JP2008265895A - Tidying device, feeding device used for it, aligning device, and attitude aligning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an attitude aligning device for aligning attitude of a plurality of objects by a simple constitution. <P>SOLUTION: In stead of the existing attitude aligning device, the attitude aligning device of the invention is provided with a plurality of grasping equipment units for varying attitude between the retaining attitude for retaining a plurality of objects and the releasing attitude for releasing them; a plurality of support equipment units for supporting the plurality of grasping equipment units respectively; a rotation equipment unit for rotating the plurality of support equipment units respectively; and a plurality of detection sensors made in association with the plurality of grasping equipment units respectively and capable of detecting at least a part of an outer peripheral shape of the object retained by the relevant grasping equipment units respectively. While the rotation equipment rotates the plurality of grasping equipment units respectively, when the plurality of detection sensors detect that a setting shape of a portion of the outer peripheral shape of the plurality of objects is directed in a specific direction respectively, the plurality of grasping equipment units associated with each of the plurality of detection sensors vary the attitude from the retaining attitude to the releasing attitude respectively. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an ordering device for ordering a plurality of objects and a packaging device for packaging a plurality of objects. In particular, the present invention relates to an ordering device that includes a supply device that supplies a plurality of objects, an alignment device that aligns the plurality of objects, and a posture alignment device that aligns the postures of the plurality of objects.

In order to distribute a plurality of objects, it may be desired to package a plurality of objects.
An ordering device and a packaging device are used to package a plurality of objects.
The ordering device is a device for ordering a plurality of objects, and includes a supply device and an alignment device.
The supply device feeds a plurality of objects and supplies them one by one to the alignment device.
The alignment device aligns a plurality of objects in a predetermined direction.
The packaging device encloses a plurality of organized objects in a packaging member.

When there is a specific shape in a part of the outer peripheral shape of the object, there has been a demand for packaging the specific shape so as to face a predetermined direction.
For example, when there is a protrusion shape or the like in a part around the long direction of a long object, there is a demand for packaging the protrusion shape so that it faces a predetermined direction.
For example, when there is a protrusion shape or the like in a part around the long direction of a long object, there is a demand for packaging the protrusion shape so that it faces downward.

JP-A-6-219422 JP 7-017626 A JP 2000-289712 A

  The present invention has been devised in view of the problems described above, and has a simple configuration, a packaging device that feeds and aligns a plurality of objects, aligns the posture thereof, and inserts them into a packaging member, and a supply device and an alignment device used therefor Attempts to provide a posture alignment device and a packing device.

  In order to achieve the above object, the posture aligning device for aligning the postures of a plurality of objects according to the present invention has a posture between a holding posture for holding the respective end portions of the plurality of objects and an opening posture for opening. A plurality of gripping devices that can be changed to each other, a plurality of support devices that support each of the plurality of gripping devices and that can rotate around a predetermined rotation axis, and a plurality of the support devices that rotate the rotation shaft. A plurality of detection sensors each capable of detecting at least a part of an outer peripheral shape of an object held by the gripping device associated with and associated with each of the plurality of gripping devices; And a plurality of the detection sensors while the rotating device rotates the plurality of gripping devices respectively after the gripping device changes the posture from the open posture to the holding posture. Target of The plurality of gripping devices associated with the plurality of detection sensors each take a posture when it is detected that a predetermined set shape of a part of the outer peripheral shape is directed in a predetermined specific direction. The holding posture is changed to the opening posture.

With the above-described configuration of the present invention, the plurality of gripping devices can change the posture between the holding posture for holding the end portions of the plurality of objects and the open posture for opening. A plurality of support devices support each of the plurality of gripping devices and can rotate around a predetermined rotation axis. A rotating device rotates each of the plurality of supporting devices around the rotation axis. The plurality of detection sensors can each detect at least a part of the outer peripheral shape of the object held by the gripping device associated with and associated with the plurality of gripping devices. After the gripping device changes the posture from the open posture to the holding posture, the plurality of detection sensors detect the plurality of objects while the rotating device rotates the plurality of gripping devices respectively. The plurality of gripping devices respectively associated with the plurality of detection sensors change the posture when detecting that a predetermined set shape of a part of the outer peripheral shape is directed in a predetermined specific direction. The holding posture is changed to the opening posture.
As a result, after the plurality of objects are respectively held by the plurality of gripping devices, the plurality of objects are each rotated around the rotation axis, and a predetermined portion of the outer peripheral shape of the plurality of objects is predetermined. When the set shape is directed in a predetermined direction, the plurality of objects are opened to each, and the plurality of objects are aligned in a posture in which a predetermined set shape of a part of the outer peripheral shape is directed in the predetermined direction. .

  Hereinafter, a posture alignment apparatus according to an embodiment of the present invention will be described. The present invention includes any of the embodiments described below, or a combination of two or more of them.

Further, in the posture alignment device according to the embodiment of the present invention, the detection sensor outputs shape data corresponding to a part of the outer peripheral shape of the object viewed from a fixed point, and the rotating device includes a plurality of gripping devices. While simultaneously rotating, when the time-series pattern of the shape data matches the set pattern corresponding to the set shape, the gripping device changes the posture from the holding posture to the open posture.
With the configuration of the above embodiment, the detection sensor outputs shape data corresponding to a part of the outer peripheral shape of the object viewed from a fixed point. While the rotating device simultaneously rotates the plurality of gripping devices, when the time-series pattern of the shape data matches the setting pattern corresponding to the set shape, the gripping device changes the posture from the holding posture. Change to an open posture.
As a result, as the plurality of objects are each rotated around the rotation axis, the detection sensor outputs shape data corresponding to the outer peripheral shape in time series, and the time series pattern of the shape data is a set pattern. When they match, the plurality of objects are opened to each other, and the plurality of objects are aligned in a posture in which a predetermined set shape of a part of the outer peripheral shape is directed in the same direction.

Furthermore, in the posture alignment device according to the embodiment of the present invention, a plurality of the support devices are arranged in a line,
The rotating device includes a plurality of gears fixed to each of a plurality of supporting devices and meshing with each other adjacent to each other, and a rotation driving device that rotates one of the plurality of supporting devices.
With the configuration of the above embodiment, the plurality of support devices are arranged in a line. Adjacent ones of the plurality of gears fixed to the plurality of supporting devices mesh with each other. A rotation drive device rotates one of the plurality of support devices.
As a result, the rotation drive device rotates all of the plurality of support devices arranged in a horizontal row, and the gripping device supported by the support device is rotated.

Furthermore, in the posture alignment device according to the embodiment of the present invention, a plurality of the support devices are arranged in a row, the rotating device is fixed to the plurality of support devices, and a plurality of gears that are adjacent to each other mesh with each other; A pinion fixed to one of the plurality of support devices, a rack that is engaged with the pinion, and a linear motion actuator that reciprocates the rack at a constant speed at a predetermined speed.
With the configuration of the above embodiment, the plurality of support devices are arranged in a line. Adjacent ones of the plurality of gears fixed to the plurality of supporting devices mesh with each other.
As a result, when the linear actuator reciprocates the rack at a constant speed with a predetermined stroke, the pinion rotates at a constant rotation speed by a predetermined rotation angle, and the gripping device supported by the support device remains constant at a predetermined rotation angle. Rotate the rotation speed.

  In order to achieve the above object, a supply device that supplies a plurality of objects along the feeding direction, a tidy device that arranges the plurality of objects according to the present invention in a uniform manner along a predetermined feeding direction, and An alignment device that aligns a plurality of objects along the feeding direction; and a posture alignment device that aligns the postures of the plurality of objects, wherein the feeding device supplies the plurality of objects to the alignment device, and The posture aligning device aligns the postures of the plurality of objects aligned with the aligning device, and the posture aligning device releases the holding posture that holds the ends of the plurality of objects aligned by the aligning device. A plurality of gripping devices capable of changing the posture between each of the open postures, and a plurality of support devices supporting the plurality of gripping devices and rotating around a predetermined rotation axis, respectively. A plurality of the support devices A rotating device that rotates around an axis and a gripping device that is associated with and associated with each of the plurality of gripping devices can each detect at least a part of the outer peripheral shape of the object held in the holding state. A plurality of detection sensors, and after the gripping device changes the posture from the open posture to the holding posture, the rotating device rotates the plurality of gripping devices respectively. A plurality of detection sensors each corresponding to a plurality of detection sensors when detecting that a predetermined set shape of a part of the outer peripheral shape of a plurality of objects is directed in a predetermined direction. The gripping device changes the posture from the holding posture to the open posture.

With the above-described configuration of the present invention, the feeding device supplies a plurality of objects to the alignment device. The alignment device aligns a plurality of objects. The plurality of gripping devices can change the posture between the holding posture for holding the end portions of the plurality of objects aligned by the alignment device and the open posture for opening. A plurality of support devices support each of the plurality of gripping devices and can rotate around a predetermined rotation axis. A rotating device rotates each of the plurality of supporting devices around the rotation axis. The plurality of detection sensors can each detect at least a part of the outer peripheral shape of the object held by the gripping device associated with and associated with the plurality of gripping devices. After the gripping device changes the posture from the open posture to the holding posture, the plurality of detection sensors detect the plurality of objects while the rotating device rotates the plurality of gripping devices respectively. The plurality of gripping devices respectively associated with the plurality of detection sensors change the posture when detecting that a predetermined set shape of a part of the outer peripheral shape is directed in a predetermined specific direction. The holding posture is changed to the opening posture.
As a result, after the plurality of objects aligned in the alignment device are respectively held by the plurality of gripping devices, the plurality of objects are each rotated around the rotation axis, and the outer peripheral shape of the plurality of objects is When a predetermined set shape of a part of the object is directed in a predetermined direction, a plurality of objects are opened to each, and the plurality of objects have a predetermined set shape of a part of the outer peripheral shape in the same direction Aligned to the attitude toward.

  In order to achieve the above object, a supply device for supplying a plurality of objects according to the present invention along a predetermined feeding direction, a feeding device for feeding the plurality of objects along the feeding direction, and an end of the feeding device A first stopper that changes a posture between a first blocking posture for blocking the feeding of a single object at a position that is sent from and dropped and a first retracting posture that allows the feeding of the target; A second position changing posture between a first blocking posture for blocking the feeding of other objects lined up immediately after the object blocked by the stopper and a second retracting posture for allowing the feeding of the other objects. A stopper, and after the first stopper changes the posture from the first retracted posture to the first blocking posture, the second stopper changes the posture from the second blocking posture to the second retracted posture, The second stopper is moved away from the second retracted position. It said first stopper after changing the posture in the two blocking posture changing the attitude in the first retracted position from the first blocking position and the things.

With the configuration of the present invention, the feeding device sends a plurality of objects along the feeding direction. The first stopper is positioned between a first blocking posture for blocking the feeding of a single object at a position where the first stopper is sent from the end of the feeding device and dropping, and a first retracting posture for allowing the feeding of the target. To change. The second stopper has a first blocking posture for blocking the feeding of other objects arranged immediately after the object blocked by the first stopper, and a second retracting posture for allowing the feeding of the other objects. Change posture between. After the first stopper changes the posture from the first retracted posture to the first blocking posture, the second stopper changes the posture from the second blocking posture to the second retracted posture. After the second stopper changes the posture from the second retracted posture to the second blocking posture, the first stopper changes the posture from the first blocking posture to the first retracted posture.
As a result, multiple objects are sent in the feed direction, one object at the end of the feed device is blocked from feeding by the first stopper, and other objects are lined up immediately after one object Therefore, the second stopper blocks the feeding of other objects, the first stopper allows the feeding of one object, and the one object is intermittently fed in the feeding direction.

  In order to achieve the above object, an alignment apparatus for aligning a plurality of objects according to the present invention along a predetermined feed direction, and a plurality of fixed support grooves, which are grooves for supporting the plurality of objects respectively, in the feed direction. Fixed support members provided side by side along a predetermined pitch, and a plurality of moving support grooves, which are grooves for supporting a plurality of objects, respectively. A movable support member that is guided movably in a direction, and a movable support member moving device that moves the movable support member relative to the support fixing member along a substantially rectangular locus. An upper side extending along the feed direction, a lower side extending along the feed direction and extending along the feed direction, and connecting both ends of the upper side and the lower side are spaced apart by the predetermined pitch in the feed direction along the vertical direction. Consists of a pair of extended sides Each time the moving support member steps one object out of a plurality of objects along the trajectory, it is positioned at the rear end of the feed direction in the plurality of fixed support grooves. One fixed support groove or one of the plurality of movable support grooves is supplied to one of the single movable support grooves located at the rear end in the feeding direction.

With the above-described configuration of the present invention, the fixed support member is provided with a plurality of fixed support grooves, which are grooves for supporting a plurality of objects, respectively, arranged at a predetermined pitch along the feed direction. The movement support member is provided with a plurality of movement support grooves, which are grooves that respectively support a plurality of objects, arranged along the feed direction at the predetermined pitch, and is guided so as to be movable in the feed direction and the vertical direction. . A moving support member moving device moves the moving support member relative to the support fixing member along a substantially rectangular locus. The substantially rectangular shape is connected to the upper side extending along the feed direction, the lower side extending below the upper side and extending along the feed direction, and both ends of the upper side and the lower side, and spaced apart by the predetermined pitch in the feed direction. It is the shape comprised by a pair of side edge extended along the direction. One fixed support groove located at the rear end in the feed direction among the plurality of fixed support grooves each time the moving support member moves in order along the locus. Or it supplies to one of the one movement support grooves located in the rear end of the said feed direction among several movement support grooves.
As a result, when the plurality of support portions of the fixed support member are initially empty, the plurality of objects are placed in the plurality of fixed support grooves or the movement support grooves after the movement support member repeats the plurality of relative movements. Supported.

As described above, the posture aligning device for aligning the posture of the object according to the present invention has the following effects due to its configuration.
A plurality of gripping devices can hold and release a plurality of objects, a plurality of support devices rotatably support a plurality of gripping devices around a rotation axis, and a rotation device rotates a plurality of support devices respectively. While the plurality of detection sensors that can detect a part of the outer peripheral shape of the object gripped by the gripping device are associated with each of the plurality of support devices, the plurality of gripping devices hold the plurality of objects and rotate the gripping device. In addition, when the detection sensor detects that a part of the setting shape of the outer peripheral shape is directed in a specific direction, the plurality of gripping devices open the plurality of objects to each, so that the plurality of objects When the plurality of objects are rotated around the rotation axis, respectively, and a predetermined set shape of a part of the outer peripheral shape of the plurality of objects is directed in a predetermined direction. Multiple objects are open to each Object is oriented in the orientation toward a predetermined set shape of a portion of the outer peripheral shape in a particular direction.
In addition, while the set pattern corresponds to the set shape, and the plurality of objects are each rotated around the rotation axis, the detection sensor outputs shape data in time series corresponding to the outer shape, and the shape When the time series pattern of the data matches the set pattern, the plurality of objects are opened to each other, so that the plurality of objects have a predetermined set shape of a part of the outer peripheral shape in the same direction. It is aligned to the attitude that was aimed.
Further, since the plurality of support devices are arranged in a row, the plurality of gears engaged with each other are fixed to the plurality of support mechanisms, respectively, and the one support device is rotated. All of the support devices arranged in a row are rotated, and the gripping device supported by the support device is rotated.
Further, a plurality of the supporting devices are arranged in a line, a plurality of gears meshed with each other are fixed to a plurality of supporting mechanisms respectively, a rack is meshed with a pinion fixed to one supporting device, and a linear motion actuator Since the rack is reciprocated at a constant speed by a predetermined stroke, the pinion rotates at a constant rotation speed by a predetermined rotation angle, and the gripping device supported by the support device rotates at a predetermined rotation angle by a predetermined rotation angle. Let

As described above, the ordering device that arranges a plurality of objects according to the present invention in order and aligns them along a predetermined feeding direction has the following effects due to its configuration.
The alignment device aligns a plurality of objects supplied to the supply device. A plurality of gripping devices can hold and release the aligned objects, a plurality of support devices support a plurality of gripping devices rotatably around a rotation axis, and a rotation device has a plurality of support devices for each. A plurality of detection sensors that can rotate and detect a part of the outer peripheral shape of an object to be gripped by the gripping device correspond to each of the plurality of support devices, and the plurality of gripping devices hold the plurality of objects to hold the gripping device. When the detection sensor detects that the set shape of the outer peripheral shape is directed in a specific direction during the rotation, the plurality of gripping devices open the plurality of objects to each of the plurality of objects. After being held by each of the plurality of gripping devices, the plurality of objects are each rotated around the rotation axis, and a predetermined set shape of a part of the outer peripheral shape of the plurality of objects is directed in a predetermined direction. Multiple objects open to each when Is, a plurality of objects are aligned a predetermined set shape of a portion of the outer peripheral shape and orientation towards the same direction.

As described above, the supply device that supplies a plurality of objects according to the present invention along a predetermined feeding direction has the following effects due to its configuration.
A feeding device feeds multiple objects in the feed direction, blocking the opening of one object sent to the end of the feeding device, or blocking the opening of other objects immediately following it. Alternatively, when a second stopper that can be opened is provided and multiple objects are fed in the feeding direction, one object at the end of the feeding device is blocked from feeding by the first stopper, and the other object is one object. Since the second stopper blocks the feeding of other objects and the first stopper allows the feeding of one object from the state of being arranged immediately after the object, one object is intermittent in the feeding direction. Sent to.

As described above, the alignment apparatus for aligning a plurality of objects according to the present invention along a predetermined feeding direction has the following effects due to its configuration.
A fixed support member having a plurality of support portions that respectively support a plurality of objects and a moving support member having a plurality of support portions that respectively support the plurality of objects are prepared. While relatively moving along the trajectory of the shape, the plurality of objects sent by the supply device are dropped into one of the plurality of fixed support grooves of the fixed support member one by one, and a predetermined number of objects are Since the moving support member stops relative movement when supported by the plurality of moving support grooves of the fixed support member, when the plurality of support portions of the fixed support member are initially empty, the moving support member is stopped. After the member repeats a plurality of relative movements, the plurality of objects are supported by the plurality of fixed support grooves or the movement support grooves.

The best mode for carrying out the present invention will be described below with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.
FIG. 1 is a conceptual diagram of an object according to an embodiment of the present invention. FIG. 2 is an overall conceptual diagram of the packaging device according to the embodiment of the present invention. FIG. 3 is a front view of the ordering apparatus according to the embodiment of the present invention.

The ordering device 30 and the packaging device 40 according to the embodiment of the present invention will be described with reference to the drawings.
The ordering device 30 is a device that aligns a plurality of objects in a predetermined feeding direction with their postures aligned.
For example, the tidy device 30 is a device that arranges a plurality of objects along a feeding direction that is a horizontal direction orthogonal to the longitudinal direction of a long object with the postures aligned.
The packaging device 40 is a device for packaging a plurality of organized objects.
The ordering device 30 and the packaging device 40 are supported by the entire frame 20.

Hereinafter, a case where the indwelling needle is sealed in a long plastic case will be described as an example.
The indwelling needle is used for intravenous infusion in medical treatment, and is a metal injection needle with a PTFE or polyurethane soft outer cylinder. The indwelling needle is placed in a plastic case to prevent puncture.
The target object 10 may have a specific shape in a part of a long outer peripheral shape.
For example, the object 10 may have the protrusion 11 in a part of the long outer peripheral shape.
The object having such a shape is encapsulated and distributed in the packaging member and breaks the packaging member immediately before use.
Generally, for the convenience at the time of use, it is required that the specific shape is sealed in the packaging member in the same specific direction. For example, it is required that all the protrusions 11 be sealed downward in the packaging member.

The ordering device 30 is a device that aligns a plurality of objects in a predetermined feeding direction with their postures aligned.
For example, the tidy device 30 is a device that arranges a plurality of objects along a feeding direction that is a horizontal direction orthogonal to the longitudinal direction of a long object with the postures aligned.
The ordering device includes a supply device 100, an alignment device 200, and an attitude alignment device 300.
The supply device 100 is a device that supplies a plurality of objects 10 along the feed direction.
The alignment apparatus 200 is an apparatus that aligns the plurality of objects 10 along the feeding direction.
The posture alignment device 300 is a device that aligns the postures of a plurality of objects.
For example, the object is sequentially handled by the supply device 100, the alignment device 200, and the posture alignment device 300. For example, the posture aligning device 300 aligns the postures of a plurality of objects supported by the aligning device 200.
The plurality of objects 10 are supplied by the supply device 100 to the alignment device 200 along the feeding direction. For example, the plurality of objects 10 are supplied to the alignment device 200 one by one.
The plurality of objects 10 are aligned by the alignment device 200. For example, a plurality of long objects 10 are aligned at a constant pitch with both ends in the longitudinal direction aligned.
The postures of the plurality of objects 10 are aligned by the posture aligning device 300. For example, the postures of the plurality of objects are aligned so that the protrusions 11 are directed downward.

The packaging device 40 is a device for packaging a plurality of organized objects.
The packaging device 40 includes a palletizing device 400 and a packing device 500.
The palletizing device 400 is a device that packs a plurality of objects 10 into the packing device 500.
The packing device 500 is a device that encloses a plurality of objects 10 in a packaging member.

Hereinafter, the supply device 100, the aligning device 200, the posture aligning device 300, the palletizing device 400, the packing device 500, and the packing device 500 will be described in detail.
In the figure, two supply devices 100, two alignment devices 200, and two posture alignment devices 300 are arranged on both sides along the feed direction.
In the following, one supply device 100, one alignment device 200, and one posture alignment device 300 will be described unless otherwise specified.

First, the supply apparatus 100 will be described in detail.
The supply device 100 is a device that sends a plurality of objects 10 along the feed direction, and includes a feed device 110, a first stopper 120, and a second stopper 130.
FIG. 4 is a side sectional view of the organizing device according to the embodiment of the present invention. FIG. 5 is a plan view of the ordering apparatus according to the embodiment of the present invention. FIG. 6 is a cross-sectional view of the supply device according to the embodiment of the present invention.

The feeding device 110 is a device that sends a plurality of objects along the feeding direction. For example, the feeding device 110 is an endless track type device that sends a plurality of objects along the feeding direction.
For example, the feed device 110 includes an inclined path 111, a feed device frame 112, a drive sprocket 113, an idle sprocket 114, a feed chain 115, a chain guide 116, a feed drive device 117, and a feed guide plate 118.
The inclined path 111 is provided at the rear of the feeding direction, is inclined from top to bottom along the feeding direction, and guides the object 10 in the feeding direction.
The object 10 is guided by the ramp 111 and slides down in the feed direction due to gravity.
The feed device frame 112 is a structure that supports the ramp 111, the drive sprocket 113, the idle sprocket 114, the chain guide 116, the feed drive device 117, and the feed guide plate 118.
The driving sprocket 113 and the idle sprocket 114 are rotatably supported by the feeding device frame 112 with a predetermined distance therebetween. The drive sprocket 113 is provided at a position that coincides with the tip of the ramp 111. An idle sprocket 114 is provided in front of the feeding direction.
A feed chain 115 is stretched between the drive sprocket 113 and the idle sprocket 114. The feed chain 115 is a chain in which members on which the object 10 is placed are provided at a predetermined pitch.
The chain guide 116 is a member that guides the feed chain 115 movably in the feed direction between the drive sprocket 113 and the idle sprocket 114.
The feed drive device 117 is a device that rotationally drives the drive sprocket 113.
The feed guide plate 118 is provided close to both ends of the object moving in the feed direction, and is a plate material that guides the object 10 movably in the feed direction with less movement in the direction intersecting the feed direction. It is.

The first stopper 120 has a first blocking posture for blocking the feeding of a single object 10 at a position where the first stopper 120 is fed in the feeding direction and dropped from the end of the feeding device 110 and a first retracting posture for allowing the feeding of the target 10. It is a device that changes the posture between.
The first stopper 120 includes a first stopper plate 121 and a first stopper actuator 122.
The first stopper plate 121 is a plate member that can prevent the feeding of a single object 10 located at a position where it is fed from the end of the feeding device 110 in the feeding direction and dropped.
The first stopper actuator 122 is an actuator that can move the first stopper plate 121 up and down between an upper position and a lower position.
When the first stopper actuator 122 places the first stopper plate 121 in the lower position, the first stopper plate 121 feeds one object 10 in a position where it is fed from the end of the feeding device 110 in the feeding direction and dropped. Stop. The posture of the first stopper 120 at this time is referred to as a first blocking posture.
When the first stopper actuator 122 puts the first stopper plate 121 at the upper position, the first stopper plate 121 feeds one object 10 at a position where it is fed from the end of the feeding device 110 in the feeding direction and dropped. forgive. The posture of the first stopper 120 at this time is referred to as a first retracted posture.

The second stopper 130 has a first blocking posture for blocking the feeding of the other objects 10 arranged immediately after the object 10 blocked by the first stopper 120 and a second retreat for allowing the feeding of the other objects. It is a device that changes posture between postures.
The second stopper 130 includes a second stopper plate 131 and a second stopper actuator 132.
The second stopper plate 131 is a plate member that can prevent the feeding of other objects 10 arranged immediately after the object 10 that is blocked by the first stopper 120.
The second stopper actuator 132 is an actuator that can move the second stopper plate 131 up and down between an upper position and a lower position.
When the second stopper actuator 132 places the second stopper plate 131 in the lower position, the other stoppers are prevented from being fed immediately after the object blocked by the first stopper 120. The posture of the second stopper 130 at this time is referred to as a second blocking posture.
When the second stopper actuator 132 places the second stopper plate 131 in the upper position, the second stopper actuator 132 allows the other objects lined up immediately after the object blocked by the first stopper 120 to be fed. The posture of the second stopper 130 at this time is referred to as a second retracted posture.

Below, the operation | movement procedure of the supply apparatus 100 is demonstrated.
An operator or a feeder throws the plurality of objects 10 into the ramp 111 with their directions aligned.
The plurality of objects 10 slide down the ramp 111 and ride on the rear end of the feed chain 115.
When the feed drive device 117 rotates and drives the drive sprocket 113, the feed chain 115 moves to move the object in the feed direction.
After the first stopper 120 changes its posture from the first retracted posture to the first blocking posture, the second stopper 130 changes its posture from the second blocking posture to the second retracting posture, and the second stopper 130 moves from the second retracting posture. After changing the posture to the second blocking posture, the first stopper 120 changes the posture from the first blocking posture to the first retracted posture.
By repeating this movement, a plurality of objects 10 arranged in the feeding device 110 can be supplied one by one to the alignment device 200 described later.

Next, the alignment apparatus 200 will be described in detail.
The alignment apparatus 200 is an apparatus that aligns a plurality of objects 10 along a predetermined feeding direction.
For example, the alignment apparatus 200 is an apparatus that aligns a plurality of objects 10 along a feeding direction that is a horizontal direction orthogonal to the longitudinal direction of the elongated object.
FIG. 7 is a front view of the alignment apparatus according to the embodiment of the present invention. FIG. 8 is a plan view of the alignment apparatus according to the embodiment of the present invention. FIG. 9 is a side cross-sectional view of the alignment apparatus according to the embodiment of the present invention. FIG. 10 is an operation explanatory view of the alignment apparatus according to the embodiment of the present invention.

  The alignment apparatus 200 includes a fixed support member 210, a moving support member 220, a moving support member moving device 230, an inner guide member 240, an outer guide device 250, and an object pushing device 260.

The fixed support member 210 is a member in which a plurality of fixed support grooves 212 that are grooves for supporting a plurality of objects are arranged at a predetermined pitch along the feed direction.
The fixed support member 210 includes a pair of fixed support plates 211 and a fixed support member base 213.
The pair of fixed support plates 211 are a pair of substantially rectangular plates extending in the feed direction and extending vertically. Fixed support grooves 212 are provided at a predetermined pitch P on the upper side of the fixed support plate 211. A pair of fixed support grooves 212 in the left-right direction of the pair of fixed support plates 211 support one object 10.
N pairs of fixed support grooves 212 can support N objects.
The fixed support member base 213 supports the pair of fixed support plates 211.

The movement support member 220 is a member in which a plurality of movement support grooves 222 that are grooves for supporting the plurality of objects 10 are arranged at a predetermined pitch along the feed direction and are movably guided in the feed direction and the vertical direction. It is.
The movement support member 220 includes a pair of movement support plates 221, a movement support member base 223, and an object support 224.
The pair of movable support plates 221 are a pair of substantially rectangular plates that extend in the feed direction and become vertical. The movement support grooves 222 are provided at a predetermined pitch P on the upper side of the movement support plate 221. A pair of movement support grooves 222 in the left-right direction of the pair of movement support plates 221 supports one object 10.
N pairs of fixed support grooves 212 can support N objects.
The moving support member base 223 supports a pair of moving support plates 221 and is guided by a moving support member moving device 230 described later so as to be movable in the vertical and horizontal directions.
The object support 224 is a member that supports the lower surface of the object supported by the movement support grooves 222 of the pair of movement support plates 221.

The moving support member moving device 230 is a device that moves the moving support member 220 relative to the fixed support member 210 along a substantially rectangular trajectory.
The substantially rectangular shape is formed by connecting the upper side extending along the feeding direction, the lower side extending below the upper side and extending along the feeding direction, and both ends of the upper side and the lower side, and spaced apart by a predetermined pitch in the feeding direction. It is the shape comprised by a pair of side edge extended along.
The trajectory along the substantially rectangular shape moves in the feeding direction along the upper side, descends along the side, moves in the direction opposite to the feeding direction along the lower side, and rises along the side.
The moving support member moving device 230 includes a horizontal moving device 231 and a vertical moving device 232.
The horizontal movement device 231 is a device that supports the movement support member 220 and can reciprocate a horizontal distance equal to the pitch P. For example, the horizontal movement device 231 is a device that combines a horizontally extending linear guide and a linear motion actuator.
The vertically moving device 232 is a device that supports the horizontally moving device 231 and can reciprocate a predetermined vertical distance. For example, the vertically moving device 232 is a device that combines a linear guide that extends vertically and a linear motion actuator.
The horizontal movement of the horizontal movement device 231 and the vertical movement of the vertical movement device 232 are combined to form a substantially rectangular locus.
FIG. 10 shows a state in which the moving support member moving device 230 moves the moving support member 220 relative to the fixed support member 210 along a substantially rectangular locus.
If it does in this way, the object supported by fixed support groove 211 can be sent to a feed direction for every pitch, and a plurality of objects 10 can be arranged with a predetermined pitch.

The inner guide member 240 and the outer guide device 250 restrain the movement of the plurality of objects 10 supported by the fixed support member 210 or the moving support member 220 in a direction crossing the feed direction, and guide the object 10 so as to be movable in the feed direction. It is a member to do.
The inner guide member 240 is composed of an inner guide plate 241.
The inner guide plate 241 is a plate that abuts one end of the object 10 and restricts movement in a direction intersecting the feeding direction.
The outer guide device 250 includes an outer guide plate 251, a guide plate vertical movement device 252, and a guide plate horizontal movement device 253.
The outer guide plate 251 is a plate that abuts against the other end of the object 10 and restricts movement in a direction intersecting the feed direction.
The guide plate vertical movement device 252 is a device that moves the outer guide plate 251 in the vertical direction. For example, the guide plate vertical movement device 252 is a mechanical element that combines a linear guide extending in the vertical direction and a linear motion actuator.
The guide plate horizontal movement device 253 is a device that horizontally moves the guide plate vertical movement device 252 in the horizontal direction intersecting the feed direction. For example, the guide plate horizontal movement device 253 is a machine element in which a linear guide extending in the horizontal direction and a linear motion actuator are combined.
When the object to be handled is changed, the horizontal position and the vertical position of the outer guide plate 251 are adjusted using the guide plate vertical movement device 252 and the guide plate horizontal movement device 253.
When all the fixed support grooves 212 or the movement support grooves 222 support the object, the guide plate horizontal movement device 253 is operated to press all the objects 10 against the inner guide plate 341.
In addition, after the posture aligning device 300 described later is operated, the guide plate horizontal movement device 253 is operated to press all the objects 10 against the inner guide plate 341.

The object pushing device 260 is a device that pushes the other end of the object supplied from the supply device 100 and presses it against the inner guide member 240 to determine a horizontal position that intersects the feeding direction.
The object pushing device 260 includes an object pushing plate 261 and an object pushing plate actuator 262.
The object pushing plate 261 is a plate having a surface directed to the other end of the object 10 supported by the fixed support groove 212 that is the rearmost in the feed direction among the plurality of fixed support grooves 212.
The hand product push plate actuator 262 is a device that reciprocates the object push plate 261 along a horizontal direction intersecting the feed direction. For example, the hand product push plate actuator 262 is a mechanical element in which a linear guide extending along a horizontal direction intersecting the feeding direction and a linear motion actuator are combined.

Next, the posture alignment apparatus 300 will be described in detail.
The posture alignment device 300 is a device that aligns the postures of a plurality of objects.
FIG. 11 is a front view of the posture alignment apparatus according to the embodiment of the present invention. FIG. 12 is a side view of the posture alignment apparatus according to the embodiment of the present invention. FIG. 12 is a plan view of the posture alignment apparatus according to the embodiment of the present invention. FIG. 13 is a cross-sectional view of the posture alignment apparatus according to the embodiment of the present invention. FIG. 13 is an operation explanatory diagram of the posture alignment apparatus according to the embodiment of the present invention. FIG. 14 is a cross-sectional view of the posture alignment apparatus according to the embodiment of the present invention.
The posture alignment apparatus 300 includes a plurality of gripping devices 310, a plurality of support devices 320, a rotation device 330, a detection sensor (not shown), a posture alignment vertical movement device 340, and a posture alignment horizontal movement device 350.

The plurality of gripping devices 310 are devices that can change the posture between a holding posture for holding the end portions of the plurality of objects 10 and an open posture for opening.
The gripping device 310 is a device that can change the posture between a holding posture that holds the end of the object and an open posture that opens, and includes a pair of gripping claws 311 and a gripping actuator 312.
The pair of gripping claws 311 are claw-like members that can be held with the end portion of the object 10 interposed therebetween.
The gripping actuator 312 is an actuator that supports the pair of gripping claws 311 and can change the distance between the pair of gripping claws 311.
When the gripping actuator 312 narrows the distance between the pair of gripping claws 311, the pair of gripping claws 311 can hold the end portion of the object. The posture of the gripping device 310 at this time is referred to as a holding posture.
When the gripping actuator 312 separates the distance between the pair of gripping claws 311, the pair of gripping claws 311 can release the end portions of the object. The posture of the gripping device 310 at this time is referred to as an open posture.

The plurality of support devices 320 are devices that support a plurality of gripping devices and can rotate around a predetermined rotation axis.
For example, the plurality of support devices 320 are devices that can rotate around a rotation axis along the longitudinal direction of a long object that supports and holds the plurality of gripping devices.
When the main part of the outer peripheral shape of the long object has a central axis along the substantial longitudinal direction, the rotation axis may coincide with the central axis.
The support device 320 is a device that supports the gripping device 310 and can rotate around a predetermined rotation axis, and includes a support rotation shaft 321 and a support connecting member 322.
For example, the support device 320 is a device that supports the gripping device 310 and is capable of rotating around a rotation axis along the longitudinal direction of ten long objects held by the gripping device 310, and supporting rotation The shaft 321 and the support connecting member 322 are configured.
The support rotating shaft 321 is a shaft body that is rotationally driven by a rotating device 330 described later.
The support connection member 322 is a member that connects the support rotation shaft 321 and the gripping device 310. For example, the support connecting member 322 is a plate member having one end fixed to the support rotation shaft 321 and the other end fixed to the gripping actuator 312.

The rotating device 330 is a device that rotates the plurality of supporting devices 10 around the rotation axis.
The rotating device 330 may simultaneously rotate the plurality of supporting devices 10 around the rotation axis.
The rotating device 330 may be a device that rotates a plurality of supporting devices 320 arranged in a line around the rotation axis described above.
The rotating device 330 may be a device that simultaneously rotates a plurality of supporting devices 320 arranged in a horizontal row around the above-described rotation axis.
For example, the rotating device 330 includes a rotating device frame 331, a plurality of rotating bearings 332, a plurality of rotating gears 333, a rotating pinion 334, a rotating rack 335, and a rotating direct acting actuator 336.
The rotation pinion 334, the rotation rack 335, and the rotation direct acting actuator 336 correspond to a rotation drive device. The rotation drive device is a device that rotates one of the plurality of support devices 320.

The rotating device frame 331 is a structure that supports a plurality of supporting rotating shafts 321 via a plurality of rotating bearings 332. The rotating device frame 331 is supported by a posture alignment vertical movement device 340 and a posture alignment horizontal movement device 350, which will be described later, and is moved in the horizontal direction intersecting the vertical direction and the feeding direction.
The rotary bearing 332 has an outer ring fixed to the rotary device frame 331, and supports the supporting rotary shaft 321 rotatably by the inner ring.
The plurality of rotating gears 333 are fixed to the plurality of supporting devices 320, respectively, and adjacent ones mesh with each other.
For example, the plurality of rotating gears 333 are fixed to the support rotating shaft 321 respectively. The plurality of rotating gears 333 arranged in a horizontal row mesh with each other adjacent to each other. When the plurality of rotating gears 333 have the same pitch circle diameter and the same module, the plurality of support devices 320 arranged in a horizontal row are adjacent to each other at the same rotation speed and rotate in opposite rotation directions.
The rotation pinion 334 is a pinion gear fixed to one of the plurality of support devices 320.
The rotating rack 335 is rack teeth that are engaged with the rotating pinion 334.
The rotation direct acting actuator 336 is an actuator that reciprocates the rotating rack 335 at a constant speed with a predetermined stroke. For example, the rotation linear motion actuator 336 is a mechanical element made up of a linear guide and a linear motion actuator that extend along the direction in which the rack teeth are arranged.
When the linear actuator for rotation 336 reciprocates the rotating rack 335 at a predetermined speed at a constant speed, the plurality of gripping devices 310 reciprocate at a predetermined angle around the rotation axis at a predetermined angle. Further, the plurality of support devices 320 rotate in the opposite direction to each other.

The posture alignment vertical movement device 340 is a device that moves a plurality of gripping devices 310 up and down by a predetermined vertical distance.
The posture alignment vertical movement device 340 includes a posture alignment vertical frame 341 and a posture alignment vertical actuator 342.
The posture alignment upper / lower frame 341 supports the rotating device frame 331, the rotating rack 335, and the rotating direct acting actuator 336.
The posture alignment vertical actuator 342 is a device that moves the posture alignment vertical frame 341 up and down by a predetermined vertical distance in the vertical direction. For example, the posture alignment vertical actuator 342 is a mechanical element made up of a rear near guide and a linear motion actuator extending in the vertical direction.

The posture alignment horizontal moving device 350 is a device that reciprocates a plurality of gripping devices 310 in the horizontal direction intersecting the feeding direction.
When the posture alignment horizontal moving device 350 moves the plurality of gripping devices 310 in the direction approaching the alignment device 200, the plurality of gripping devices 310 in the holding posture can be held.
When the posture alignment horizontal movement device 350 moves the plurality of gripping devices 310 in the direction away from the alignment apparatus 200, the plurality of gripping devices 310 cannot hold a plurality even if they are in the holding posture.
The posture alignment horizontal moving device 350 includes a posture alignment horizontal frame 351, a posture alignment guide block 352, a posture alignment linear guide 353, and a posture alignment horizontal actuator 354.
The posture alignment horizontal frame 351 is a frame that supports the posture alignment vertical movement device 340.
The posture alignment guide block 352 is fixed to the posture alignment horizontal frame 351 and is guided by the posture alignment linear guide 353 so as to be movable in the horizontal direction.
The posture alignment horizontal actuator 354 is an actuator that moves the posture alignment horizontal frame 351 in the horizontal direction.

The plurality of detection sensors are associated with each of the plurality of gripping devices 10 and can respectively detect at least a part of the outer peripheral shape of the 10 held by the associated gripping device 310.
For example, the outer peripheral shape is a shape around the rotation axis of the object.
For example, the plurality of detection sensors can each detect the protrusion 11 having the outer peripheral shape of the object 10 held by the associated gripping device 310.
The detection sensor may output shape data corresponding to a part of the outer peripheral shape of the object viewed from a fixed point.
For example, the detection sensor is an optical sensor that is fixed and detects the outer peripheral shape of the object.

The operation procedure of the posture alignment device will be described below.
Hereinafter, a case where the set shape is the protruding portion 11 protruding from the side surface of the long object will be described as an example.
After the gripping device 310 changes the posture from the open posture to the holding posture, while the rotating device 330 rotates the plurality of gripping devices 11 to each other, the plurality of detection sensors have the outer peripheral shapes of the plurality of objects 10. A predetermined protrusion 11 (corresponding to “set shape”) of a part of the lower part {corresponds to a “predetermined specific direction”. ), Each of the plurality of gripping devices 310 associated with each of the plurality of detection sensors changes the posture from the holding posture to the open posture.

  In addition, while the detection sensor outputs shape data corresponding to a part of the outer peripheral shape of the object viewed from a fixed point, while the rotating device rotates a plurality of gripping devices at the same time, the time-series pattern of the shape data When it matches the setting pattern corresponding to the setting shape, the gripping device changes the posture from the holding posture to the open posture.

Hereinafter, the operation procedure, the output of the detection sensor, and the relationship between the rotation of the object will be described with reference to the drawings.
FIG. 15 is an operation explanatory view of the posture alignment apparatus according to the embodiment of the present invention.
In FIG. 15, marks in which the two fan-shaped portions indicated by ◯ are black indicate the optical axis of the detection sensor. An example will be described in which the detection sensor outputs an on signal when the outer peripheral shape of the target object 10 does not block the optical axis, and the detection sensor outputs an off signal when the outer peripheral shape of the target object 10 blocks the optical axis.
A plurality of objects 10 are supported by the fixed support grooves 212 of the alignment device 200.
The moving support member moving device 230 moves the moving support member 220 along the trajectory described above, rises along the side, moves in the feeding direction along the upper side, and stops.
A plurality of objects are supported by the movement support groove 222.
With the gripping device 310 in the open posture and the posture alignment vertical movement device 340 lowered the gripping device 310, the posture alignment horizontal movement device moves the gripping device 310 to the object side.
When the gripping device 310 changes the posture from the open posture to the holding posture, the object 10 is gripped by the gripping device 310.
When the posture alignment vertical movement device 340 raises the gripping device 310, the object 10 moves away from the fixed support groove 212 and moves upward.
When the gripping device 310 holds the object 10, different processing procedures are performed depending on whether the corresponding detection sensor outputs an on signal or an off signal.

(CASE1)
CASE 1 is a processing procedure when the corresponding detection sensor outputs an on signal when the gripping device 310 holds the object 10.
The rotating device 330 rotates the support device 320.
The object 10 held by the gripping device starts to rotate around the rotation axis.
After the output of the detection sensor changes from on to off and then changes from off to on, the gripping device 310 changes the posture from the holding posture to the open posture after a predetermined delay.
The object 10 falls from the gripping device 310 with the protrusion 11 facing downward.
The object 10 is supported by the movement support groove 222 in a posture in which the protrusion 11 is directed downward.

(CASE2)
CASE 1 is a processing procedure when the corresponding detection sensor outputs an off signal when the gripping device 310 holds the object 10.
The rotating device 330 rotates the support device 320.
The object 10 held by the gripping device 310 starts to rotate around the rotation axis.
Ignore the output of the detection sensor for a predetermined number of seconds. During this time, the output of the detection sensor changes from off to on.
After the output of the detection sensor changes from on to off and then changes from off to on, the gripping device 310 changes the posture from the holding posture to the open posture after a predetermined delay.
The object 10 falls from the gripping device 310 with the protrusion 11 facing downward.
The object 10 is supported by the movement support groove 222 in a posture in which the protrusion 11 is directed downward.

With the gripping device 310 in the open posture, the posture alignment horizontal moving device moves the gripping device 310 to the opposite side of the object.
The moving support member moving device 230 moves the moving support member 220 along the trajectory described above, descends along the side, moves in the direction opposite to the feeding direction along the lower side, and stops.
A plurality of objects move from the movement support groove 222 to the fixed support groove 212 in a posture in which the protruding portion 11 faces downward, and are supported by the fixed support groove 212.

Next, the palletizing apparatus 400 will be described in detail.
The palletizing device 400 is a device that holds a plurality of objects aligned in the aligning device 200 with a vacuum chuck and transports them to a packing device.
The palletizing apparatus 400 includes an end effector 410, a vertical movement device 420, and a horizontal movement device 430.
The end effector 410 is a member that can hold an object with a vacuum chuck.
The vertical movement device 420 is a device that can raise and lower the end effector 410.
The horizontal movement device 430 is a device that can move the vertical movement device 420 in the horizontal direction.

An operation procedure in which the palletizing apparatus 400 moves the object from the aligning apparatus 200 to the packing apparatus 500 will be described.
The end effector 410 is moved above the alignment device 200.
The vertical movement device 420 lowers the end effector 410.
The end effector 410 holds the object aligned with the alignment device 200 in a posture with a vacuum chuck.
The vertical movement device 420 raises the end effector 410.
A horizontal movement device 430 moves the end effector 410 horizontally over the packing device.
The vertical movement device 420 lowers the end effector 410.
The end effector 410 opens the object 10.
A plurality of objects are transferred to the packing device.

  The packing device 500 is a device that encloses a plurality of objects 10 in a packaging member.

If the supply apparatus 100 of the above-mentioned embodiment is used, the following effects will be exhibited.
The first stopper 120 that can feed or feed a plurality of objects 10 in the feeding direction with the feeding device 100 of the endless track type, and can prevent or release the feeding of the one object 10 sent to the end of the feeding device 100, and immediately after that. When the second stopper 130 that can prevent or open the feeding of the other objects 10 is provided and the plurality of objects 10 are put into the ramp 111, the plurality of objects 10 are supported by the feeding device 110 and are fed in the feeding direction. Sent to.
From the state where one object 10 at the end of the feeding device 110 is prevented from feeding by the first stopper 120 and the other objects 10 that follow are arranged immediately after the one object 10, the second stopper 130 is moved. Since the feeding of the other objects 10 is blocked and the first stopper 120 allows the feeding of one object 10, the one object 10 is intermittently fed in the feeding direction, and the next aligning device 200.

If the alignment apparatus 200 of the above-described embodiment is used, the following effects are exhibited.
A fixed support member 210 having a fixed support plate 211 provided with a plurality of fixed support grooves 212 for supporting each of the plurality of objects 10 is prepared, and a plurality of movement support grooves for supporting the plurality of objects 10 respectively. A moving support member having a moving support plate 221 provided with 222 is prepared, and the supply device 100 sends the moving support member 210 while moving the moving support member 210 relative to the fixed support member 210 along a substantially rectangular locus. Each of the plurality of objects 10 is dropped into one of the plurality of fixed support grooves 212 of the fixed support member at the rear in the feed direction, and a predetermined number of objects 10 are fixed to the plurality of fixed support grooves of the fixed support member 210. Since the movable support member 220 stops relative movement when supported by the movable member 212, the movable support member 220 is initially formed when the plurality of fixed support grooves 212 of the fixed support member 210 are empty. After repeating the relative movement a plurality of times, a plurality of objects 10 is supported by a plurality of fixed supporting grooves 212 of the fixed support member 210.
Further, when the supply device 100 sends one object to the alignment device, the object pressing plate 261 presses the object against the inner guide member 240, and the moving support member relatively moves the plurality of objects 10. When feeding in the feeding direction, the inner guide plate 241 and the outer guide plate 251 restrain the longitudinal position of the long object 10.
As a result, the plurality of objects can be aligned at a predetermined pitch of the fixed support groove 212, and the longitudinal positions of the plurality of long objects can be aligned.

If the posture alignment apparatus 300 of the above-described embodiment is used, the following effects are exhibited.
A plurality of gripping devices 310 can hold and release a plurality of objects 10 supported by the alignment device 200 with gripping claws 311, and a plurality of support devices 320 support a plurality of gripping devices 310 so as to be rotatable around a rotation axis. The rotation device 330 simultaneously rotates the plurality of support devices 320 around the rotation axis, and each of the plurality of support devices includes a plurality of detection sensors that can detect a part of the outer peripheral shape of the object 10 gripped by the gripping device 310. Adapt to.
While the plurality of gripping devices 310 hold and rotate the plurality of objects 10, the detection sensor has a part of the outer peripheral shape of the protrusion (corresponding to “setting shape”) below (corresponding to “specific direction”). ), The plurality of gripping devices 310 open the plurality of objects 10 to each.
After the plurality of objects 10 are respectively held by the plurality of gripping devices 310, the plurality of objects 10 are each rotated around the rotation axis, and the protrusions 11 (a part of the outer peripheral shape of the plurality of objects 10 ( When the “predetermined setting shape” is directed downward (corresponding to the “predetermined direction”), the plurality of objects 10 are opened to each other, and the plurality of objects 10 are formed in the outer peripheral shape. The predetermined protrusions 11 of a part of are aligned in a downward orientation.
Further, on-off time series data (corresponding to “setting pattern”) of the output of the detection sensor is made to correspond to the protrusion 11 (corresponding to “setting shape”), and a plurality of objects rotate to each. While rotating around the axis, the detection sensor outputs shape data in time series corresponding to the outer peripheral shape, and when the time series pattern of the shape data matches the set pattern, the plurality of objects 10 are Since each of the objects 10 is opened to each, the plurality of objects 10 are aligned in a posture in which a predetermined protrusion 11 of a part of the outer peripheral shape is directed downward.
Further, since the plurality of support devices 10 are arranged in a horizontal row, the plurality of rotating gears 333 engaged with each other are fixed to the plurality of support mechanisms 320, respectively, and one support device 320 is rotated. All the support devices 320 in which the drive devices are arranged in a horizontal row are rotated, and the gripping device 310 supported by the support devices 320 is rotated.
A plurality of support devices 320 are arranged in a horizontal row, and a plurality of rotating gears 333 engaged with each other are fixed to a plurality of support mechanisms 320 respectively, and a rotating rack is attached to a rotating pinion 334 fixed to one supporting device 320. 335 and the linear motion actuator 336 for linear motion reciprocates the rotary rack 335 at a constant speed for a predetermined stroke, so that the rotary pinion 334 rotates at a constant rotational speed for a predetermined rotational angle, The supported gripping device 310 is rotated at a constant rotational speed by a predetermined rotational angle.

The following effects can be achieved by using a tidy device that combines the supply device, the alignment device, and the posture alignment device of the above-described embodiment.
The supply device sends a plurality of objects along the feed direction. The alignment device aligns the plurality of objects sent by the supply device.
Multiple gripping devices can hold and release multiple aligned objects, multiple support devices support multiple gripping devices so that they can rotate about a rotation axis, and rotary devices rotate multiple support devices simultaneously A plurality of detection sensors that can detect a part of the outer peripheral shape of the object to be gripped by the gripping device, and each of the plurality of support devices holds the gripping device by holding the plurality of objects. When the detection sensor detects that the set shape of the outer peripheral shape is directed in a specific direction during the rotation, the plurality of gripping devices open the plurality of objects to each of the plurality of objects. After being held by each of the plurality of gripping devices, the plurality of objects are each rotated around the rotation axis, and a predetermined set shape of a part of the outer peripheral shape of the plurality of objects is directed in a predetermined direction. Sometimes multiple objects are opened to each , A plurality of objects are aligned a predetermined set shape of a portion of the outer shape and orientation towards the same direction.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
In the embodiment, the indwelling needle in which the object is placed in the case has been described. However, the present invention is not limited to this, and the object may be any object. For example, the object may be a long product having a shape characteristic of the outer peripheral shape.

It is a conceptual diagram of the target object which concerns on embodiment of this invention. 1 is an overall conceptual diagram of a packaging device according to an embodiment of the present invention. It is a front view of the ordering apparatus which concerns on embodiment of this invention. It is side surface sectional drawing of the organizing apparatus which concerns on embodiment of this invention. It is a top view of the ordering apparatus which concerns on embodiment of this invention. It is sectional drawing of the supply apparatus which concerns on embodiment of this invention. It is a front view of the alignment apparatus which concerns on embodiment of this invention. It is a top view of the alignment apparatus which concerns on embodiment of this invention. It is side surface sectional drawing of the alignment apparatus which concerns on embodiment of this invention. It is operation | movement explanatory drawing of the alignment apparatus which concerns on embodiment of this invention. It is a front view of the posture alignment apparatus which concerns on embodiment of this invention. It is a side view of the attitude | position alignment apparatus which concerns on embodiment of this invention. It is a top view of a posture alignment device concerning an embodiment of the present invention. It is sectional drawing of the attitude alignment apparatus which concerns on embodiment of this invention. It is operation | movement explanatory drawing of the attitude | position alignment apparatus which concerns on embodiment of this invention.

P Pitch 10 Object 11 Protruding part 20 Overall frame 30 Ordering device 40 Packaging device 100 Feeder 110 Feeder 111 Slope 112 Feeder frame 113 Drive sprocket 114 Free sprocket 115 Feed chain 116 Chain guide 117 Feeder drive 118 Feed guide plate 120 First Stopper 121 First Stopper Plate 122 First Stopper Actuator 130 Second Stopper 131 Second Stopper Plate 132 Second Stopper Actuator 200 Alignment Device 210 Fixed Support Member 211 Fixed Support Plate 212 Fixed Support Groove 213 Fixed Support Member Base 220 Movement support member 221 Movement support plate 222 Movement support groove 223 Movement support member base 224 Object support 230 Movement support member movement device 231 Horizontal movement device 232 Vertical movement device 240 Inner guide member 2 DESCRIPTION OF SYMBOLS 1 Inner guide plate 250 Outer guide device 251 Outer guide plate 252 Guide plate vertical movement device 253 Guide plate horizontal movement device 260 Object push device 261 Object push plate 262 Object push plate actuator 300 Posture alignment device 310 Grip device 311 Grip nail 312 Grasp actuator 320 Support device 321 Support rotation shaft 322 Support connection member 330 Rotation device 331 Rotation device frame 332 Rotation bearing 333 Rotation gear 334 Rotation pinion 335 Rotation rack 336 Rotation linear motion actuator 340 342 Posture Alignment Vertical Actuator 350 Posture Alignment Horizontal Moving Device 351 Posture Alignment Horizontal Frame 352 Posture Alignment Guide Block 353 Posture Alignment Linear Guide 354 Posture Alignment Horizontal Actuator 400 Palletizing Device 41 The end effector 420 move up and down device 430 horizontally mobile device 500 packing device

Claims (7)

A posture alignment device for aligning the postures of a plurality of objects,
A plurality of gripping devices capable of changing the posture between a holding posture for holding the respective end portions of the plurality of objects and an open posture for opening and a plurality of the gripping devices respectively supported by the predetermined rotation A plurality of support devices each rotatable about an axis;
A rotating device that rotates each of the plurality of supporting devices around the rotation axis;
A plurality of detection sensors each capable of detecting at least a part of an outer peripheral shape of an object held by the gripping device associated with each of the plurality of gripping devices;
With
After the holding device changes the posture from the open posture to the holding posture,
While the rotating device rotates each of the plurality of gripping devices,
When the plurality of detection sensors respectively detect that a predetermined set shape of a part of the outer peripheral shape of the plurality of objects is directed in a predetermined specific direction, the plurality of detection sensors correspond to the plurality of detection sensors, respectively. A plurality of the holding devices that change the posture from the holding posture to the open posture;
A posture alignment device characterized by that. The detection sensor outputs shape data corresponding to a part of the outer peripheral shape of the object viewed from a fixed point,
While the rotating device simultaneously rotates the plurality of gripping devices, when the time-series pattern of the shape data matches the setting pattern corresponding to the set shape, the gripping device changes the posture from the holding posture. Change to an open posture,
The posture alignment apparatus according to claim 1. A plurality of the supporting devices are arranged in a line,
The rotating device includes a plurality of gears fixed to each of a plurality of supporting devices and meshing with each other adjacent to each other, and a rotation driving device that rotates one of the plurality of supporting devices.
The posture alignment apparatus according to claim 1. A plurality of the supporting devices are arranged in a line,
The rotating device is fixed to each of a plurality of supporting devices, and a plurality of gears adjacent to each other mesh with each other, a pinion fixed to one of the plurality of supporting devices, and a rack engaged with the pinion And a linear motion actuator that reciprocates the rack at a constant speed at a predetermined stroke,
The posture alignment apparatus according to claim 1. A tidy device that aligns a plurality of objects in a predetermined feeding direction and aligns the posture,
A supply device for supplying a plurality of objects along the feeding direction;
An alignment device for aligning a plurality of objects along the feeding direction;
A posture alignment device for aligning the postures of a plurality of objects;
With
The feeding device supplies a plurality of objects to the alignment device;
The posture aligning device aligns the postures of a plurality of objects aligned with the aligning device;
The posture alignment device is
A plurality of gripping devices capable of changing the posture between a holding posture for holding the ends of the plurality of objects aligned by the alignment device and an open posture for opening;
A plurality of supporting devices each supporting a plurality of the gripping devices and capable of rotating around a predetermined rotation axis;
A rotating device that rotates each of the plurality of supporting devices around the rotation axis;
A plurality of detection sensors each capable of detecting at least a part of the outer peripheral shape of the object held in the holding state by the holding device associated with each of the plurality of holding devices;
Have
After the holding device changes the posture from the open posture to the holding posture,
While the rotating device rotates each of the plurality of gripping devices,
A plurality of detection sensors respectively corresponding to the plurality of detection sensors when the plurality of detection sensors respectively detect that a predetermined set shape of a part of the outer peripheral shape of a plurality of objects is directed in a predetermined direction. The holding device changes the posture from the holding posture to the open posture.
A tidy device characterized by that. A supply device for supplying a plurality of objects along a predetermined feeding direction,
A feeding device for feeding a plurality of objects along the feeding direction;
A first posture that changes between a first blocking posture that blocks the feeding of a single object that is sent from the end of the feeding device and falls and a first retreating posture that allows the feeding of the target. A stopper,
The posture is changed between a first blocking posture for blocking the feeding of other objects arranged immediately after the target for which the feeding is blocked by the first stopper and a second retracting posture for allowing the feeding of the other objects. A second stopper to cause
With
After the first stopper changes the posture from the first retracted posture to the first blocking posture, the second stopper changes the posture from the second blocking posture to the second retracted posture,
The first stopper changes the posture from the first blocking posture to the first retracting posture after the second stopper changes the posture from the second retracting posture to the second blocking posture;
A supply device characterized by that. An alignment device for aligning a plurality of objects along a predetermined feeding direction,
A fixed support member provided with a plurality of fixed support grooves, which are grooves for supporting a plurality of objects, arranged in a predetermined pitch along the feed direction;
A plurality of moving support grooves, each of which is a groove for supporting a plurality of objects, arranged side by side at the predetermined pitch along the feed direction, and a movable support member guided to be movable in the feed direction and the up and down direction;
A moving support member moving device for moving the moving support member relative to the support fixing member along a substantially rectangular locus;
With
The substantially rectangular shape is connected to the upper side extending along the feed direction, the lower side extending below the upper side and extending along the feed direction, and both ends of the upper side and the lower side, and spaced apart by the predetermined pitch in the feed direction. It is a shape composed of a pair of sides extending along the direction,
One fixed support groove located at the rear end in the feed direction among the plurality of fixed support grooves each time the moving support member sequentially moves one object out of the plurality of objects along the locus, or Supplied to one of the movement support grooves located at the rear end in the feed direction among the plurality of movement support grooves,
An alignment apparatus characterized by the above.

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