed in the
slit of the rear side of
the elevating table 221B as shown in Fig. 9. The leg connecting portion is a
beam portion
extending in the front-back direction, and connects the front leg Bf and the
rear leg Br at its back
side. Incidentally, this leg connecting portion is disposed so as not to
overlap with the table
connecting portion of the elevating table 221B. Then, this elevating leg 221C
is attached to a
second air cylinder of the air cylinder unit 221E, and can be elevated by the
second air cylinder.
Incidentally, the uppermost position of this elevating leg 221C is a height
position at which the
grasping portion 222A of the object grasping rotation device 222 can grasp the
central portion in
the depth direction of the bill storage container BS having a low height, and
is a position slightly
higher than the conveying-out roller unit 221D. The lowermost position of this
elevating leg 221C
is a position lower than the top surface of the elevating table 221B.
[0042] The conveying-out roller unit 221D is for easily sending the bill
storage container BL,BS
whose posture is changed by the object grasping rotation device 222 to the
second conveying-in
conveyor 230, and is disposed on both sides of the intersecting passage
portion Ac as shown in
Fig. 9.
[0043] The air cylinder unit 221E is attached to the column portion TP as
shown in Fig. 9. This
air cylinder unit 221E includes a first air cylinder and the second air
cylinder. Then, as described
above, the first air cylinder elevates the elevating table 221B, and the
second air cylinder elevates
the elevating leg 221C. Incidentally, the first air cylinder and the second
air cylinder of this air
cylinder unit 221E are operated by air flow and air pressure generated using a
solenoid valve (not
shown) and the speed regulating valve (not shown) which are controlled to open
and close by the
control device 700 respectively. This solenoid valve and this speed regulating
valve are connected
to a compressor.
[0044] (2-2) Object grasping rotation device
The object grasping rotation device 222 is a so-called rotary chuck device,
and mainly
includes a grasping portion 222A, a rotation shaft portion 222B, a slider
222C, a first air cylinder
222D, a second air cylinder 222E, and a pedestal 222F as shown in Fig. 10.
Hereinafter, these
configurations will be described in detail.
[0045] The grasping portion 222A, as shown in Fig. 10, mainly includes a pair
of claw portions
CR, a slide rail portion SR and a third air cylinder. The pair of claw
portions CR is slidably
attached to the left and right of the slide rail portion SR as shown in Fig.
10. Then, these claw
portions CR are spread or narrowed along the slide rail portion SR by the
third air cylinder.
Incidentally, the third air cylinder is attached to the slide rail portion SR,
and is operated by air
flow and air pressure generated using a solenoid valve (not shown) and a speed
regulating valve
(not shown) which are controlled to open and close by the control device 700.
This solenoid valve
and this speed regulating valve are connected to a compressor.
[0046] The rotation shaft portion 222B is attached to the rear side of the
third air cylinder unit of
the grasping portion 222A, and is rotated by 90 clockwise or 90
counterclockwise by the first air
cylinder 222D. That is, when the rotation shaft portion 222B is rotated by the
first air cylinder
222D, the grasping portion 222A also rotates with it.
[0047] The slider 222C is attached to the rear side of the first air cylinder
222D, and can slide
CA 03200202 2023- 5- 25
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the grasping portion 222A, the first air cylinder 222D and the rotation shaft
portion 222B in the
left-right direction (the direction toward the object support device 221) by
the second air cylinder
unit 222E. Incidentally, the foremost position of this slider 222C is a
position at which the
grasping portion 222A can grasp the bill storage container BL,BS, and the
rearmost position is a
position at which the bill storage container BL,BS sent to the object support
device 221 does not
collide with the grasping portion 222A.
[0048] The first air cylinder 222D is a rotary air cylinder, and is fixed to
the slider 222C as
shown in Fig. 10. As described above, this first air cylinder 222D rotates the
grasping portion
222A by 90 clockwise or 90 counterclockwise. Incidentally, this first air
cylinder 222D is
operated by air flow and air pressure generated using a solenoid valve (not
shown) and a speed
regulating valve (not shown) which are controlled to open and close by the
control device 700.
This solenoid valve and this speed regulating valve are connected to a
compressor.
[0049] The second air cylinder 222E is fixed on the pedestal 222F as shown in
Fig. 10. As
described above, this second air cylinder unit 222E slides the slider 222C
along the left-right
directions. Incidentally, this second air cylinder unit 222E is operated by
air flow and air pressure
generated using a solenoid valve (not shown) a the speed regulating valve (not
shown) which are
controlled to open and close by the control device 700. This solenoid valve
and this speed
regulating valve are connected to a compressor.
[0050] (2-3) Object pushing out device
The object pushing out device 223 mainly includes a piston rod Rd, an abutting
plate HP
and an air cylinder 223A, as shown in Fig. 8. Hereinafter, these
configurations will be described in
detail.
[0051] The piston rod Rd is retractable by the air cylinder 223A.
Incidentally, the abutting plate
HP is attached to the distal end of this piston rod Rd. This abutting plate HP
positions behind the
grasping portion 222A of the object grasping rotation device 222 in a standby
state (see Fig. 8),
and moves to a position ahead of the grasping portion 222A of the object
grasping rotation device
222 when operating (that is, when pushing out). Incidentally, the moving
distance of this abutting
plate HP is a distance required to send the bill storage container BL,BS to
the second conveying-in
conveyor 230 via the conveying-out roller unit 221D.
[0052] The air cylinder 223A is disposed behind the abutting plate HP. This
air cylinder 223A
protrudes and retracts the piston rod Rd as described above. Incidentally,
this air cylinder 223A is
operated by air flow and air pressure generated using a solenoid valve (not
shown) and a speed
regulating valve (not shown) which are controlled to open and close by the
control device 700.
This solenoid valve and this speed regulating valve are connected to a
compressor.
[0053] (2-4) Description of operation of the conveying-in side posture
changing device
Hereinafter, a control mode in which the conveying-in side posture changing
device 220
changes the posture of the bill storage container BL,BS (that is, a control
mode in which the
conveying-in side posture changing device 220 rotates the bill storage
container BL,BS vertically)
will be described in detail. Incidentally, in the conveying-in side posture
changing device 220, the
bill storage container BL,BS is identified by reading data in a RFID tag
embedded in the bill
storage container BL,BS. Further, Whether the top wall UL,US or the bottom
wall OL,OS of the
bill storage container BL,BS faces the front is determined based on an image
data obtained by an
imaging device (not shown) disposed above the object support device 221.
[0054] (2-4-1) Control mode of vertical rotation of the bill storage container
BL
The conveying-in side posture changing device 220 is initially in the state
shown in Figs.
8 and 9. When the bill storage container BL is conveyed in this state and then
becomes a state of
being placed on the elevating table 221B of the object support device 221, the
state is detected by
CA 03200202 2023- 5- 25
11
an infrared sensor (not shown) disposed near the L-shaped wall Ws of the
object support device
221, and then a detection signal is transmitted to the control device 700.
Then, when the control
device 700 receives the detection signal, the control device 700 lifts the
elevating table 221B of
the object support device 221 to the uppermost position. Next, after the
control device 700
advances the slider 222C of the object grasping rotation device 222 (see Fig.
11), the control
device 700 causes the grasping portion 222A of the object grasping rotation
device 222 to grasp
the bill storage container BL. Next, the control device 700 lowers the
elevating table 221B of the
object support device 221 to the lowermost position. Next, the control device
700 rotates the
grasping portion 222A of the object grasping rotation device 222 by 90
clockwise or 90
counterclockwise by the first air cylinder 222D of the object grasping
rotation device 222.
Incidentally, when the bottom wall OL of the bill storage container BL faces
forward (i.e., the
conveying-in direction Dn), the first air cylinder 222D rotates the grasping
portion 222A in the
counterclockwise direction (the direction that the top wall UL faces upward),
and when the top
wall UL of the bill storage container BL faces forward, the first air cylinder
222D rotates the
grasping portion 222A in the clockwise direction (the direction that the top
wall UL faces upward).
Subsequently, the control device 700 lifts the elevating table 221B of the
object support device 221
to the uppermost position and lifts the elevating leg 221C to the uppermost
position. At this time,
the elevating leg 221C abuts against the bottom wall OL of the bill storage
container BL to support
the bill storage container BL. Subsequently, the control device 700 causes the
grasping portion
222A to release the bill storage container BL, and then retreats the slider
222C of the object
grasping rotation device 222. Thereafter, the control device 700 pushes out
the bill storage
container BL from the elevating table 221B by the air cylinder 223A of the
object pushing out
device 223, and moves the bill storage container BL to the second conveying-in
conveyor 230 via
the conveying-out roller unit 221D.
[0055] (2-4-2) Control mode of vertical rotation of the bill storage container
BS
As described in (2-4-1) until the control device 700 receives the detection
signal from the
infrared sensor, a description thereof will be omitted. When, the control
device 700 receives the
detection signal from the infrared sensor, the control device 700 lifts the
elevating table 221B and
the elevating leg 221C of the object support device 221 to their respective
uppermost positions.
Next, after the control device 700 advances the slider 222C of the object
grasping rotation device
222, the control device 700 causes the grasping portion 222A of the object
grasping rotation device
222 to grasp the bill storage container BS. Next, the control device 700
lowers the elevating table
221B and the elevating leg 221C of the object support device 221 to the
lowermost position. Next,
the control device 700 rotates the grasping portion 222A of the object
grasping rotation device 222
by 90 clockwise or 90 counterclockwise by the first air cylinder 222D of the
object grasping
rotation device 222. Incidentally, when the bottom wall OS of the bill storage
container BS faces
forward (i.e., the conveying-in direction Dn), the first air cylinder 222D
rotates the grasping
portion 222A in the counterclockwise direction (the direction that the top
wall US faces upward),
and when the top wall US of the bill storage container BS faces forward, the
first air cylinder 222D
rotates the grasping portion 222A in the clockwise direction (the direction
that the top wall US
faces upward). Subsequently, the control device 700 lifts the elevating table
221B of the object
support device 221 to the uppermost position, and lifts the elevating leg 221C
to the uppermost
position. At this time, the elevating leg 221C abuts against the bottom wall
OS of the bill storage
container BS to support the bill storage container BS. Since the following
operations are as
described in (2-4-1), the description thereof will be omitted.
[0056] (3) Second conveying-in conveyor
The second conveying-in conveyor 230 is an existing automatic conveying
conveyor, and
CA 03200202 2023- 5- 25
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extends linearly toward an installation side of the turntable 240 from an
installation side of the
conveying-in side posture changing device 220 as shown in Fig. 1.
Incidentally, as shown in Fig. 1,
in a plan view, a conveying direction of this second conveying-in conveyor 230
is perpendicular to
the conveying-in direction Dn of the first conveying-in conveyor 210.
Incidentally, this second
conveying-in conveyor 230, as shown in Fig. 2, is communicatively connected to
the control
device 700. Then, an output of a drive source of the second conveying-in
conveyor 230 is
controlled by the control unit 700.
[0057] (4) Turntable
The turntable 240 is an existing turntable, and rotates a placed object along
a horizontal
plane. Incidentally, as shown in Fig. 2, this turntable 240 is communicatively
connected to the
control device 700. Then, an output and a rotation angle of a drive source of
the turntable 240 are
controlled by the control device 700.
[0058] (5) First conveying-out conveyor
The first conveying-out conveyor 250 is an existing automatic conveying
conveyor, and
extends linearly toward an installation side of the conveying-out side posture
changing device 260
from an installation side of the turntable 240 as shown in Fig. 1.
Incidentally, as shown in Fig. 1,
in a plan view, a conveying-out direction of this first conveying-out conveyor
250 is the same
direction as the conveying-in direction of the second conveying-in conveyor
230, and is
perpendicular to the conveying-in direction Dn of the first conveying-in
conveyor 210.
Incidentally, as shown in Fig. 2, this first conveying-out conveyor 250 is
communicatively
connected to the control device 700. Then, an output of a drive source of the
first conveying-out
conveyor 250 is controlled by the control device 700.
[0059] (6) Conveying-out side posture changing device
As shown in Fig. 12, the conveying-out side posture changing device 260 mainly
includes
an object support device 261, an object grasping rotation device 262, an
object pushing out device
263, and an object pulling in device 264. Incidentally, the object grasping
rotation device 262 is
disposed immediately beside the object support device 221 so as to face the
object support device
221, and the object pushing out device 263 is disposed behind the object
support device 221.
Further, the object pulling in device 264 is disposed on the object support
device 261. Hereinafter,
these components will be described in detail, and the operation thereof will
be described in detail.
[0060] (6-1) Object support device
The object support device 261 has a function of receiving and supporting the
bill storage
container BL,BS conveyed from the first conveying-out conveyor 250, and has a
function of
realizing a vertical rotation operation by the object grasping rotation device
262 when the bill
storage container BL,BS is vertically rotated by 90 by the object grasping
rotation device 262. As
shown in Fig. 13, the object support device 261 mainly includes a pedestal
portion QB, a column
portion QP, a front column plate portion Rf, a rear column plate portion Rr,
an intersecting passage
portion Ic, an elevating table 261B, an elevating leg 261C, a conveying-in
roller unit 261D, and an
air cylinder unit 261E. Hereinafter, these configurations will be described in
detail.
[0061] The pedestal portion QB is a thick plate member having a substantially
rectangular shape
as shown in Fig. 13, and serves to fix the column portion QP to a base table
BB as shown in Fig.
12.
[0062] The column portion QP is a thick plate member having a substantially
rectangular as
shown in Fig. 13, and extends upward from the pedestal portion QB. This column
portion QP
supports the air cylinder unit 261E as shown in Fig. 13.
[0063] The front column plate portion Rf and the rear column plate portion Rr
are substantially
rectangular plate members as shown in Figs. 12 and 13, are disposed along the
front-back direction
CA 03200202 2023- 5- 25
13
so as to sandwich the column portion QP, and are fixed to the base table BB.
Incidentally, the
upper portion of the front column plate portion Rf and the rear column plate
portion Rr serve to
guide the bill storage container BL,BS that is conveyed through the first
conveying-out conveyor
250 to the elevating table 261B. Further, as shown in Fig. 13, this front
column plate portion Rf
and this rear column plate portion Rr are adjacent to the intersecting passage
portion Ic.
[0064] The intersecting passage portion Ic is disposed on the right side (the
first conveying-out
conveyor side) of the elevating table 261B in a plan view (see Fig. 12), and
is supported by the
front column plate portion Rf and the rear column plate portion Rr as shown in
Fig. 13.
Incidentally, as shown in Fig. 13, a pair of conveying-in roller unit 261D is
disposed in front and
rear of the intersecting passage portion Ic, and the object pulling in device
264 is disposed in the
center thereof.
[0065] The elevating table 261B is formed from a left table portion Zl, a
central table portion Zc,
a right table portion Zr and a table connecting portion (not shown).
Incidentally, the left table
portion Zl, the central table portion Zc and the right table portion Zr are
connected by the table
connecting portion at the front and rear ends. Further, as shown in Fig. 13, a
slit is formed between
the left table portion Zl and the central table portion Zc and between the
central table portion Zc
and the right table portion Zr in this elevating table 261B. Incidentally, as
described later, a left leg
N1 and a right leg Nr of the elevating leg 261C are inserted through these two
slits so as to be
freely elevated. The left table portion Zl is a substantially rectangular
thick plate portion having a
notch Rc at the center. Incidentally, when the grasping portion of the object
grasping rotation
device 262 becomes a vertical posture and its claw portion slides downward,
this notch Rc is
formed so that the claw portion does not to collide with the elevating table
261B. Then, one roller
RR is rotatably provided at each of the front and rear portions of this left
table portion Zl.
Incidentally, these rollers RR are rotatable along the conveying-in direction
Dn of the bill storage
container BL,BS. The central table portion Zc is a thick plate portion having
a substantially
rectangular shape in a plan view. Further, as shown in Fig. 13, one roller RR
is rotatably provided
at each of the front and rear portions of this central table portion Zc.
Incidentally, these rollers RR
are rotatable along the conveying-in direction Dn of the bill storage
container BL,BS. The right
table portion Zr is a substantially rectangular thick plate portion. Then, one
roller RR is rotatably
provided at each of the front and rear portions of this right table portion
Zr. Incidentally, these
rollers RR are rotatable along the conveying-in direction Dn of the bill
storage container BL,BS.
Then, this elevating table 261B is disposed so that the notch Rc faces the
object grasping rotation
device 262 as shown in Fig. 13. This elevating table 261B is attached to a
first air cylinder of the
air cylinder unit 261E, and can be elevated by the first air cylinder.
Incidentally, the uppermost
position of this elevating table 261B is a position shown in Fig. 13, and the
lowermost position is a
position where the bill storage container BL,BS does not collide with the
elevating table 261B
when the bill storage container BL,BS is rotated by the object grasping
rotation device 262.
[0066] The elevating leg 261C not only serves to lift the bill storage
container BS in order to
allow the grasping portion 262A of the object grasping rotation device 262 to
grasp the bill storage
container BS at a central portion in the depth direction thereof, but also
serves as a rail that
smoothly sends out the bill storage container BL,BS to the second conveying-
out conveyor 270
after a posture of the bill storage container BL,BS is changed by the object
grasping rotation
device 222. As shown in Fig. 13, the elevating leg 261C is mainly formed from
a left leg N1, a
right leg Nr and a leg connecting portion (not shown). The left leg N1 is
disposed in the slit on the
left side of the elevating table 261B as shown in Fig. 13. The right leg Nr is
disposed in the slit of
the right side of the elevating table 261B as shown in Fig. 13. The leg
connecting portion is a beam
portion extending in the left-right direction, and connects the left leg N1
and the right leg Nr at its
CA 03200202 2023- 5- 25
14
back side. Incidentally, this leg connecting portion is disposed so as not to
overlap with the table
connecting portion of the elevating table 261B. Then, this elevating leg 261C
is attached to a
second air cylinder of the air cylinder unit 261E, and can be elevated by the
second air cylinder.
Incidentally, the uppermost position of this elevating leg 261C is a height
position at which the
grasping portion 222A of the object grasping rotation device 222 can grasp the
central portion in
the depth direction of the bill storage container BS having a low height, and
is a position slightly
higher than the conveying-in roller unit 261D. The lowermost position of this
elevating leg 261C is
a position lower than the top surface of the elevating table 261B.
[0067] The conveying-in roller unit 261D is for easily sending the bill
storage container BL,BS
sent from the first conveying-out conveyor 250 to the elevating table 261B,
and is disposed in the
front and rear (both side portions) of the intersecting passage portion Ic as
shown in Fig. 13.
[0068] The air cylinder unit 261E is attached to the column portion QP as
shown in Fig. 13. This
air cylinder unit 261E includes a first air cylinder and a second air
cylinder. Then, as described
above, the first air cylinder elevates the elevating table 261B, and the
second air cylinder elevates
the elevating leg 261C. Incidentally, the first air cylinder and the second
air cylinder of this air
cylinder unit 261E are operated by air flow and air pressure generated using a
solenoid valve (not
shown) and the speed regulating valve (not shown) which are controlled to open
and close by the
control device 700 respectively. This solenoid valve and this speed regulating
valve are connected
to a compressor.
[0069] (6-2) Object grasping rotation device
Since the object grasping rotation device 262 is the same as the object
grasping rotation
device 222 of the conveying-in side posture changing device 220, a description
thereof will be
omitted here.
[0070] (6-3) Object pushing out device
The object pushing out device 263 mainly includes a piston 263A and an air
cylinder unit
(not shown), as shown in Fig. 12. Hereinafter, these configurations will be
described in detail.
[0071] The piston 263A is retractable by the air cylinder unit. Incidentally,
the abutting plate HP
is attached to the distal end of this piston 263A. The abutting plate HP of
this piston 263A
positions behind the object support device 261 in a standby state (see Fig.
12), and moves to a
position ahead of the object support device 261 when operating (that is, when
pushing out).
Incidentally, the moving distance of the abutting plate HP of this piston 263A
is a distance required
to send the bill storage container BL,BS to the second conveying-out conveyor
270.
[0072] The air cylinder unit is disposed behind the piston 263A. As described
above, this air
cylinder unit protrudes and retracts the piston 263A. Incidentally, this air
cylinder unit is operated
by air flow and air pressure generated using a solenoid valve (not shown) and
the speed regulating
valve (not shown) which are controlled to open and close by the control device
700. The solenoid
valve and the speed regulating valve are connected to a compressor.
[0073] (6-4) Object pulling in device
The object pulling in device 264 mainly includes a pulling in member 264A, a
rotary
cylinder (not shown) and a bearing (not shown), as shown in Fig. 13. The
bearing is provided on
the front column plate portion Rf and the rear column plate portion Rr. The
pulling in member
264A is supported by the bearing rotatably as shown in Fig. 13. That is, this
pulling in member
264A is disposed between the pair of conveying-in roller unit 261D.
Incidentally, this pulling in
member 264A is operated by the rotary cylinder.
[0074] (6-5) Description of operation of the conveying-out side posture
changing device
Hereinafter, a control mode in which the conveying-out side posture changing
device 260
changes the posture of the bill storage container BL,BS (that is, a control
mode in which the
CA 03200202 2023- 5- 25
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conveying-out side posture changing device 260 rotates the bill storage
container BL,BS
vertically) will be described in detail. Incidentally, in the conveying-out
side posture changing
device 260, the bill storage container BL,BS is identified by reading the data
in the RFID tag
embedded in the bill storage container BL,BS. Further, Whether the top wall
UL,US or the bottom
wall OL,OS of the bill storage container BL,BS faces the front is determined
based on an image
data obtained by an imaging device (not shown) disposed above the object
support device 221.
[0075] (6-5-1) Control mode of vertical rotation of the bill storage container
BL
The conveying-out side posture changing device 260 is initially in the state
shown in
Figs. 12 and 13. When the bill storage container BL is conveyed in this state
and then becomes a
state of being placed on the elevating table 261B of the object support device
261, the state is
detected by an infrared sensor (not shown) disposed near the rear column plate
portion Rr of the
object support device 261, and then a detection signal is transmitted to the
control device 700.
Then, when the control device 700 receives the detection signal, the control
device 700 operates
the object pulling in device 264 to completely place the bill storage
container BL on the elevating
table 261B by the pulling in member 264A. Next, the control device 700 lifts
the elevating table
261B of the object support device 261 to the uppermost position. Next, after
the control device 700
advances the slider of the object grasping rotation device 262, the control
device 700 causes the
grasping portion 262A of the object grasping rotation device 262 to grasp the
bill storage container
BL. Next, the control device 700 lowers the elevating table 261B of the object
support device 261
to the lowermost position. Next, the control device 700 rotates the grasping
portion 262A of the
object grasping rotation device 262 by 90 counterclockwise when viewed from
the conveying-in
direction Dn, by the air cylinder (rotary air cylinder) of the object grasping
rotation device 262.
Incidentally, when the bill storage container BL is rotated by 90 clockwise,
the bill storage
container BL assumes a posture in which the bottom wall OL faces the front (a
conveying-out
direction Dx), and when the bill storage container BL is rotated by 90
counterclockwise, the bill
storage container BL assumes a posture in which the top wall UL faces the
front (the conveying-
out direction Dx). Incidentally, the rotation direction of the grasping
portion 262A of the object
grasping rotation device 262 is appropriately determined by the control device
700 (for example,
the rotation direction is determined based on the placing pattern of the bill
storage container BL on
the movable shelf 800, and the like). Subsequently, the control device 700
lifts the elevating table
261B of the object support device 261 to the uppermost position and lifts the
elevating leg 261C to
the uppermost position. At this time, the elevating leg 261C abuts against the
back wall AL of the
bill storage container BL to support the bill storage container BL.
Subsequently, the control device
700 causes the grasping portion 262A to release the bill storage container BL,
and then retreats the
slider of the object grasping rotation device 262. Thereafter, the control
device 700 pushes out the
bill storage container BL from the elevating table 261B by the piston 263A of
the object pushing
out device 263, and moves the bill storage container BL to the second
conveying-out conveyor
270.
[0076] (6-5-2) Control mode of vertical rotation of the bill storage container
BS
As described in (6-5-1) until the control device 700 operates the object
pulling in device
264 and completely places the bill storage container BS on the elevating table
261B by the pulling
in member 264A, the description thereof will be omitted. When the control
device 700 completely
places the bill storage container BS on the elevating table 261B by the
pulling in member 264A,
the control device 700 lifts the elevating leg 261C of the object support
device 261 to the
uppermost position. Next, after the control device 700 advances the slider of
the object grasping
rotation device 262, the control device 700 causes the grasping portion 262A
of the object grasping
rotation device 262 to grasp the bill storage container BS. Next, the control
device 700 lowers the
CA 03200202 2023- 5- 25
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elevating table 261B and the elevating leg 261C of the object support device
261 to the lowermost
position. Subsequently, the control device 700 rotates the grasping portion
262A of the object
grasping rotation device 262 by 90 counterclockwise when viewed from the
conveying-in
direction Dn, by a rotation portion of the object grasping rotation device
262. Subsequently, the
control device 700 lifts the elevating table 261B of the object support device
261 to the uppermost
position and lifts the elevating leg 261C to the uppermost position. At this
time, the elevating leg
261C abuts against the back wall AS of the bill storage container BS to
support the bill storage
container BS. Since the following operations are as described in (6-5-1), and
therefore, the
description thereof will be omitted.
[0077] (7) Second conveying-out conveyor
The second conveying-out conveyor 270 is an existing automatic conveying
conveyor,
and extends linearly toward the installation side of the second robot arm 400
with the robot hand
from the installation side of the conveying-out side posture changing device
260 as shown in Figs.
1 and 12. Incidentally, as shown in Figs. 1 and 12, a portion of an
installation side of the second
robot arm with the robot hand of this second conveying-out conveyor 270 is a
conveying-out
position EX of the bill storage container BL,BS. As shown in Fig. 1, this
conveying-out position
EX is within the graspable range of the second robot arm 400 with the robot
hand. Further, as
shown in Fig. 1, in a plan view, the conveying-out direction Dx of this second
conveying-out
conveyor 270 is perpendicular to the conveying direction of the second
conveying-in conveyor 230
and the first conveying-out conveyor 250, and is parallel to the conveying-in
direction Dn of the
first conveying-in conveyor 210. Incidentally, this second conveying-out
conveyor 270, as shown
in Fig. 2, is communicatively connected to the control device 700. Then, an
output of a drive
source of the second conveying-out conveyor 270 is controlled by the control
device 700.
[0078] 2. Unlocking system
The unlocking system 300, as shown in Fig. 1, mainly includes a robot arm 310
with a
key, an imaging device 320, an object detection device 330 and the first robot
arm 350 with the
robot hand. Hereinafter, these components will be described in detail.
[0079] (1) robot arm with key
The robot arm 310 with the key has a key attached to the distal end of the
robot arm. The
type of the robot arm used is not particularly limited, and may be, for
example, an existing six-axis
robot arm or the like. Incidentally, the distal end portion of this robot arm
is a rotatable structure,
and the key is rotatable by the distal end portion of this robot arm.
Incidentally, this robot arm 310
with the key not only serves to open the lock KL,KS of the bill storage
container BL,BS and to
pull up and open the front door DL,DS, but also serves to thereafter close the
front door DL,DS of
the bill storage container BL,BS and to lock the lock KL,KS.
[0080] (2) Imaging device
The imaging device 320 is fixed near the robot arm 310 with the key. This
imaging
device 320 captures the bill storage container BL,BS according to an
instruction of the control
device 700 to generate image data, and transmits the image data to the control
device 700. Then,
the control device 700 analyzes the image data and specifies the type of the
bill storage container
BL,BS.
[0081] (3) Object detection device
The object detection device 330 is fixed near the robot arm 310 with the key.
This object
detection device 330 performs RFID communication with the IC tag of the bill
storage container
BL,BS in accordance with an instruction of the control device 700, reads
various data of the IC
tag, and transmits the various data to the control device 700. Then, the
control device 700 analyzes
the image data and specifies the type of the bill storage container BL,BS.
Then, based on the
CA 03200202 2023- 5- 25
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various data and the image data from the imaging device 320, the control
device 700 acquires the
data of the type and dimensions of the bill storage container BL,BS, and
derives the coordinate
data of the lock KL,KS and the angle data of the lock KL,KS. Then, the control
device 700
generates the control signal based on those data, transmits the control signal
to the robot arm 310
with the key, and causes the robot arm 310 with the key to execute the
unlocking processing of the
bill storage container BL,BS. Further, when the control device 700 determines
that the locks
KL,KS do not exist in the bill storage container BL,BS in the image data, the
control device 700
controls the turntable 240 to change the direction of the bill storage
container BL,BS.
[0082] (4) First robot arm with robot hand
As shown in Fig. 1, the first robot arm 350 with the robot hand according to
an
embodiment of the present invention mainly includes a robot arm 360 and a
first robot hand 370.
Incidentally, this first robot arm 350 with the robot hand serves to pull out
the bill from the bill
storage container BL,BS with the front door DL,DS opened. Hereinafter, these
components will be
described in detail.
[0083] (4-1) Robot arm
The robot arm 360 is not particularly limited, but is, for example, an
existing six-axis
robot arm or the like.
[0084] (4-2) First robot hand
The first robot hand 370 serves to pull out a bill from the bill storage
container BL,BS
with the front door DL,DS opened. For example, what is disclosed in
specification of Japanese
Patent No. 6773856, Japanese Patent No. 6756018, Japanese Patent No. 6587326
and Japanese
Patent No. 6587325 can be used as the first robot hand 370. Incidentally, an
imaging device 380
for recognizing the coordinate data of the lock KL,KS, the angle data of the
lock KL,KS, and the
presence or absence of the bill is attached to the first robot hand 370.
[0085] 3. Second robot arm with robot hand
As shown in Fig. 14, the second robot arm 400 with the robot hand according to
an
embodiment of the present invention mainly includes a robot arm 500 and a
second robot hand
600. Hereinafter, these components will be described in detail.
[0086] (1) Robot arm
The robot arm 500 is not particularly limited, but is, for example, an
existing six-axis
robot arm or the like (see Fig. 14).
[0087] (2) Second robot hand
The second robot hand 600 mainly includes an electric motor 610, a frame 620,
a link
mechanism 630, a suction head unit 640, a detachable spiral spring unit 650, a
flexible tube 660, a
sensor mounting plate 670, and a distance sensor 680, as shown in Figs. 15 to
23. Hereinafter,
these components will be described in detail.
[0088] (2-1) Electric motor
The electric motor 610 is a forward and reverse rotatable electric motor.
Then, electric
motor 610 is attached to the ball screw 615 so that its rotation axis
coincides with the rotation axis
of the ball screw 615. That is, this ball screw 615 can switch the sliding
direction of the horizontal
slider (described later) SH by switching the rotation direction of the
electric motor 610.
Incidentally, the load detection device (not shown) is connected to this
electric motor 610 in this
embodiment, the load of the electric motor 610 is detected by this load
detection device.
[0089] (2-2) Frame
Frame 620, as shown in Figs. 15 to 23, mainly includes a top plate 621, a
bottom plate
622, a back plate 623, a rear side plate 624 and a front side L-shaped plate
625. Hereinafter, these
components will be described in detail.
CA 03200202 2023- 5- 25
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[0090] The top plate 621 is a substantially rectangular plate member as shown
in Fig.15 and the
like, and covers the upper side of the second robot hand 600. As shown in
Figs. 15 to 18, on the
lower side of the front portion of this top plate 621, the electric motor 610
is fixed so that the
rotation axis extends toward the rear end. Further, as shown in Figs. 15 and
16, a metal fitting 628
for mounting the robot arm are mounted slightly rearward than the central
position in the
longitudinal direction of the top plate 121. Further, as shown in Fig. 17,
Fig. 18, and the like, the
ball screw 615 is disposed on the back side (lower surface side) of the top
plate 621.
[0091] The bottom plate 622 is a substantially rectangular plate member as
shown in Fig. 17 and
the like, and covers the lower side of the second robot hand 600.
Incidentally, the front side portion
622A of the bottom plate 622 (see Figs. 15 and 17) functions as a placing
table of the object.
Further, as shown in Fig. 17 and the like, a rectangular opening OP is formed
substantially at the
center of this bottom plate 622. This opening OP is sized so that the
detachable spiral spring unit
650 can be mounted. Further, as shown in Fig. 17, support claws 622B are
provided on both side
edges of the opening OP of the bottom plate 622. This support claw 622B is for
detachably
supporting the shaft 653 of the detachable spiral spring unit 650. Further,
left and right pair of legs
LG are respectively attached to the front end portion and the rear end portion
of the back side
surface of the bottom plate 622, and the sensor mounting plate 670 is attached
to the back side
surface of the slightly rear side of the opening OP of the bottom plate 622.
[0092] The back plate 623 is a substantially rectangular plate member as shown
in Figs. 15 and
18, and covers the back side of the second robot hand 600. Further, the rear
vertical rail RVr and
the rear support protrusion portion 623A are formed on the front surface of
this back plate 623. As
shown in Figs. 20 and 21, a rear vertical slider SVr is attached to this rear
vertical rail RVr so that
the rear vertical slider SVr can slide in the vertical direction. The rear
support protrusion portion
623A is a protrusion portion extending forward from the front surface of the
back plate 623. As
described later, a second node K2 is rotatably attached to this rear support
protrusion portion 623A
by a fourth link pin P4 at the base end portion.
[0093] The rear side plate 624 functions as a prop for supporting the top
plate 621 and the
bottom plate 622, and as shown in Figs. 15 and 16, is provided on the rear
side of the back plate in
pairs on the left and right.
[0094] The front side L-shaped plate 625 is a plate member having a
substantially L-shape in
side view, and covers the side surface of the front end portion of the second
robot hand 600, as
shown in Figs. 15 and 18 and the like. As shown in Fig. 15, Fig. 18, and the
like, this front side L-
shaped plate 625 is mainly formed of a vertical sidewall portion 625A and a
horizontal sidewall
portion 625B. Similarly to the rear side plate 624, the vertical sidewall
portion 625A functions as a
prop for supporting the top plate 621 and the bottom plate 622. On the other
hand, as shown in Fig.
15 and the like, the horizontal sidewall portion 625B serves as a sidewall in
the front side portion
622A of the base plate 622, and functions as a guide wall for guiding the
suction head unit 640
forward. Specifically, the suction head unit 640 will be guided forward, while
the guide roller 645
of the suction head unit 640 is in contact with the inner surface of the
horizontal sidewall portion
625B and rolls. Further, as shown in Fig. 15 or the like, the front portion of
the horizontal sidewall
portion 625B is slightly open toward the width-wise outward. This is to make
it easier to receive
the object which is pulled in by the suction head unit 640.
[0095] (2-3) link mechanism
The link mechanism 630 is, for example, a telescopic lazy tong type link
mechanism used
for a magic hand or the like. In this embodiment, as shown in Figs. 22 to 23,
the link mechanism
130 includes 14 nodes (links) K1 to K14, 21 link pins P1 to P23, a rear
vertical slider SVr, and a
horizontal slider SH. Hereinafter, these components will be described in
detail.
CA 03200202 2023- 5- 25
19
[0096] The nodes (links) K1 to K14 are plate bar-shaped members, and the link
pins P1 to P23
are members that axially support the base end portion, the central portion,
and the distal end
portion of nodes K1 to K14 to form a link mechanism 130. Hereinafter, a
structure composed of
only the nodes (links) K1 to K14 and the link pins P1 to P23 may be referred
to as a telescopic
structure. Further, in this figure, the telescopic structure is denoted by the
symbol KP.
[0097] Here, the first Node K1 is rotatably attached to the rear vertical
slider SVr at the base end
portion by the first link pin P1 (see Figs. 20 to 23 and the like). Further,
this first node K1 is
rotatably attached to the central portion of the second node K2 at the central
portion by the second
link pin P2, and is rotatably attached to the base end portion of the fourth
node K4 at the distal end
portion by the third link pin P3 (see Figs. 20 to 23, and the like).
Incidentally, as shown in Figs. 21
to 23, a horizontal slider SH is connected to the third link pin P3.
[0098] The second node K2 is rotatably attached to the rear support protrusion
portion 123A at
the base end portion by the fourth link pin P4 (see Figs. 20 to 23 and the
like). Further, the second
node K2 is rotatably attached to the central portion of the first node K1 at
the central portion by
the second link pin P2, and is rotatably attached to the base end portion of
the third node K3 at the
distal end portion by the fifth link pin P5 (see Figs. 20 to 23 and the like).
[0099] The third node K3 is rotatably attached to the distal end portion of
the second node K2 at
the base end portion by the fifth link pin P5, is rotatably attached to the
central portion of the
fourth node K4 at the central portion by the sixth link pin P6, and is
rotatably attached to the base
end portion of the sixth node K6 at the distal end portion by the seventh link
pin P7 (see Figs. 20
to 23 and the like).
[0100] The fourth node K4 is rotatably attached to the distal end portion of
the first node K1 at
the base end portion by the third link pin P3, is rotatably attached to the
central portion of the third
node K3 at the central portion by the sixth link pin P6, and is rotatably
attached to the base end
portion of the fifth node K5 at the distal end portion by the eighth link pin
P8 (see Figs. 20 to 23
and the like).
[0101] The fifth node K5 is rotatably attached to the distal end portion of
the fourth node 4 K4 at
the base end portion by the eighth link pin P8, is rotatably attached to the
central portion of the
sixth node K6 at the central portion by the ninth link pin P9, and is
rotatably attached to the base
end portion of the eighth node K8 at the distal end portion by the tenth link
pin P10 (see Figs. 20-
23 and the like).
[0102] The sixth node K6 is rotatably attached to the distal end portion of
the third node K3 at
the base end portion by the seventh link pin P7, is rotatably attached to the
central portion of the
node K5 at the central portion by the ninth link pin P9, and is rotatably
attached to the base end
portion of the seventh node K7 at the distal end portion by the eleventh link
pin Pll (see Figs. 20
to 23 and the like).
[0103] The seventh node K7 is rotatably attached to the distal end portion of
the sixth node K6 at
the base end portion by the eleventh link pin P11, is rotatably attached to
the central portion of the
eighth node K8 at the central portion by the twelfth link pin P12, and is
rotatably attached to the
base end portion of the tenth node K10 at the distal end portion by the
thirteenth link pin P13 (see
Figs. 20 to 23 and the like).
[0104] The eighth node K8 is rotatably attached to the distal end portion of
the fifth node K5 at
the base end portion by the tenth link pin P10, is rotatably attached to the
central portion of the
seventh node K7 at the central portion by the twelfth link pin P12, and is
rotatably attached to the
base end portion of the ninth node K9 at the distal end portion by the
fourteenth link pin P14 (see
Figs. 20-23 and the like).
[0105] The ninth node K9 is rotatably attached to the distal end portion of
the eighth node K8 at
CA 03200202 2023- 5- 25
20
the base end portion by the fourteenth link pin P14, is rotatably attached to
the central portion of
the tenth node K10 at the central portion by the fifteenth link pin P15, and
is rotatably attached to
the base end portion of the twelfth node K12 at the distal end portion by the
sixteenth link pin P16
(see Figs. 20-23 and the like).
[0106] The tenth node K10 is rotatably attached to the distal end portion of
the seventh node K7
at the base end by the thirteenth link pin P13, is rotatably attached to the
central portion of the
ninth node K9 at the central portion by the fifteenth link pin P15, and is
rotatably attached to the
base end portion of the eleventh node K1 1 at the distal end portion by the
seventeenth link pin P17
(see Figs. 20 to 23 and the like).
[0107] The eleventh node K1 1 is rotatably attached to the distal end portion
of the tenth node
K10 at the base end portion by the seventeenth link pin P17, is rotatably
attached to the central
portion of the twelfth node K12 at the central portion by the eighteenth link
pin P18, and is
rotatably attached to the base end portion of the fourteenth node K14 at the
distal end portion by
the nineteenth link pin P19 (see Figs. 20 to 23 and the like).
[0108] The twelfth node K12 is rotatably attached to the distal end portion of
the ninth node K9
at the base end portion by the sixteenth link pin P16, is rotatably attached
to the central portion of
the eleventh node K1 1 at the central portion by the eighteenth link pin P18,
and is rotatably
attached to the base end portion of the thirteenth node K13 at the distal end
portion by the
twentieth link pin P20 (see Figs. 20 to 23 and the like).
[0109] The thirteenth node K13 is rotatably attached to the distal end portion
of the twelfth node
K12 at the base end portion by the twentieth link pin P20, and is rotatably
attached to the central
portion of the fourteenth node K14 at the central portion by the twenty-first
link pin P21 (see Fig.
20, Fig. 21, and the like). Further, this thirteenth node K13 is rotatably
attached to a front support
protrusion portion 646 of the suction head unit 640 at the distal end portion
by the twenty-second
link pin P22 (see Figs. 20 to 23 and the like).
[0110] The fourteenth node K14 is rotatably attached to the distal end portion
of the eleventh
node K1 1 at the base end portion by the nineteenth link pin P19, and is
rotatably attached to the
central portion of the thirteenth node K13 at the central portion by the
twenty-first link pin P21
(see Fig. 21, Fig. 23, and the like). Further, this fourteenth node K14 is
rotatably attached to a front
vertical slider SVf of the suction head unit 640 at the distal end portion by
the twenty-third link
pin P23 (see Figs. 20 to 23 and the like).
[0111] In the telescopic structure KP configured as described above, the 14
nodes K1 to K14
move along the virtual vertical plane (virtual plane) Fp (see Fig. 19 ; this
vertical plane Fp is a
plane overlapping with the I-I cross section of Fig. 19).
[0112] As described above, the rear vertical slider SV can slide the rear
vertical rail RVr of the
back plate 623 in the vertical direction (see Fig. 20, Fig. 21 and the like).
Incidentally, this rear
vertical slider SVr rises with the advancement of the horizontal slider SH,
and falls with the
retraction of the horizontal slider SH.
[0113] The horizontal slider SH is engaged with the ball screw 615 as shown in
Fig. 20, Fig. 21
and the like. The horizontal slider SH advances when the ball screw 615 is
rotated forward, and
retracts when the ball screw 615 is reversed. Further, this horizontal slider
SH is connected to the
third link pin P3 as shown in Figs. 21 to 23 and the like. That is, the
telescopic structure KP is
extended and contracted by the forward and backward movement of the horizontal
slider SH.
[0114] (2-4) Suction head unit
The suction head unit 640, as shown in Figs. 15 and 19, mainly includes a
front panel
641, a support plate 642, a suction pad unit 643, a wheel 644, a guide roller
645, a front vertical
rail RVf, a front vertical slider SVf, and a front support protrusion portion
646. Hereinafter, these
CA 03200202 2023- 5- 25
21
components will be described in detail.
[0115] As shown in Fig. 19, the front panel 641 is a plate member having an
inverted convex
shape in a front view, and mainly includes a main plate portion 641a and a
lower protrusion
portion 641b. As shown in Fig.19, the main plate portion 641a is a plate
portion having a
substantially rectangular shape in a front view. As shown in Fig. 19, in the
front view, three suction
pads 643b are fixed to each of the left and right end portions of the lower
portion of the main plate
portion 641a. Incidentally, the distance of the left and right suction pads
643b is a distance
sandwiching a handle without overlapping the handle when the handle of a box
body with a handle
faces the longitudinal direction. Further, as shown in Fig. 16, Fig. 20, and
Fig. 21, the front
support protrusion portion 646 extends rearward from the upper portion of the
back surface of this
main plate portion 641a. Further, as shown in Figs. 22 and 23, the support
plate 642 extends
rearward from both end portions in the width direction of the back surface of
this main plate
portion 641a. Further, as shown in Figs. 20 and 21, the front vertical rail
RVf is disposed along the
vertical direction on the back surface of this main plate portion 641a. As
shown in Fig. 19, the
lower protrusion portion 641b is a substantially square plate portion in a
front view, and extends
downward from the center of the lower side of the main plate 641a. A fastening
block 654 of the
detachable spiral spring unit 650 is screwed to this lower protrusion portion
64 lb. Incidentally, the
screw used in this case is a detachable screw.
[0116] The support plate 642 is a plate member for supporting a pipe unit 143a
of the suction
pad unit 143 as shown in Figs. 22 and 23, and extends rearward from both end
portions in the
width direction of the back surface of the main plate portion 641a of the
front panel 641, as
described above. Further, a pair of wheels 644 are axially supported on the
lower portion of the
front side of this support plate 642.
[0117] As shown in Fig. 15, Fig. 16, and the like, the suction pad unit 643
mainly includes a
pipe unit 643a, a suction pad 643b, and an elastic connecting pipe 643c. The
pipe unit 643a
includes one main pipe MP and three branch pipes BR Incidentally, the main
pipe MP
communicates with all three branch pipes BR As shown in Figs. 21 and 22, the
main pipe MP is
joined to the flexible tube 660 on the base end side, and the elastic
connecting pipe 643c is joined
to each branch pipe BP. The suction pad 643b is joined to the distal end side
of each elastic
connecting pipe 643c. Incidentally, the elastic connecting pipe 643c is
provided with an elastic
portion such as a coil spring. The elastic portion biases the distal end
portion of the elastic
connecting pipe 643c forward. That is, the suction pad 643b is biased forward
through the distal
end portion of the elastic connecting pipe 643c. Therefore, when the suction
pad 643b brings into
contact with the object and a load is applied to the suction pad 643b, the
distal end portion of the
elastic connecting pipe 643c and the suction pad 643b slightly retreat against
the elastic force of
the elastic portion, and when the load is not applied, the suction pad 643b
returns to the original
position by the elastic force of the elastic portion. The suction pad 643b is
a telescopic member
formed of a flexible material.
[0118] The wheel 644, as described above, is axially supported on the lower
portion of the front
side of the support plate 642. That is, the rotation axis of this wheel 644
will follow a direction
parallel to the width direction. This wheel 644 rolls over the top surface of
the front side portion
622A of the bottom plate 622 of the frame 620, and rolls over the shelf plate
of the shelf when it
exceeds the front end portion of the front side portion 622A of the bottom
plate 622 of the frame
620.
[0119] The guide roller 645 is a columnar rotator having a vertical direction
as a rotation axis, as
described above, guides the suction head unit 640 forward while rolling in
contact with the inner
surface of the horizontal sidewall portion 625B of the front side L-shaped
plate 625. Further, when
CA 03200202 2023- 5- 25
22
a guide wall perpendicular to the shelf plate of the shelf is provided, the
guide roller 645 guides
the suction head unit 640 forward while rolling in contact with an inner
surface of the guide wall.
[0120] The front vertical rail RVf, as shown in Figs. 20 and 21 extends along
the vertical
direction on the back side surface of the front panel 641. A front vertical
slider SVf is attached to
this front vertical rail RVf so as to be freely slidable in the vertical
direction (see Figs. 20 and 21).
[0121] As described above, the front vertical slider SVf can slide the front
vertical rail RVf in
the vertical direction. Incidentally, this front vertical slider SVf rises
with the advancement of the
horizontal slider SH and falls with the retraction of the horizontal slider
SH. Further, as described
above, the fourteenth node K14 is rotatably attached to this front vertical
slider SVf at the distal
end portion by the twenty-third link pin P23.
[0122] The front support protrusion portion 646 is a protrusion portion
extending rearward from
the back side surface of the front panel 641. As described above, the
thirteenth node K13 is
rotatably attached to this front support protrusion portion 146 at the distal
end portion by the
twenty-second link pin P22.
[0123] (2-5) Detachable spiral spring unit
The detachable spiral spring unit 650 mainly includes a spiral spring 651, a
holder 652, a
shaft 653 and a fastening block 654, as shown in Fig. 24. The spiral spring
651 exists from the past
and is biased so as to be wound around the holder 652. That is, when the hand
of the person is
released after the spiral spring 651 is extended by the hand of a person, the
spiral spring 651 is
wound around the holder 652 by its biasing force. The holder 652 is a
cylindrical holding member
(bobbin) for holding one end of the spiral spring 651. The shaft 653 extends
along the axial
direction of the holder 652 toward both directions of the holder 652 as shown
in Fig. 24.
Incidentally, as described above, this shaft 653 is detachably supported by
the support claw 622B
shown in Fig. 17. The fastening block 654 is a member for fixing the other end
of the spiral spring
651 to the lower protrusion portion 641b of the front panel 641 of the suction
head unit 640. The
fastening block 654, as described above, is screwed to the lower protrusion
portion 641b of the
front panel 641 of the suction head unit 640.
[0124] (2-6) Flexible tube
The flexible tube 660, as shown in Fig. 15, Fig. 16, and the like, is joined
to the outlet
side of the original pipe SP, and is joined to the base end side of the main
pipe MP of the suction
pad unit 643, as described above. Incidentally, as shown in Fig. 15, Fig.16,
and the like, a piping
port MS is joined to the inlet of the original pipe SP, and is provided at the
rear end portion of the
top plate 621 of the frame 620. Further, as shown in Figs. 22 and 23, this
flexible tube 660 has a
sufficient length to correspond to the maximum extension state of the link
mechanism 630.
[0125] (2-7) Sensor mounting plate
The sensor mounting plate 670, as described above, is attached to the back
side surface of
the slightly rear side of the opening OP of the bottom plate 622 of the frame
620, and holds the
distance sensor 680 at both end sides thereof.
[0126] (2-8) Distance sensor
The distance sensor 680 is a sensor for detecting a distance from an object
located on the
front side, and is held on both end sides of the sensor mounting plate 670 as
described above.
[0127] 5. Control device
The control device 700 is communicatively connected to the conveying conveyor
system
200, the unlocking system 300, the drive source of the first robot arm 350
with the robot hand and
the second robot arm 400 with the robot hand, and the like, respectively. The
control device 700
transmits a control signal to the conveying conveyor system 200, the unlocking
system 300, the
drive source of the first robot arm 350 with the robot hand and the second
robot arm 400 with the
CA 03200202 2023- 5- 25
23
robot hand, and the like. Further, the control device 700 receives various
signals and data from the
object detection device 330 and the imaging device 320 such as the conveying
conveyor system
200 and the unlocking system 300.
[0128] <Control example of the conveying processing system according to an
embodiment of the
present invention>
Here, control examples of the conveying processing system 100 when the
conveying
processing system 100 conveys and unlocks the bill storage container BL,BS
placed on the
movable shelf 800 shown in Figs. 25 and 26 will be described.
[0129] Before the description of the control example, the movable shelf 800
and the regulation
of the method of collecting the bill storage container BL,BS to this movable
shelf 800 will be
briefly described. As shown in Figs. 25 and 26, the movable shelf 800 is
mainly formed from a
bottom wall 810, a top wall 830, a square prop 840, a central prop 850, a
shelf plate 820, a guide
plate Wv and a wheel Tr. Incidentally, although not shown in Fig. 25, a hinged
door or a sliding
door is usually attached to the front side and the rear side of this movable
shelf 800. Further, as
shown in Fig. 26, a side wall is not provided on this moving shelf 800. The
bottom wall 810 and
the top wall 830 are a rectangular plate member having the same dimensions.
Incidentally, the bill
storage container BL,BS can be placed on the bottom wall 810. The square prop
840 and central
prop 850 is for supporting the top wall 830, and extends from the four corners
and the central
portion in the width direction of the upper surface of the bottom wall 810 to
the four corners and
the central portion in the width direction of the lower surface of the top
wall 830, as shown in Figs.
25 and 26. The shelf plate 820 is for placing the bill storage container
BL,BS, and is a rectangular
plate member having substantially the same dimensions as the bottom wall 810
and the top wall
830. As shown in Figs. 25 and 26, the shelf plate 820 divides the spaces
surrounded by the bottom
wall 810, the top wall 830, the square prop 840 and the central prop 850 into
six in the height
direction, respectively. Further, as shown in Figs. 25 and 26, a plurality of
guide plates Wv are
attached to the bottom wall 810 and the shelf plate 820. These guide plates Wv
are substantially
rectangular wall members for guiding the suction head unit 640 of the second
robot hand 600 to
the back and the front of the movable shelf 800 and for aligning the bill
storage container BL,BS at
intervals. These guide plates Wv extend upward along the depth direction from
the upper surface
of the bottom wall 810 and the shelf plate 820 as shown in Figs. 25 and 26.
That is, in this
movable shelf 800, it is possible to place the bill storage container BL,BS on
the bottom wall 810
and the shelf plate 820 from not only the front side (see Fig. 25) but also
the rear side. Incidentally,
as shown in Fig. 25, these guide plates Wv are arranged at intervals capable
of accommodating the
bill storage container BL,BS (in the case of the bill storage container BS,
intervals that do not
come into contract with the protrusion portion PT (described later)). That is,
the dimension
between the adjacent guide plate Wv and the guide plate Wv is designed to be
larger than the width
dimension of the bill storage container BL and the width dimension of the bill
storage container
BS including the protrusion portion PT. There are four wheels Tr, and each
wheel Tr is attached to
the four corners of the lower surface of the bottom wall 810. As a result, the
movable shelf 800 is
movable.
[0130] In an embodiment of the present invention, a method of collecting the
bill storage
container BL,BS to this moving shelf 800 is regulated. The regulation of the
method of collecting
is defined as "when the worker collects the bill storage container BL,BS to
the movable shelf 800,
the worker grasps a handle HL,HS of the bill storage container BL,BS and
pushes the bill storage
container BL,BS into the movable shelf 800 so that the bottom wall OL,OS of
the bill storage
container BL,BS is pushed into the movable shelf 800 first (see Figs. 25 and
26)".
[0131] Hereinafter, control examples of the conveying processing system 100
when the
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conveying processing system 100 conveys and unlocks the bill storage container
BL,BS placed on
the movable shelves 800 will be described.
[0132] First, the user of this object conveying robot fixes the movable shelf
800 at a
predetermined position and in a predetermined direction, and then operates the
conveying
processing system 100. When the conveying processing system 100 is operated,
the second robot
arm 400 with the robot hand begins to operate first. While the second robot
hand 600 waiting at
the initial position is lifted to a predetermined height position and is moved
to the width direction
position of the movable shelf 800 by the robot arm 500, the posture of the
second robot hand 600
is controlled so that the front surface of the second robot hand 600 faces the
front surface of the
movable shelf 800 and the configuration plane (virtual vertical plane Fp) of
the telescopic structure
KP is parallel to the vertical direction. At this time, a pair of distance
sensors 680 provided in the
second robot hand 600 face the square prop 840 and the guide plate Wv of the
movable shelf 800,
face the central prop 850 and the guide plate Wv of the movable shelf 800, or
face the adjacent
guide plate Wv and the guide plate Wv of the movable shelf 800. Next, the
posture of the second
robot hand 600 is controlled by the robot arm 500 so that the difference in
the detection distance of
the pair of distance sensors 680 is within the allowable range (ideally as the
difference in the
detection distance is 0) (at this time, the second robot hand 600
substantially faces the square prop
840 and the guide plate Wv of the movable shelf 800, faces the central prop
850 and the guide
plate Wv of the movable shelf 800, or faces the adjacent guide plate Wv and
the guide plate Wv of
the movable shelf 800). Next, the electric motor 610 of the second robot hand
600 begins to
operate and the link mechanism 630 extends. Then, when the suction head unit
640 reaches to the
movable shelf 800, the guide roller 645 contacts the square prop 840 and the
guide plate Wv of the
movable shelf 800, the central prop 850 and the guide plate Wv of the movable
shelf 800, or the
adjacent guide plate Wv and the guide plate Wv of the movable shelf 800 to
guide the suction head
unit 640 to the back of the movable shelf 800. At this time, the wheel 644
rolls on the bottom wall
810 or the shelf plate 820 of the movable shelf 800. Then, when the load of
the electric motor 610
detected by the load detecting device exceeds the threshold value, the
electric motor 610 is
temporarily stopped, the decompression pump is operated, and the bill storage
container BL,BS is
sucked by the suction pad 643b. Thereafter, the motor 610 is operated in the
reverse, and the link
mechanism 630 is retracted to ultimately return to initial state (contracted
state). At this time, the
bill storage container BL,BS is placed on the front side portion 622A of the
bottom plate 622 of the
second robot hand 600. In this state, the robot arm 500 moves the second robot
hand 600 to the
conveying-in position EN of the first conveying-in conveyor 210 (see Fig. 1).
When the second
robot hand 600 reaches the conveying-in position EN by the robot arm 500, the
electric motor 610
of the second robot hand 600 begins to operate, the link mechanism 630 is
extended, and the bill
storage container BL,BS is pushed out to the conveying-in position EN by the
suction head unit
640. Incidentally, all such operations of the robot arm 500 and the second
robot hand 600 is
realized by the control device 700 which is communicatively connected to the
robot arm 500 and
the second robot hand 600.
[0133] The bill storage container BL,BS pushed out to the conveying-in
position EN of the first
conveying-in conveyor 210 is then conveyed to the conveying-in side posture
changing device 220
by the first conveying-in conveyor 210, its posture is changed by the
conveying-in side posture
changing device 220 as described above, and the bill storage container BL,BS
is conveyed to the
second conveying-in conveyor 230.
[0134] The bill storage container BL,BS conveyed to the second conveying-in
conveyor 230 is
then conveyed to the turntable 240 by the second conveying-in conveyor 230.
Then, when the lock
KL,KS does not exist in the image data from the imaging device 320, the
direction of the bill
CA 03200202 2023- 5- 25
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storage container BL,BS is changed by 180 by the turntable 240. Then, after
the locks KL,KS of
the bill storage container BL,BS are opened by the unlocking system 300 and
the front door
DL,DS of the bill storage container BL,BS is opened upward by the robot arm
310 with the key,
the bill is taken out from the inside of the bill storage container BL,BS by
the first robot arm 350
with the robot hand (during this time, the robot arm 310 with the key is in a
state where the key
remains inserted into the lock KL,KS). Subsequently, the lock KL,KS is locked
after the front door
DL,DS of the bill storage container BL,BS is closed by the roboti arm 310 with
the key.
Thereafter, the bill storage container BL,BS is conveyed to the first
conveying-out conveyor 250
from the position corresponding to the disposition position of the object
detection device 330.
[0135] The bill storage container BL,BS conveyed to the first conveying-out
conveyor 250 is
then conveyed to the conveying-out side posture changing device 260 by the
first conveying-out
conveyor 250, its posture is changed by the conveying-out side posture
changing device 260 as
described above, and the bill storage container BL,BS is conveyed to the
second conveying-out
conveyor 270. Then, the bill storage container BL,BS is conveyed to the
conveying-out position
EX by the second conveying-out conveyor 270.
[0136] The bill storage container BL,BS conveyed to the conveying-out position
EX is grasped
by the second robot arm 400 with the robot hand, and is transferred to the
movable shelf 800.
[0137] <Features of the conveying processing system according to the present
embodiment>
(1)
In the conveying processing system 100 according to the present embodiment,
after the
bill storage container BL,BS collected to the moving shelf 800 is
automatically conveyed to the
conveying conveyor system 200 and the bill is collected from the bill storage
container BL,BS in
the conveying conveyor system 200, the empty bill storage container BL,BS can
be moved to the
moving shelf 800. For this reason, by using this conveying processing system
100, it is possible to
more automatically collect the bill from the bill storage container BL,BS.
[0138] (2)
In the conveying processing system 100 according to the present embodiment,
the
conveying-in side posture changing device 220 is disposed in the conveying
conveyor system 200.
For this reason, when the collecting worker of the bill storage container
BL,BS collects the bill
storage container BL,BS to the movable shelf 800, the collecting worker of the
bill storage
container BL,BS can grasp the handle HL,HS of the bill storage container BL,BS
and push the bill
storage container BL,BS into the movable shelf 800 so that the bottom wall
OL,OS of the bill
storage container BL,BS is pushed into the movable shelf 800 first. For this
reason, the collecting
worker can quickly collect the bill storage container BL,BS to the moving
shelf 800.
[0139] (3)
In the conveying processing system 100 according to the present embodiment,
the
conveying-out side posture changing device 260 is disposed in the conveying
conveyor system
200. For this reason, when the reattaching worker of the bill storage
container BL,BS takes out the
bill storage container BL,BS from the movable shelf 800 and reattaches to the
device, the
reattaching worker of the bill storage container BL,BS can reattach the bill
storage container
BL,BS to the device by grasping the handle HL,HS of the bill storage container
BL,BS. For this
reason, the reattaching worker can quickly reattach the bill storage container
BL,BS to the device.
[0140] (4)
In the conveying processing system 100 according to the present embodiment,
both the
conveying-in position EN of the bill storage container BL,BS in the first
conveying-in conveyor
210 and the conveying-out position EX of the bill storage container BL,BS in
the second
conveying-out conveyor 270 are within the graspable range of the fixed second
robot arm 400 with
CA 03200202 2023- 5- 25
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the robot hand. For this reason, in this conveying processing system 100, one
fixed second robot
arm 400 with the robot hand can convey in the bill storage container BL,BS to
the first conveying-
in conveyor 210, and convey out the bill storage container BL,BS from the
second conveying-out
conveyor 270.
[0141] <Modifications>
(A)
In the conveying processing system 100 according to the above embodiment, both
the
conveying-in side posture changing device 220 and the conveying-out side
posture changing
device 260 are disposed on the conveying conveyor system 200. However, either
one of the
posture changing device 220,260 may be disposed.
[0142] (B)
In the conveying conveyor system 200 according to the above embodiment, the
first
conveying-in conveyor 210 and the second conveying-out conveyor 270 of the
drive type are
adopted. However, these may be replaced with a roller table having no drive
source. When the first
conveying-in conveyor 210 is a roller base, the bill storage container BL,BS
placed on the
conveying-in position EN is pushed out to the conveying direction by the bill
storage container
BL,BS which is conveyed in next, and then is sent to the conveying-in side
posture changing
device 220. Further, when the second conveying-out conveyor 270 is a roller
base, the bill storage
container BL,BS is pushed out to the conveying direction by the bill storage
container BL,BS
which is nextly sent to the conveying direction by the conveying-out side
posture changing device
260, and then is sent to the conveying-out position EX.
[0143] (C)
In the conveying conveyor system 200 according to the above embodiment, the
turntable
240 is controlled by analyzing the image data of the bill storage container
BL,BS. However, the
turntable 240 may be controlled by utilizing a RFID tag.
[0144] (D)
In the unlocking system 300 according to the above embodiment, the imaging
device 320
is fixed near the robot arm 310 with the key. However, the imaging device 320
may be mounted on
the robot arm 310 with the key.
[0145] (E)
In the conveying conveyor system 200 according to the above embodiment,
various data
of the bill storage container BL,BS are obtained from the bill storage
container BL,BS in which
the IC tag is embedded. However, various data of the bill storage container
BL,BS may be
obtained by utilizing an infrared sensor, an IC sensor, a bar code sensor, a
proximity sensor, or the
like.
[0146] (F)
In the conveying processing system 100 according to the above embodiment, the
robot
arm 310 with the key assumes the posture capable of unlocking the lock KL,KS
of the bill storage
container BL,BS by the regulation of the method of collecting the bill storage
container BL,BS to
the movable shelf 800, the second robot arm 400 with the robot hand, the
conveying-in side
posture changing device 220 and the turntable 240. However, when the method of
collecting the
bill storage container BL,BS to the movable shelf 800 is not regulated and the
worker can place
the bill storage container BL,BS on the movable shelf 800 in any posture, a
posture changing
device capable of raising (standing up) the bill storage container BL,BS that
has fallen sideways
may be disposed in front of the conveying-in side posture changing device 220.
Incidentally, as
such the posture changing device, it is possible to use the posture changing
device having the same
principle as the conveying-in side posture changing device 220.
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[0147] (G)
In the conveying processing system 100 according to the above embodiment, the
turntable 240 may be disposed in front of the conveying-in side posture
changing device 220 and
the posture of the bill storage container BL,BS may be changed so that the
direction of the handle
HL,HS becomes a constant direction. In such cases, the rotation direction of
the rotation shaft
portion 222B of the object grasping rotation device 222 may be either
clockwise or
counterclockwise.
[0148] (H)
In the conveying-in side posture changing device 220 according to the above
embodiment, when the bill storage container BL,BS is rotated vertically by the
object grasping
rotation device 222, the elevating table 221B and the elevating leg 221C of
the object support
device 221 are lowered. However, at that time, the height position of the
elevating table 221B and
the elevating leg 221C of the object support device 221 may be maintained and
the object grasping
rotation device 222 may be lifted, or the elevating table 221B and the
elevating leg 221C of the
object support device 221 may be lowered and the object grasping rotation
device 222 may be
lifted. In the former case, the mechanism for elevating the elevating table
221B of the object
support device 221 is not required, and the elevating mechanism for elevating
the object grasping
rotation device 222 needs to be provided in the object grasping rotation
device 222. In the latter
case, the elevating mechanism for elevating the object grasping rotation
device 222 needs to be
newly added to the object grasping rotation device 222.
[0149] (I)
In the conveying-out side posture changing device 260 according to the above
embodiment, when the bill storage container BL,BS is rotated vertically by the
object grasping
rotation device 262, the elevating table 261B and the elevating leg 261C of
the object support
device 261 are lowered. However, the height position of the elevating table
261B and the elevating
leg 261C of the object support device 261 may be maintained and the object
grasping rotation
device 262 may be lifted, or the elevating table 261B and the elevating leg
261C of the object
support device 261 may be lowered and the object grasping rotation device 262
may be lifted. In
the former case, the mechanism for elevating the elevating table 261B of the
object support device
261 is not required, and the elevating mechanism for elevating the object
grasping rotation device
262 needs to be provided in the object grasping rotation device 262. In the
latter case, the elevating
mechanism for elevating the object grasping rotation device 262 needs to be
newly added to the
object grasping rotation device 262.
[0150] (J)
In the conveying-in side posture changing device 220 according to the above
embodiment, the uppermost position of the elevating leg 221C is a height
position at which the
grasping portion 222A of the object grasping rotation device 222 can grasp the
central portion in
the depth direction of the bill storage container BS having a low height, and
is a position slightly
higher than the conveying-out roller unit 221D. However, the lifted position
of the elevating leg
221C may be two steps. That is, the first lifted position is a height position
at which the grasping
portion 222A of the object grasping rotation device 222 can grasp the central
portion in the depth
direction of the bill storage container BS having a low height, and the second
lifted position is a
position slightly higher than the conveying-out roller unit 221D.
[0151] (K)
In the conveying-in side posture changing device 220 according to the above
embodiment, air flow and air pressure is utilized as a drive source. However,
an electric motor or
the like may be utilized as a drive source.
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[0152] (L)
In the conveying-out side posture changing device 260 according to the above
embodiment, air flow and air pressure is utilized as a drive source. However,
an electric motor or
the like may be utilized as a drive source.
[0153] (M)
In the conveying processing system 100 according to the above embodiment, the
bill
storage container BL,BS with the rotary lock is adopted as the conveying
target and the unlocking
target. However, other types of the bill storage container with the lock such
as the bill storage
container with the electromagnetic lock may be adopted as the conveying target
and the unlocking
target.
[0154] (N)
In the conveying processing system 100 according to the above embodiment, the
bill
storage container BL,BS with the rotary lock is adopted as the conveying
target and the unlocking
target. However, other object may be adopted as the conveying target and the
unlocking target. In
this case, it is necessary to replace the unlocking system 300, the first
robot arm 350 with the robot
hand, or the like with the ones suitable for processing the object.
[0155] (0)
In the conveying processing system 100 according to the above embodiment, the
second
robot hand 600 of the suction type is adopted as the robot hand of the second
robot arm 400 with
the robot hand. However, a robot hand of the type that grasps an object with
fingers may be
adopted as such the robot hand.
[0156] (P)
In the conveying processing system 100 according to the above embodiment, the
second
robot arm 400 with the robot hand is fixed. However, the second robot arm 400
with the robot
hand may be mounted on a conveying vehicle and may be movable in a specified
trajectory. In this
way, the conveying-in position EN of the bill storage container BL,BS in the
first conveying-in
conveyor 210, and, the conveying-out position EX of the bill storage container
BL,BS in the
second conveying-out conveyor 270 can be freely arranged, and it is possible
to increase the
flexibility of the layout of the conveying processing system.
[0157] (Q)
In the conveying processing system 100 according to the above embodiment, the
conveying-out side posture changing device 260 and the second conveying-out
conveyor 270 are
disposed on the opposite side of the first conveying-in conveyor 210 and the
conveying-in side
posture changing device 220 (upper side and lower side in Fig. 1). However,
the conveying-out
side posture changing device 260 and the second conveying-out conveyor 270 may
be disposed on
the same side as the first conveying-in conveyor 210 and the conveying-in side
posture changing
device 220 (in Fig. 1, both are arranged on the upper side). In this way,
although it is necessary to
fold back and extend the first conveying-out conveyor 250, it is possible to
reduce the movement
amount of the second robot arm 400 with the robot hand.
[0158] (R)
In the conveying processing system 100 according to the above embodiment,
after the
control device 700 lowers the elevating table 261B of the object support
device 261 to the
lowermost position, the control device 700 rotates the grasping portion 262A
(and the elevating leg
261C) of the object grasping rotation device 262 by the air cylinder (rotary
air cylinder) of the
object grasping rotation device 262 by 90 counterclockwise when viewed from
the conveying-in
direction Dn. However, the control device 700 may rotate it by 90 clockwise
when viewed from
the conveying-in direction Dn.
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[0159] (S)
Although the movable shelf 800 according to the above embodiment is not
provided with
a side wall, the side wall may be provided on the movable shelf 800.
[0160] Note that each of the above modifications may be applied alone or in
combination.
REFERENCE SIGNS LIST
[0161] 100 conveying processing system
200 conveying conveyor system (first conveying device)
210 first conveying-in conveyor (conveying mechanism, first conveying
mechanism)
220 conveying-in side posture changing device (posture control mechanism,
first posture c
ontrol mechanism)
221B elevating table (placing table)
221C elevating leg (lifting portion)
221E air cylinder unit (vertical drive portion)
222,262 object grasping rotation device (vertical rotation mechanism, vertical
rotation devi
ce)
222A grasping portion
222D first air cylinder (vertical rotation portion)
230 second conveying-in conveyor (conveying mechanism, second conveying
mechanism)
240 turntable (posture control mechanism, second posture control mechanism)
250 first conveying-out conveyor (conveying mechanism, third conveying
mechanism)
260 conveying-out side posture changing device (posture control mechanism,
third posture
control mechanism)
270 second conveying-out conveyor (conveying mechanism, fourth conveying
mechanism)
300 unlocking system (processing device)
400 robot arm with robot hand (second conveying device)
600 second robot hand
643 suction pad unit (grasping portion)
500 robot arm (hand moving mechanism)
700 control device (control unit)
800 moving shelf (shelf)
820 shelf plate
BL bill storage container (object, box body)
BS bill storage container (object, box body)
EN conveying-in position (first position)
EX conveying-out position (second position)
HL handle
HS handle
KL lock
KS lock
UL top wall
US top wall
OL bottom wall
OS bottom wall
Wv guide plate (guide wall)
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