JP2008280172A - Article transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article transfer device adaptable to various storage patterns while selectively changing a space between grippers. <P>SOLUTION: In the article transfer device, a working head 32 of a robot 6 as part of a caser 3 has thirty-six holding members 35 connected to positions where twelve stays 42 moved in an X-direction cross three shafts 43 moved in a Y-direction for holding the grippers 33. The stays are moved by an X-direction pantograph mechanism 48. On fourth-eighth supporting shafts 56d-56h as parts of the X-direction pantograph mechanism, first-fifth connection means 57a-57e are provided for changing over ends of link members 55 between a coaxial state (a) where they are held to be coaxially rotated and a differently axial state (b) where they are held to be rotated at isolation positions. The connection means differentiate a space between the gripper neighboring each other in the coaxial state from a space between the grippers neighboring each other in the differently axial state. Thus, the device is adaptable to various storage patterns while selectively changing the space between the grippers. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an article transfer apparatus, and more particularly, to an article transfer apparatus including a plurality of grippers that hold an article and an interval adjusting unit that adjusts an interval between the grippers.

2. Description of the Related Art Conventionally, a plurality of grippers for gripping an article and interval adjusting means for adjusting the interval between the grippers are provided. When an article accumulated at a desired position is gripped by the gripper, the interval between the gripped articles is adjusted by an interval adjusting means. There is known an article transfer device that adjusts and then accommodates the article in a case. (Patent Document 1)
In this patent document 1, in order to store a container transported without a gap in a box in which a partition is stored, when the container is gripped by the gripper, the interval between the grippers is increased by the interval adjusting means, and the guide device 11 is installed. Used to store the container in a box.
The distance adjusting means includes a headed shaft 24 provided in the container conveying direction, a holder 20, 21a, 21b that moves along the headed shaft and is connected to the gripper, and each holder. A lever 27 and a link 29 are provided which are connected to move them along the headed shaft.
With such a configuration, when a container transported without a gap on the conveyor is gripped by the gripper, the holders 21a and 21b are moved along the headed shaft, the distance between the grippers is changed, and the distance between the containers is increased. It is supposed to change.
Japanese Patent Publication No. 5-47445

According to the above-mentioned Patent Document 1, the amount of movement of the three grippers to the left and right can be adjusted by mounting the right and left movement amount adjusting spacers 33a and 33b on the headed shaft. The distance between the grippers and the distance between the second and third grippers cannot be made different from each other.
Also, when changing the storage pattern, such as storing containers in boxes with different numbers of storage, it is necessary to replace the block with grippers, which requires a lot of labor and work time. It was.
In view of the problems as described above, the present invention provides an article transfer apparatus that can arbitrarily change the interval between grippers to cope with various storage patterns.

That is, the article transfer apparatus according to claim 1 is provided with an article transfer apparatus including a plurality of grippers for gripping an article and an interval adjusting unit for adjusting an interval between the grippers.
The distance adjusting means includes a main rail provided in a predetermined direction, a plurality of holding members that move along the main rail and that are connected to the grippers, and are connected to the holding members and are connected to the rails along the rail. With a pantograph mechanism to move
The pantograph mechanism includes a link member that is coupled to each holding member and whose shaft is rotatably supported, and a support shaft that rotatably supports the ends of adjacent link members.
A connecting means for holding a required support shaft in a switchable manner between a coaxial state in which the ends of the link members rotate on the same axis and a different shaft state in which the ends of the link members rotate at a distance from each other. Provided,
The distance between adjacent grippers when the supporting shaft is made coaxial by the connecting means and the distance between adjacent grippers when the supporting shaft is made different from each other are different in the direction of the main rail. .

  According to the above invention, by changing the required support shaft from the coaxial state to the different shaft state by the connecting means, it is possible to change the gap between the grippers at the required positions, and to cope with various storage patterns. It becomes.

Hereinafter, the illustrated embodiment will be described. FIG. 1 shows a caser 3 for storing a container 1 as an article in a case 2. The caser 3 includes a bottle conveyor 4 for conveying the container 1 and the case 2. It comprises a case conveyor 5 for conveying, and a robot 6 as an article transfer device for conveying containers 1 from the bottle conveyor 4 to the case conveyor 5, and these are controlled by control means (not shown).
In the following description, the direction parallel to the transport direction of the bottle conveyor 4 and the case conveyor 5 is the X direction, the direction horizontally orthogonal to the X direction is the Y direction, and the X direction and the Y direction are orthogonal. The vertical direction is referred to as the Z direction.
The bottle conveyor 4 conveys the containers 1 in the X direction from the left to the right in the figure, the case conveyor 5 conveys the case 2 in the X direction from the left to the right in the figure, and the robot 6 moves the work head 32 described later. The bottle conveyor 4 and the case conveyor 5 are moved in a direction orthogonal to the conveying direction.
The upper part of the container 1 has a diameter smaller than that of the body part, and a cap is attached to the upper part of the diameter of the container 1. The case 2 is made of a member having a predetermined thickness such as corrugated cardboard, and stores a total of twelve containers 1, four in the X direction and three in the Y direction.

The bottle conveyor 4 detects three sets of guide members 11 for conveying the containers 1 in an aligned state, an accumulation stopper 12 for stopping the containers 1 at a predetermined article accumulation position A, and a container 1 passing therethrough. A sensor 13 and a rotary stopper 14 for supplying a predetermined number of containers 1 to the article accumulation position A are provided.
The guide member 11 is provided so as to transport the containers 1 in a state of being aligned in three rows in the X direction, and the containers 1 are transported along the guide members 11.
The article accumulation position A refers to an area where a number of containers 1 that can be gripped by the robot 6 are accumulated, and 12 containers 1 are accumulated downstream of each guide member 11. Thus, a total of 36 containers 1 are accumulated at the article accumulation position A.
The accumulation stopper 12 is provided at the downstream end of the guide member 11, and the container 1 is accumulated at the article accumulation position A by capping the leading container 1.
The accumulation stopper 12 can change its installation position along the X direction in accordance with a change in storage pattern such as when the diameter of the container 1 or the number of containers 1 stored in the case 2 is changed. It has become.

Next, the sensor 13 is provided on each guide member 11 and is located upstream of the article accumulation position A. The sensor 13 detects the passing container 1 and transmits a detection signal to the control means. It has become.
Specifically, the sensor 13 detects the passage of a cap portion having a smaller diameter than the body portion of the container 1, and detects each container 1 even if the container 1 is transported without a gap. Can be done.
The rotary stopper 14 is provided for each guide member 11 and is located on the upstream side of the sensor 13. The rotary stopper 14 engages with the container 1 that is transported on the transport conveyor 4 by the control of the control means and stops the container 1. And a position allowing passage of the container 1.
Then, the container 1 is blocked by the rotary stopper 14, thereby forming a required interval between the rearmost container 1 accumulated at the article accumulation position A and the leading container 1 blocked by the rotary stopper 14. It has come to be.

The case conveyor 5 includes a first stopper 21 that stops the case 2 at a predetermined case stacking position B, a sensor 22 that detects the passing case 2, and a pair of first supplies that supply the case 2 to the case stacking position B. 2 stoppers 23 and a pair of third stoppers 24 are provided.
The case accumulation position B refers to a region where the case 2 that can store the container 1 at a time by the robot 6 is accumulated, and the three cases 2 are accumulated upstream of the first stopper 21. It has become.
The first stopper 21 protrudes above the case conveyor 5 by the control means to block the case 2 and retracts from the case conveyor 5 to allow passage of the case 2.
When the first stopper 21 is retracted from the case conveyor 5, the case 2 in which the container 1 is stored passes through the first stopper 21 and is conveyed to a subsequent process (not shown).
The first stopper 21 is moved in the X direction by the moving means 21a, and the position of the first stopper 21 can be changed according to various storage patterns.

Next, the sensor 22 is provided on the upstream side of the case accumulation position B. The sensor 22 detects the case 2 passing through the sensor 22 and transmits a detection signal to the control means.
The second stopper 23 is provided on the upstream side of the sensor 22 and is provided on both sides so as to sandwich the case conveyor 5. The case 2 is stopped by holding the case 2 on the case conveyor 5 from both sides. It has become.
The third stopper 24 is provided on the upstream side of the second stopper 23 so as to sandwich the case conveyor 5, and like the second stopper 23, the case 2 on the case conveyor 5 is sandwiched from both sides. 2 is stopped.

The robot 6 includes an arm 31 connected to a base 30 provided adjacent to the bottle conveyor 4 and a container 1 on the bottle conveyor 4 provided at the tip of the arm 31 to hold the container 1 on the case conveyor 5. The work head 32 is housed in the case 2.
The arm 31 reciprocates the work head 32 between the article accumulation position A of the bottle conveyor 4 and the case accumulation position B of the case conveyor 5 and moves the work head 32 at the article accumulation position A and the case accumulation position B. By moving in the Z direction, the container 1 is lifted from the article accumulation position A so as not to interfere with the guide member 11, and the grasped container 1 is stored from above the case 2 at the case accumulation position B.

Hereinafter, the work head 32 will be described with reference to FIGS. 2 and 3. The work head 32 includes a gripper 33 that holds the containers 1 one by one, and a gap adjusting unit 34 that adjusts the gap between the grippers 33. Has been.
In FIG. 2, the configuration of the work head 32 is substantially bilaterally symmetric. The right side in the figure shows the state where the interval between the grippers 33 is set to the minimum by the interval adjusting means 34, and the left side in the figure shows the interval adjustment. The state where the interval between the grippers 33 is set to the maximum by the means 34 is shown.
As shown in FIG. 3, the gripper 33 is held by a holding member 35 that constitutes the gap adjusting means 34, and is provided at a pipe portion 33a that vertically penetrates the holding member 35 and at a lower end portion of the pipe portion 33a. And a spring member 33c elastically mounted between the chuck 33b and the holding member 35.
An air supply source (not shown) is connected to the upper end of the pipe portion 33a. When air is supplied from the air supply source, the inside of the chuck 33b expands so that the upper portion of the container 1 can be gripped. The container 1 can be released by discharging.
Further, the spring member 33c biases the chuck 33b downward, and even if the chuck 33b and the container 1 interfere when the work head 32 is lowered, the chuck 33b is retracted upward. Therefore, damage to the gripper 33 can be prevented.

The interval adjusting means 34 includes a frame 41 connected to the arm 31, twelve stays 42 slidably holding the holding member 35 in the Y direction, and movably provided in the X direction. Similarly, the holding member 35 is slidably held in the X direction, and the three shafts 43 provided to be movable in the Y direction, the X direction pantograph mechanism 44 for moving the stay 42 in the X direction, and the 12 A pair of X direction driving means 45 that are connected to stays 42 arranged at both ends in the X direction of the book stays 42 and drive the X direction pantograph mechanism 44, and Y that moves the X direction shaft 45 in the Y direction. The directional pantograph mechanism 46 is connected to the shaft 43 disposed at the lowest position in FIG. 2 among the shafts 43 to drive the Y-directional pantograph mechanism 46. And a Y-direction driving means 47..
The frame 41 has a substantially rectangular shape as shown in FIG. 2 and is provided so as to surround a range wider than the article accumulation position A and the case accumulation position B, and the four members constituting the frame 41 are: They are oriented in the X and Y directions, respectively.
An X-direction main rail 41a is provided in the X direction on the inner side of the member provided in the X direction of the frame 41, and the Y direction is provided on the inner side of the member provided in the Y direction. A Y-direction main rail 41b is provided.

The stays 42 are provided in the same number (12) as the number of containers 1 stacked in the article stacking position A in the X direction. The stays 42 move along the X-direction main rail 41a at both ends of each stay 42. Possible slide blocks 51 (51A to 51L) are connected.
In the following description, the first to twelfth slide blocks 51 </ b> A to 51 </ b> L are sequentially called from the slide block 51 located on the right side in the X direction in the drawing, which is the downstream side in the transport direction of the container 1.
Fixed stays 52 are fixed in the center of the frame 41 in the Y direction, and six stays 42 are provided with the fixed stays 52 interposed therebetween.
On the other hand, the shafts 43 are provided in the same number (three) as the number of rows in the Y direction of the containers 1 accumulated at the article accumulation position A, and are provided so as to intersect above the stays 42.
Among these, the shaft 43 located at the center is fixed to the frame 41, and the slide blocks 53 movable along the Y-direction main rail 41b are connected to both ends of the shaft 43 located on both sides thereof. Yes.

Each holding member 35 is provided at a position where the stay 42 and the shaft 43 intersect with each other, and is provided so as to be slidable relative thereto.
Specifically, three holding members 35 are slidably provided on each stay 42, and twelve holding members 35 are slidably provided on each shaft 43.
Therefore, when the stay 42 moves in the X direction, the holding member 35 moves in the X direction along the shaft 43, and when the shaft 43 moves in the Y direction, the holding member 35 moves in the Y direction along the stay 42. It becomes.
In addition, the gap between the grippers 35 held by the holding member 35 is always maintained at an equal interval in each of the X direction and the Y direction, except when the connecting means 57 described below is operated. Yes.

FIG. 4 shows the X-direction pantograph mechanism 44. The X-direction pantograph mechanism 44 is provided at both ends of the stay 42 as shown in FIG. 2, and has the same configuration.
The X-direction pantograph mechanism 44 is adjacent to a central shaft 54 provided in each of the first to twelfth slide blocks 51A to 51L and a link member 55 that is rotatably supported around the central shaft 54. A support shaft 56 (56a to 56k) that rotatably supports end portions of the link member 55 and a connecting means 57 (57a to 57e) that holds the required support shaft 56 in a separable manner are provided.
The center shaft 54 is fixed to the slide blocks 51A to 51L. The center of the center shaft 54 moves along the X-direction main rail 41a and the grippers 33 connected to the holding members 35 held by the stays 42. Located at the same position as the center.
The link members 55 are pivotally supported by the central shaft 54 so as to intersect with the slide blocks 51A to 51L two by two, and the distance from the central shaft 54 to the respective support shafts 56a to 56k in each link member 55 is equal. It has become.

The support shaft 56 is configured to rotatably support the ends of the link member 55. As shown in FIG. 4, two support shafts 56 are provided between the slide blocks 51 in the vertical direction. ing.
In the following description, the upper and lower two support shafts 56 positioned between the first slide block 51A and the second slide block 51B are referred to as the first support shaft 56a, and hereinafter the second slide block 51B to the twelfth slide block 51L. The support shafts 56 positioned between the two are referred to as second to eleventh support shafts 56b to 56k, respectively.
The connecting means 57 is provided on each of the fourth to eighth support shafts 56d to 56h, and the two fourth support shafts 56d positioned above and below are provided for each fourth support shaft 56d. The fifth to eighth support shafts 56e to 56h are held by the first connecting means 57a and the second to fifth connecting means 57b to 57e, respectively.
On the other hand, the first to third support shafts 56a to 56c and the ninth to eleventh support shafts 56i to 56k which are not held by the first to fifth connecting means 57a to 57e are end portions of the adjacent link members 55. These are pivotally supported so as to be rotatable relative to each other (see FIG. 2).
In other words, the ends of the link member 55 that are pivotally supported by the first to third support shafts 56a to 56c and the ninth to eleventh support shafts 56i to 56k always rotate on the same axis. Yes.

The first to fifth connecting means 57a to 57e will be described. The first to fifth connecting means 57a to 57e are respectively held by a movable frame 58 provided so as to be movable in the Z direction with respect to the frame 41. ing.
The movable frame 58 is provided above and below the X-direction pantograph mechanism 44 as shown in FIG. 3, and a slide rail 60 is provided in the Z direction on the side surface of the movable frame 58 on the frame 41 side. A slide member 61 that slides relative to the slide rail 60 is fixed.
Accordingly, the movable frame 58 is moved relative to the frame 41 in the Z direction by the slide rail 60 and the slide member 61.
A plate rail 59 is provided inside the movable frame 58 in the X direction, and the first to fifth connecting means 57a to 57e are moved in the X direction by the plate rail 59. It has become.

Hereinafter, of the first connecting means 57a that holds the fourth support shaft 56d, the first connecting means 57a that holds the upper fourth support shaft 56d will be described with reference to FIGS.
Here, the first connecting means 57a holding the lower fourth support shaft 56d has the same configuration, and the two first connecting means 57a are controlled to perform the same operation simultaneously. Yes.
As shown in FIG. 4, the first connecting means 57a provided at the upper part and the first connecting means 57a provided at the lower part are attached so that the direction in which the following rod 63b expands and contracts is opposite. It has been.
Further, the second to fifth connecting means 57b to 57e have the same configuration as the first connecting means 57a, and thus detailed description thereof is omitted.
5 (a) and 6 (a) are diagrams in which the fourth support shaft 56d is coaxial with the first connecting means 57a, and FIGS. 5 (b) and 6 (b) are the first connecting means 57a. The figures show that the fourth support shaft 56d is in a different axis state.
The first connecting means 57a is composed of two plates 62 provided so as to be movable along the plate rail 59, and an air cylinder 63 provided between the plates 62 for contacting and separating them. Yes.
One plate 62 is provided so as to move along one plate rail 59 provided on the movable frame 58, and the other plate 62 is provided so as to move along the other plate rail 59. Yes.
As shown in FIG. 7, the fourth support shaft 56d is separated between the end of one link member 55 and the other link member 55, and the separated fourth support shaft 56d is one plate. The other fourth support shaft 56 d is fixed to the other plate 62.
The end of the link member 55 that is pivotally supported by the fourth slide block 51D is pivotally supported by one plate 62 so as to be rotatable by one (front side in the drawing) and the other plate. 62, the end of the link member 55 pivotally supported by the fifth slide block 51E is rotatably supported by the other (back side in the figure) fourth support shaft 56d.

The air cylinder 63 is composed of a main body portion 63 a fixed to one plate 62 and connected to an air supply means (not shown), and a rod 63 b having a tip fixed to the other plate 62.
Specifically, the main body portion 63a is fixed to a plate 62 on the near side of the figure that connects the fourth support shaft 56d on the near side of the figure that pivotally supports the link member 55 that is pivotally supported on the fourth slide block 51D. 63b is fixed to a plate 62 on the back side in the figure that connects the fourth support shaft 56d on the back side in the figure that supports the link member 55 that is pivotally supported on the fifth slide block 51E.
In the case of the first connecting means 57a located in the lower part of FIG. 4, the main body 63a connects the fourth support shaft 56d on the back side of the drawing which supports the link member 55 supported by the fourth slide block 51D. The rod 63b is fixed to the plate 62 on the near side connecting the fourth support shaft 56d on the near side, which supports the link member 55 pivotally supported on the fifth slide block 51E. Has been.
The air cylinder 63 is configured to expand and contract the rod 63b in the X direction by supplying air to the main body 63a, and can be switched between a contracted state and an extended state of the rod 63b.
When the rod 63b shown in FIGS. 5 (a) and 6 (a) is contracted, the separated fourth support shaft 56d rotates on the same axis, and is in a coaxial state. In the extended state of the rod 63b shown in (b), the separated fourth support shaft 56d is in a different shaft state rotating on a different shaft.
In this way, when the first connecting means 57a switches the fourth support shaft 56d from the coaxial state to the different shaft state so that the distance between the fourth support shafts 56d changes, the fourth slide block 51D and the above-mentioned first space are changed. The interval between the five slide blocks 51E is widened, and the gap between the grippers 33 connected thereto is wider than the interval between the grippers 33 connected to other slide blocks.

The X-direction drive means 45 is provided at two positions on both ends of the frame 41 in the X direction, and is connected to the outermost stay 42 among the stays 42.
The X-direction drive means 45 is a conventionally known servo cylinder, and moves the stays 42 at both ends in opposite directions under the control of the control means.
By moving the stays 42 at both ends in opposite directions, the other stays 42 not connected to the X-direction drive means 45 are moved in the X direction in conjunction with the X-direction pantograph mechanism 44.
Further, the amount of movement of the stay 42 by each X-direction driving means 45 is set in advance in accordance with the interval between the containers 1 held at the article accumulation position A and the interval between the containers 1 accommodated in the case 2 at the case accumulation position B. It is registered in the control means.

Hereinafter, the X-direction pantograph mechanism 44 and the X-direction drive means 45 having the above-described configuration, for example, from the state where the fourth to eighth support shafts 56d to 56h are maintained in a coaxial state, the first and fifth connection means 57a and 57e. The operation when the different axis state is set will be described.
First, the control means stops the air supplied to the air cylinders 63 of the first and fifth connecting means 57a and 57e so that the main body 63a and the rod 63b are slidable.
Next, the stay 42 is moved by the distance of the fourth support shaft 56d, which is in a different axis state, by the X direction driving means 45 located on the right side in the figure, and the X direction driving means 45 located on the left side in the figure. Then, the stay 42 is moved by an interval of the eighth support shaft 56h that is in a different shaft state.
At this time, since air is supplied to the air cylinders 63 of the second to fourth connecting means 57b to 57d, the fifth to seventh support shafts 56e to 56g are kept in a coaxial state, and the fourth support shaft 56d. Only the eighth support shaft 56h is separated from each other and is in a different shaft state.
At this time, in the first connecting means 57a located in the upper part of FIG. 4, the plate 62 connected to the rod 63b does not move, and the plate 62 connected to the main body 63a moves to the right in the figure. In the first connecting means 57a located below the figure in FIG. 4, the plate 62 to which the rod 63b is connected moves to the right in the figure.
On the other hand, in the fifth connecting means 57e located in the upper part of FIG. 4, the plate 62 connected to the main body 63a does not move, and the plate 62 connected to the rod 63b moves to the left in the figure. In the fifth connecting means 57e located in the lower part of FIG. 4, the plate 62 connected to the main body 63a moves to the left in the figure.
Finally, by supplying air in the direction in which the rod 63b extends to the air cylinder 63 of the first and fifth connecting means 57a and 57e, the fourth and eighth support shafts 56d and 56h are brought into different axes. Will be maintained.
When the sixth support shaft 56f is brought into a different shaft state by the third connecting means 57c located at the center, the X direction driving means 45 located on the right side in the figure and the X direction driving means 45 located on the left side in the figure. Means that the stay 42 is moved by a movement amount that is half of the distance between the sixth support shafts 56f.

As shown in FIG. 2, the Y-direction pantograph mechanism 46 is provided at both ends of the frame 41 in the X direction, and both have the same configuration.
Each Y-direction pantograph mechanism 46 includes a central shaft 71 provided at three locations, a link member 72 rotatably supported on the central shaft 71, and an end portion of the adjacent link member 72 that is rotatable with respect to each other. And a supporting shaft 73 to be supported.
Among the central shafts 71, the central shaft 71 a located at the center is fixed to the frame 41, and the center is the same position as the center of the gripper 33 connected to the holding member 35 held by the fixed shaft 43. Is provided.
Further, the center shafts 71b located on both sides of the center shaft 71a located at the center are fixed to the slide block 53, and are movable in the Y direction together with the slide block 53.
Each of the link members 72 is pivotally supported so as to intersect with each of the center shafts 71, and the distance from each of the center shafts 71 to the support shaft 73 is set to be the same. They are always rotated on the same axis by the support shaft 73.
When the Y-direction pantograph mechanism 46 is operated, the distance between the gripper 33 connected to the central fixed shaft 43 and the gripper 33 connected to the moving shaft 43 on both sides of the gripper 33 in the Y direction is equal. It can be moved in the Y direction while maintaining.
The Y-direction drive means 47 is a conventionally known servo cylinder, and is connected to any one of the shafts 43 provided so as to be movable, and moves forward and backward in the Y-direction.

The operation of the caser 3 having the above configuration will be described below.
First, the bottle conveyor 4 conveys the containers 1 supplied from a previous process (not shown), and these containers 1 are guided by three sets of guide members 11 and conveyed in a continuous state without any gaps.
When the sensor 13 provided in each guide member 11 detects the passage of the container 1 and the twelve containers 1 pass through the sensor 13, the control means operates the rotary stopper 14 to Stop container 1.
Twelve containers 1 that have passed through the sensor 13 are transported downstream as they are, and when the leading container 1 comes into contact with the accumulation stopper 12 and stops, a total of 36 containers 1 are brought into close contact with the article accumulation position A. It will be accumulated in the state.
At the article accumulation position A, the containers 1 are aligned without gaps in the X direction, and the distance between the centers of the containers 1 is P1. In the Y direction, the distance between the centers of the containers 1 is P2 by the guide member 11.

Next, the case conveyor 5 conveys the case 2 with a predetermined interval from the upstream side. At this time, the first stopper 21 protrudes above the case conveyor 5.
When the sensor 22 detects the passage of the case 2 and the sensor 22 detects the fourth case 2 after the three cases 2 have passed through the sensor 22, the control means activates the second stopper 23. The fourth case 2 is stopped.
As a result, the fifth and subsequent cases 2 are blocked by the fourth and subsequent cases 2, and the cases 2 are accumulated upstream of the second stopper 23 without a gap.
The three cases 2 that have passed through the sensor 22 are transported to the downstream side as they are, and when the leading case 2 comes into contact with the first stopper 21 and stops, the second and third cases 2 are respectively the first one. The three cases 2 are aligned with the case accumulation position B without any gaps.
At the case accumulation position B, each case 2 accommodates a total of 12 containers 1 with four in the X direction and three in the Y direction without any gaps. The distance between the centers of the two is the same P3 as the distance P1 in the X direction on the bottle conveyor 4 in both the X direction and the Y direction.
Here, since the case 2 is made of a thick member such as corrugated cardboard, the distance between the container 1 stored in one adjacent case 2 and the container 1 stored in the other case 2 is as described above. P4 is obtained by adding the thickness of the case 2 to P3.
That is, the distance between the fourth and fifth containers 1 and the distance between the eighth and ninth containers 1 counted from the downstream side in the transport direction is P4.

In this way, when the container 1 is accumulated at the article accumulation position A of the bottle conveyor 4 and the case 2 is accumulated at the case accumulation position B of the case conveyor 5, the control means operates the robot 6 to operate the article accumulation position A. The container 1 is gripped and the container 1 is stored in the case 2 at the case accumulation position B.
In advance, the control means operates the distance adjusting means 34 of the work head 32 of the robot 6 to adjust the distance between the grippers 33 to the distance between the containers 1 at the article accumulation position A.
Specifically, the X-direction pantograph mechanism 44 is operated so that the X-direction interval of the gripper 33 becomes P1, and the Y-direction pantograph mechanism 46 is set so that the Y-direction interval of the gripper 33 becomes P2. Operate.
At this time, the control means maintains the air cylinder 63 of the first to fifth connecting means 57a to 57e of the X-direction pantograph mechanism 44 in a contracted state, and the fourth to fifth support shafts 56d to 56h are made coaxial. ing.
Thereafter, when the arm 31 moves the work head 32 above the article accumulation position A and then lowers the work head 32 so that the upper portion of the container 1 is accommodated in the chuck 33b of the gripper 33, the air supply means The inside of the chuck 33b is deformed, and each container 1 is gripped by the gripper 33.

When all the containers 1 at the article accumulation position A are gripped by the gripper 33 in this way, the arm 31 raises the work head 32 and moves the work head 32 above the case accumulation position B of the case conveyor 5. Move to.
During the movement, the control means operates the interval adjusting means 34 to change the interval between the containers 1 from the interval at the article accumulation position A to the interval at the case accumulation position B.
More specifically, the interval between the containers 1 in the X direction is the same interval between P1 and P3, but the fourth and fifth containers 1 and the eighth and ninth containers counted from the downstream side in the transport direction. The interval from 1 needs to be increased to P4.
On the other hand, since the interval between the containers 1 in the Y direction is P2 larger than P3, it is necessary to narrow the interval between the containers 1 in the Y direction to P3.

Therefore, the control means first stops the supply of air from the first connecting means 57a and the fifth connecting means 57e to the air cylinder 63 so that the rod 63b and the main body 63a can be contracted.
Next, the control unit controls the two X-direction drive units 45 to move the stays 42 connected to the X-direction drive units 45 in the X direction by the difference between P3 and P4, respectively.
At this time, since the air cylinders 63 of the second to fourth connecting means 57b to 57d are maintained in the contracted state, the fifth to seventh support shafts 56e to 56g maintain the coaxial state, thereby the fourth support shaft. Only 56d and the eighth support shaft 56h are separated from each other and change from the coaxial state to the different shaft state.
In this state, the control means supplies air to the air cylinders 63 of the first connecting means 57a and the fifth connecting means 57e to maintain the rod 63b in the extended state, and the fourth support shaft 56d and the eighth support shaft 56h. Maintain the different axis state.
As a result, the distance between the fourth and fifth containers 1 counting from the downstream side in the transport direction and the gripper 33 holding the eighth and ninth containers 1 is switched from P3 to P4.
On the other hand, the control means controls the Y-direction driving means 47 to move the shaft 43 in the Y direction, thereby switching the interval of the gripper 33 from P2 to P3.
When the spacing between the grippers 33 is adjusted in this way, the control means lowers the work head 32 to store the containers 1 in the cases 2, and then the supply of air to the grippers 33 is stopped. The gripper 33 releases the container 1.

In the bottle conveyor 4, when the working head 32 takes away the container 1 from the article accumulation position A, the container 1 that has been blocked by the rotary stopper 14 is released under the control of the control means.
As a result, the container 1 is conveyed again to the downstream article accumulation position A while passing through the sensor 13, and when the 12 containers 1 pass again through the sensor 13, the thirteenth container 1 is blocked by the rotary stopper 14. It becomes.
On the other hand, in the case conveyor 5, when the work head 32 stores the container 1 in each case 2, the control means controls the first stopper 21 to retract from the case conveyor 5, and the case 2 storing the container 1 is It is conveyed to a post process (not shown).
Here, in the case conveyor 5, the second and subsequent cases 2 are blocked by the second stopper 23. At this time, the adjacent cases 2 are aligned without any gaps. Cannot be detected.
Therefore, from the state where the second stopper 23 stops the fourth case 2, the control means first controls the third stopper 24 to grip the fifth case 2.
Next, when the fifth case 2 is gripped by the third stopper 24, the second stopper 23 releases the fourth case 2 and transports only the fourth case 2 to the downstream side.
Then, after the predetermined time has elapsed, the third stopper 24 releases the fifth case 2 so that a gap is formed between the fourth case 2 and the fifth case 2. .
When the fourth case passes the sensor 22 and then the fifth case 2 is detected by the sensor 22, the control means immediately stops the fifth case 2 by the second stopper 23, and then continues. Then, the sixth case 2 is stopped by the third stopper 24.
When the third stopper 24 stops the sixth case 2, the second stopper 23 releases the fifth case 2, and between the fifth case 2 and the sixth case 2. Create a gap.
Thereafter, by repeating the same operation as described above, a gap is formed between the case 2 and the case 2 passing through the sensor 22, and the three cases 2 can be accumulated at the case accumulation position B.

According to the caser 3 of the present embodiment as described above, even when the storage pattern is changed by changing the diameter of the container 1 or the number of cases 2 stored, it is possible to easily cope with this. It has become.
FIG. 8 is a diagram showing four storage patterns (a) to (d) as an example. The upper part of each figure shows the accumulation state of the container 1 at the article accumulation position A, and the lower part is the case accumulation position B. The storage state of the container 1 is shown respectively.
First, FIG. 8A shows the storage pattern in the above embodiment, and the diameter of each container is d. In addition, as described in the above embodiment, three rows of containers 1 are stacked at 12 article stacking positions A without gaps, and the interval in the X direction is P1, and the interval in the Y direction is P2.
At the case accumulation position B, each case 2 accommodates a total of 12 containers 1, four in the X direction and three in the Y direction, and the interval between the containers 1 is P3. Yes. Moreover, the space | interval of the container 1 between the adjacent cases 2 is P4.
In this case, the interval adjusting means 34 adjusts the interval in the X direction of the gripper 33 at the article accumulation position A to P1, and the interval in the Y direction to P2.
The gaps in the X and Y directions of the gripper 33 at the case stacking position B are adjusted to P3 except for a part, and the fourth and fifth containers counted from the downstream side in the transport direction (the right side in FIG. 8). The distance between the first container 8 and the ninth container 1 is expanded to P4 by operating the first and fifth connecting means 57a and 57e.

In FIG. 8B, the number of containers stored in the case 2 is the same as the storage pattern of FIG. 8A, but the diameter of the container 1 is d ′ larger than the diameter d.
For this reason, the interval in the X direction of the article accumulation position A is P1 ′ wider than P1, and the interval in the Y direction is P2 (may be P2 ′ different from P2).
On the other hand, in each case 2 at the case accumulation position B, the container 1 is accommodated in P3 ′ wider than P3, and the distance between the containers 1 and 1 between adjacent cases 2 is P4 ′ wider than P4. It has become.
In this case, the position of the accumulation stopper 12 of the bottle conveyor 4 and the position of the first stopper 21 of the case conveyor are respectively moved to the downstream side in the transport direction.
This is because the X-direction pantograph mechanism 44 operates around the fixed stay 52, and the top of the aligned containers 1 moves downstream by the amount of the large diameter of the containers.
The interval adjusting means 34 adjusts the interval in the X direction of the gripper 33 at the article accumulation position A to P1 ′ and the interval in the Y direction to P2.
Also at the case accumulation position B, the gap between the gripper 33 in the X direction and the Y direction is adjusted to P3 ′ except for a part thereof, and the fourth and fifth containers 1, 8 from the downstream side in the transport direction, The distance from the ninth container 1 is adjusted to P4 ′ by operating the first and fifth connecting means 57a and 57e.

FIG. 8C shows a storage pattern in which the diameter of the container is d ′, and the number of containers 1 accumulated at the article accumulation position A is different from the number of containers 1 accommodated in each case 2. .
Although the containers 1 are conveyed in three rows by the guide members 11 at the article accumulation position A, ten containers 1 are accumulated in each row.
For this reason, the interval in the X direction of the article accumulation position A is P1 ′, and the interval in the Y direction is P2.
On the other hand, in each case 2 at the case accumulation position B, five containers 1 are accommodated in a total of 15 containers in the X direction and three in the Y direction, and the interval between adjacent containers is P3 ′. In addition, the interval between the containers 1 between the adjacent cases 2 is P4 ′.
In this case, the grippers 33 located at the upstream end and the downstream end in the X direction are removed one by one from the work head 32 in advance, and the position of the accumulation stopper 12 of the bottle conveyor 4 and the position of the first stopper 21 of the case conveyor. Are respectively moved upstream in the transport direction.
The interval adjusting means 34 adjusts the interval in the X direction of the gripper 33 at the article accumulation position A to P1 ′ and the interval in the Y direction to P2.
Also at the case accumulation position B, the gap between the gripper 33 in the X direction and the Y direction is adjusted to P3 ′ except for a part thereof, and the gap between the fifth and sixth containers 1 counted from the downstream side in the transport direction is The three connecting means 57c is operated and adjusted to P4 ′.

FIG. 8D shows that the diameter of the container is d ″ larger than d ′, and the number of containers 1 accumulated at the article accumulation position A and the number of containers 1 accommodated in each case 2 are as follows. Have different storage patterns.
At the article accumulation position A, the containers 1 are conveyed in two rows by each guide member 11, and nine containers 1 are accumulated in each row.
For this reason, the interval in the X direction of the article accumulation position A is P1 ″ wider than P1 ′, and the interval in the Y direction is P2.
On the other hand, in each case 2 at the case accumulation position B, three containers 1 are accommodated in total, three in the X direction and two in the Y direction, and the interval between adjacent containers is from P3 ′. Is wider P3 ″, and the distance between the containers 1 between adjacent cases 2 is P4 ″ wider than P4 ′.
In this case, it is only necessary to remove three grippers 33 from each row of the twelve grippers 33 aligned in the X direction in advance, and to remove the grippers 33 in one of the rows at both ends in the Y direction. The work head 32 holds nine grippers 33 in a state of being aligned in two rows.
At this time, for example, three grippers 3 positioned on the upstream side may be removed from the grippers 33 aligned in the X direction, or two from the upstream side and one from the downstream side may be removed.
On the other hand, the position of the accumulation stopper 12 of the bottle conveyor 4 and the position of the first stopper 21 of the case conveyor are respectively moved upstream in the transport direction.
The interval adjusting means 34 adjusts the interval in the X direction of the gripper 33 at the article accumulation position A to P1 ″ and the interval in the Y direction to P2.
Also at the case accumulation position B, the gap between the gripper 33 in the X direction and the Y direction is adjusted to P3 ″ except for a part thereof, and the third and fourth containers 1 and the sixth one are counted from the downstream side in the transport direction. And the seventh container 1 are adjusted to P4 ″ by operating the first and fourth connecting means 57a and 57d.

Thus, according to the caser 3 of the present embodiment, the container 1 can be stored in the case 2 based on various storage patterns without replacing the work head 32.
In the above embodiment, a total of 36 containers 1 in 12 rows in the transport direction and 3 rows in the direction orthogonal to the article accumulation position A can be gripped, but the shaft 43 and stays 42 are increased, If the holding members 35 to which the grippers 33 are connected are provided on these, even a larger number of containers 1 can be handled.
In the above-described embodiment, the first to third support shafts 56 a to 56 c and the ninth to eleventh support shafts 56 i to 56 k in the X direction pantograph mechanism 44 are not provided with a connecting means. Although no connection means is provided for the support shaft 73, providing the connection means for these supports more various storage patterns.

The layout about the caser concerning a present Example. The top view about a working head. The side view about a working head. The side view about an X direction pantograph mechanism. The enlarged side view seen from the Y direction about a connection means. The enlarged plan view about a connection means. The enlarged side view seen from the X direction about a connection means. The figure explaining various storage patterns.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Container 2 Case 4 Bottle conveyor 5 Case conveyor 6 Robot 11 Guide member 32 Work head 33 Gripper 34 Space | interval adjustment means 35 Holding member 41a X direction main rail 41b Y direction main rail 42 Stay 43 Shaft 44 X direction pantograph mechanism 45 X direction drive Means 46 Y-direction pantograph mechanism 47 Y-direction drive means 51A to 51L First to twelfth slide blocks 54 Central shaft 55 Link members 56a to 56k First to eleventh support shafts 57a to 57e First to fifth connection means 59 For plates Rail 62 Plate 63 Air cylinder

Claims (3)

In an article transfer device comprising a plurality of grippers for gripping an article and an interval adjusting means for adjusting an interval between the grippers,
The distance adjusting means includes a main rail provided in a predetermined direction, a plurality of holding members that move along the main rail and that are connected to the grippers, and are connected to the holding members and are connected to the rails along the rail. With a pantograph mechanism to move
The pantograph mechanism includes a link member that is coupled to each holding member and whose shaft is rotatably supported, and a support shaft that rotatably supports the ends of adjacent link members.
A connecting means for holding a required support shaft in a switchable manner between a coaxial state in which the ends of the link members rotate on the same axis and a different shaft state in which the ends of the link members rotate at a distance from each other. Provided,
An interval between adjacent grippers when the supporting shaft is coaxially connected by the connecting means and an interval between adjacent grippers when the supporting shaft is in a different axis state are different in the direction of the main rail. Goods transfer device. The articles are stacked at a predetermined interval at an article stacking position, and the articles gripped by the article transfer device are stored in a plurality of aligned cases at a predetermined interval. And
When gripping the article at the article accumulation position, the connecting means makes the support shaft coaxial,
When the article is stored in the case, the connecting means includes a holding member connected to a gripper holding a container stored in one case and a gripper connected to a gripper holding a container stored in the other case. 2. The article transfer device according to claim 1, wherein the support shaft positioned between the members is in a different shaft state, and the gap between the grippers at the position is expanded in accordance with the thickness of the adjacent case.   The connecting means includes a pair of plates that are rotatably connected to end portions of adjacent link members via the support shaft, and a cylinder that is provided between the plates and contacts and separates them in the direction of the main rail. The article transfer apparatus according to claim 1, wherein the article transfer apparatus is configured by a unit.

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