JP2010202253A - Article holding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article holding device which can throw an article into a container making the article in a falling down sideways posture appropriately. <P>SOLUTION: A holding means 51 in a classification apparatus 1 is equipped with a device body 56 and a rotating body 65 provided rotatably in the device body 56. A pair of pinching and holding bodies to pinch and hold an opening mouth part W1 at the upper end of the article W in a standing posture is provided at the rotating body 65. A sucking and holding means to suck and hold a side face which faces upward in the falling down sideways posture among side faces of the article W in a standing posture, is provided at the rotating body 65. The holding means 51 throws the article held in the standing posture with the pinching and holding bodies and the sucking and holding means into the container for shipping after changing the standing posture to the falling down sideways posture by rotation of the rotating body 65 to the device body 56. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an article holding device that can put an article into a container in an appropriate lying-down posture.

  Conventionally, for example, an article holding device described in Patent Document 1 below is known.

  This article holding device is a pair of an apparatus main body, a movable body provided on the apparatus main body so as to be horizontally movable and movable up and down, and holding an article by sandwiching an upper end portion of an article in a standing posture provided on the movable body. And a sandwiching body. Then, the articles in the standing posture held by the pair of holding bodies are put into the container in the standing posture.

JP-A-6-239305

  However, in the above-described conventional article holding device, the attitude of the article cannot be changed from the standing position to the lying position, and the article cannot be put into the container in the lying position.

  The present invention has been made in view of these points, and an object of the present invention is to provide an article holding apparatus that can put an article into a container in an appropriate lying-down posture.

  The article holding device according to claim 1 is a device main body, a rotating body rotatably provided on the apparatus main body, and a pair of holding members that are provided on the rotating body and hold an upper end portion of an article in a standing posture. And a suction holding means provided on the rotating body for sucking and holding a side surface of the article in a standing posture, and the article in the standing posture held by the sandwiching body and the suction holding means is disposed on the rotating body. After the side surface sucked and held by the suction holding means is turned to a sideways posture by turning with respect to the apparatus main body, it is put into the container.

  According to a second aspect of the present invention, there is provided the article holding device according to the first aspect, wherein the suction holding means sucks and holds the upper side of the side surface of the standing article and the lower side of the standing article. And a side suction holder.

  According to the first aspect of the present invention, the side surface in which the article held in the standing position held by the sandwiching body and the suction holding means is sucked and held by the suction holding means by the rotation of the rotating body with respect to the apparatus main body falls sideways. By putting the product into the container after taking the posture, it is possible to put the article into the container in an appropriate sideways posture.

  According to the invention of claim 2, the suction holding means has the upper suction holding body that sucks and holds the upper side surface of the article in the standing posture and the lower suction holding body that sucks and holds the lower side surface of the article in the standing posture. Therefore, the side surface of the article can be stably held by the upper suction holding body and the lower suction holding body.

It is a perspective view of a sorting device provided with the article holding device concerning one embodiment of the present invention. It is a top view of a sorting apparatus same as the above. It is a figure which shows the articles | goods mounted in the mounting table of the sorting apparatus same as the above. It is a figure which shows an example of a motion of the articles | goods on the conveyance conveyor of a sorting apparatus same as the above. It is a figure which shows an example of a motion of the articles | goods following FIG. It is a figure which shows an example of a motion of the article | item following FIG. It is a figure which shows an example of a motion of the article | item following FIG. It is a figure which shows an example of a motion of the article | item following FIG. It is a side view which shows an article holding | maintenance apparatus (robot) same as the above. It is a side view of the robot hand part of an article holding apparatus same as the above. It is a side view of the robot hand part of an article holding apparatus same as the above. It is a bottom view of the robot hand part of an article holding apparatus same as the above. It is a front view of the container conveyance means and bag breakage prevention means of the sorting apparatus same as above. It is a side view of a container conveyance means same as the above and a bag breakage prevention means. It is a perspective view at the time of retraction | saving of the rotation board of a bag damage prevention means same as the above. It is a perspective view at the time of advancement of the rotation board of a bag damage prevention means same as the above. It is operation | movement explanatory drawing of a holding means same as the above and a bag breakage prevention means. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG. It is operation | movement explanatory drawing following FIG.

  An embodiment of the present invention will be described with reference to the drawings.

  1 and 2, reference numeral 1 denotes a sorting device. The sorting device 1 is a boxing device that sorts and packs a plurality of types, for example, two types of articles W based on order information. That is, the sorting device 1 takes out a plurality of types of articles W from the storage container A such as a storage box, and rearranges them based on the order information, and sorts the articles W of the order number corresponding to the order information into a shipping box or the like. It sorts into the shipping container B which is a container.

  The article W is a beverage pack in which a beverage (for example, milk, coffee, fruit juice, etc.) is enclosed in a rectangular tube-shaped paper container, for example. The article W has a substantially rectangular parallelepiped shape that is slightly longer in the vertical direction, and has a substantially plate-shaped opening W1 that is long in the horizontal direction and substantially along the vertical plane at the upper end.

  The storage container A is, for example, a substantially rectangular parallelepiped tray having a substantially rectangular upper surface opening A1. In the storage container A, a plurality of standing articles W, for example, a total of 12 articles W in 4 × 3 rows of the same type are stored.

  The shipping container B is a case having a substantially rectangular parallelepiped shape having a substantially rectangular upper surface opening B1. In the shipping container B, the articles W in a sideways posture corresponding to the order information are stored via a bag C such as a plastic bag. For example, a maximum of 8 (4 × 2) articles W are placed in the shipping container B. When the number of orders corresponding to one order information is 9 or more, the order information is divided and processed.

  The sorting apparatus 1 includes one storage container transport means 2 for transporting a single type of article W, for example, a storage container A in which a beverage pack enclosing milk is stored in a plurality of rows in a standing posture, and this one storage And an empty storage container transport means 3 that transports an empty storage container A disposed at a side position of the container transport means 2.

  Further, the sorting apparatus 1 conveys storage containers A in which different types of articles W different from the one type of articles W, for example, beverage packs filled with coffee are stored in a plurality of rows in a standing posture. Other storage container transporting means 4 and other empty storage container transporting means 5 for transporting an empty storage container A disposed at a side position of the other storage container transporting means 4 are provided.

  Each of the conveying means 2, 3, 4, and 5 is constituted by, for example, a roller conveyor, and has a conveyor frame 6 that is spaced apart from each other, and a plurality of conveying containers A are conveyed between the two conveyor frames 6. A conveyance roller 7 is rotatably provided.

  The sorting apparatus 1 includes one take-out means 11 for simultaneously taking out a plurality of articles W of one type, for example, articles W in a plurality of standing postures, from the storage container A on one storage container transport means 2, And a first article transporting means 12 for transporting one type of article W taken out by the taking-out means 11 in a standing posture.

  In addition, the sorting apparatus 1 includes other take-out means 13 for simultaneously taking out a plurality of other types of articles W, for example, articles W in a standing posture in a plurality of rows, from the storage container A on the other storage container transport means 4; Other first article transport means 14 for transporting other types of articles W taken out by the other take-out means 13 in a standing posture is provided.

  As shown in FIG. 1, each take-out means 11, 13 has a moving body 18 that moves horizontally while being guided by a longitudinal guide portion 17 of an enclosure frame 16. 19 is provided so that raising and lowering is possible. The lifting body 19 is provided with a plurality of, for example, 12 air chucks (not shown) that hold the article W by sandwiching the opening W1 of the article W. Then, the article W held by the air chuck is taken out from the storage container A in a standing posture and transferred to a predetermined position.

  Each of the first article transport means 12 and 14 includes a placement table 21 that is a placement portion on which the articles W in a plurality of rows standing postures taken out by the take-out means 11 and 13 are placed, and the placement table. 21 has a transport conveyor 22 which is a transport section such as a belt conveyor for transporting the articles W in a standing posture pushed out from above.

  As shown in FIG. 3, the mounting table 21 is connected to a horizontal first mounting surface 23 and an end of the first mounting surface 23 via a downward inclined surface 24. It has a horizontal second placement surface 25 located slightly lower than the placement surface 23.

  Then, the article W whose holding by the air chuck of the take-out means 11 and 13 is released is placed on the first placement surface 23, and then 1 on the second placement surface 25 by the first pusher 26. It is pushed out row by row, i.e., for example, four. The articles W in a single standing posture pushed out on the second placement surface 25 are pushed out on the conveying start end portion of the conveying conveyor 22 while being in the standing posture by the second extrudate 27, and are conveyed to the conveying conveyor 22. Are transported.

  Further, as shown in FIG. 4 and the like, each of the first article transporting means 12, 14 is a stopper body that restricts the movement of the articles W in a single standing posture and stores a plurality of articles W on the conveyor 22. 31. The stopper body 31 is provided in the middle of the transport conveyor 22 so as to be rotatable in the horizontal direction around the vertical shaft 32. The stopper body 31 moves forward on the transport conveyor 22 by turning in one direction. The movement of the article W is restricted by contact with the front surface of the article W in the conveyance direction, and the movement in the conveyance direction of the article W is allowed by retreating from the conveyance conveyor 22 by turning in the other direction. It becomes a state.

  Furthermore, as shown in FIG. 4 etc., each 1st article conveyance means 12 and 14 is the number for separation based on order information, for example, 1 to 4 articles W, when the stopper body 31 is in an allowable state. An article sandwiching body 33 is provided. The article sandwiching body 33 includes a receiving plate member 34 which is a vertical surface receiving portion standing on a side edge portion of the conveyance conveyor 22 at a predetermined position, and the receiving member 33 pressing the article W against the receiving plate member 34. A pressing member 35 that holds one article W in a standing position with the plate member 34 is provided.

  The pressing member 35 can move forward and backward with respect to the standing article W, and can move horizontally along the transport direction of the transport conveyor 22 while being guided by the longitudinal guide member 36. Then, the pressing member 35 advances toward the side surface of any one of the second to fifth articles W counted from the first article W that is in contact with the stopper body 31 in the restricted state based on the order information. Then, the article W is clamped between the receiving plate member 34. When the stopper body 31 is rotated to be allowed from the restricted state during clamping by the article sandwiching body 33, the number of articles W based on the order information is upstream of the article W sandwiched by the article sandwiching body 33 in the transport direction. Is separated from a group of articles located in a row.

  The transport conveyor 22 of one first article transport means 12 and the transport conveyor 22 of the other first article transport means 14 are disposed at the same height and spaced apart from each other.

  The sorting apparatus 1 is arranged in a standing posture with the articles W pushed out from the two conveyors 22 disposed at the same height as the two conveyors 22 between the conveyors 22 facing each other. Second article conveying means 41 for conveying is provided.

  The second article transport means 41 has two transport conveyors that form a plurality of lines and are close to each other in parallel, that is, for example, one side transport conveyor 42 and the other side transport conveyor 43. The length in the transport direction of the one-side transport conveyor 42 is longer than the length in the transport direction of the other-side transport conveyor 43.

  In the middle of each conveyor 42, 43, the conveyor belts 42, 43 are moved into one direction by turning in one direction, and are restricted to restrict the movement of the article W. A stopper body 44 that is allowed to retreat from the top and allows movement of the article W in the conveyance direction is provided so as to be rotatable in the horizontal direction about the vertical shaft 45.

  In addition, the sorting apparatus 1 sends one type of the articles W based on the order information separated from the stored article group from the conveyor 22 of the first article conveying means 12 to the second article conveying means 41. Based on the extruding means 46, which is one transfer means for extruding the transfer conveyors 42, 43 toward one side (direction a shown in FIG. 4) and the order information separated from the stored article group. A number of other types of articles W are transferred from the conveying conveyor 22 of the other first article conveying means 14 to the conveying conveyors 42 and 43 of the second article conveying means 41 on the other side opposite to one direction (see FIG. 4). And an extruding means 47 which is another exchanging means for extruding and repositioning in the direction (b) shown.

  As shown in FIG. 4, each extrusion means 46, 47 has a plate-like extrusion body 48 that can move horizontally in a direction orthogonal to the conveyance direction of the conveyance conveyors 22, 42, 43. The extruded body 48 is formed, for example, in a size capable of extruding up to four articles W.

  Then, the extrudate 48 is in a retracted state where it is retracted from the conveyors 22, 42, and 43 by horizontal movement, and a first extruded state in which the article W is pushed out in a standing posture on the one conveyor conveyor 42, and the article W is conveyed on the other side. It is selectively switched to the second extrusion state where it is pushed out in a standing posture on the conveyor 43. Since the number of articles W to be pushed out varies depending on the order information, the number of assortments is also managed by the pushing means 46 and 47.

  Further, as shown in FIGS. 1 and 2, etc., the sorting apparatus 1 includes a container transport means 50 that is disposed at a side position of the second article transport means 41 and transports the shipping container B, and a second article transport means. A plurality of, for example, two, holding articles W in a standing position on 41 and transferring the held articles W from a standing position to a predetermined position and then transferring them to a predetermined position into a shipping container B on the container transport means 50 Holding means 51 is provided. One holding means 51 holds the article W on the one-side transfer conveyor 42 and puts it into the shipping container B, and the other holding means 51 holds the article W on the other-side transfer conveyor 43 and puts it in the shipping container B. In

  The container transport means 50 is constituted by, for example, a roller conveyor, and has conveyor frames 52 that are spaced apart from each other. A bag C is set between the two conveyor frames 52, and the bag C covers the entire inner surface. A plurality of transport rollers 53 that transport the broken shipping container B are rotatably provided. The container conveying means 50 is disposed between the second article conveying means 41 and the holding means 51 and is disposed at a position lower than the second article conveying means 41.

  Further, as shown in FIGS. 1 and 9 and the like, each holding means 51 is constituted by a cargo handling robot, for example, and has an apparatus body 56 installed on a support base 55.

  The apparatus main body 56 includes a base body 57 fixed to the support base 55, and a first arm body 58 provided on the base body 57 so as to be rotatable up to 270 degrees in the vertical direction about a horizontal axis 58a. A second arm body 59 provided at the distal end portion of the first arm body 58 so as to be rotatable up to 270 degrees in the vertical direction around a horizontal axis 59a, and a distal end portion of the second arm body 59 And a third arm body 60 rotatably provided about a horizontal axis 60a. The apparatus main body 56 includes a driving means 61 such as a driving motor for rotating the first arm body 58 with respect to the base body 57, and a driving motor for rotating the second arm body 59 with respect to the first arm body 58. And the like driving means 62. The three arm bodies 58, 59, and 60 constitute a robot arm portion 54.

  In addition, a rotating body 65 such as a rotating frame is provided at the lower end portion, which is the distal end portion of the third arm body 60, so as to be able to rotate 90 degrees in the vertical direction about a horizontal axis 66. Is rotated with respect to the third arm body 60 by the power from the driving means 67 such as a driving motor.

  Further, the rotating body 65 has a plurality of pairs, for example, four pairs of sandwiching bodies 70 that sandwich the opening portion W1 of the standing article W from both sides, and a sideways lying position among the four side surfaces of the standing article W. In this case, there is provided suction holding means 71 for sucking and holding one side surface facing upward at a plurality of locations.

  As shown in FIGS. 10 to 12, the sandwiching body 70 is provided in a state of being arranged in the horizontal direction on the support plate portion 68 of the rotating body 65 via the driving means 72 such as an air cylinder. Each sandwiching body 70 is in the shape of an elongated rod, and the paired sandwiching bodies 70 are moved in a direction approaching each other to sandwich the opening W1 of the article W, and moved in a direction away from each other to open the opening. The released state is such that the holding of the mouth portion W1 is released.

  Further, the suction holding means 71 sucks and holds the upper part of the side of the article W in the standing posture, for example, four upper suction holders 76 arranged in the horizontal direction, and sucks and holds the lower part of the side of the article W in the standing posture. For example, it has four lower suction holding bodies 77 arranged in the horizontal direction.

  Each of the suction holding bodies 76 and 77 has a substantially circular plate shape, and is provided at the tip of the support portion 69 protruding from the support plate portion 68 of the rotating body 65. The support portion 69 is provided with a pipe connection portion 73, and the other end portion of a pipe such as a hose whose one end portion is connected to negative pressure generating means (not shown) is connected to the pipe connection portion 73.

  The suction holding bodies 76 and 77 attract the side surface of the article W when the negative pressure generating means is operated to suck and hold the side face of the article W, and the suction holding of the side face is stopped when the negative pressure generating means is stopped. To release. In addition, each suction holding body 76, 77 is an article in a lying position when the rotating body 65 is rotated 90 degrees downward with respect to the apparatus body 56 in order to place the standing article W in a lying position. Suction-hold the side facing upward. The rotating body 65, the sandwiching body 70, the suction holding means 71, and the driving means 72 constitute a robot hand section 78 that is an article holding section.

  Further, as shown in FIGS. 13 to 16, the sorting apparatus 1 can advance and retreat with respect to the inside of the bag C set in the shipping container B, and the bag breakage preventing means that covers a part of the inner surface of the bag C at the time of advancement. 81. The bag breakage preventing means 81 is configured such that when the robot hand portion 78 of the holding means 51 and the article W held by the robot hand portion 78 move into the shipping container B, the robot hand portion 78 and the article W are placed in the bag C. This prevents the bag C from being damaged by being caught, and is provided corresponding to each holding means 51.

  Each bag breakage prevention means 81 has an elevating body 83 which is provided on the support frame 82 so as to be movable up and down and moves up and down with respect to the shipping container B on the container transport means 50. The elevating body 83 moves up and down with respect to the shipping container B by expansion and contraction of a cylinder body 84 such as an air cylinder which is a driving means. The cylinder body 84 includes a cylinder body 85 and a rod part 86 that enters and exits the cylinder body 85. The cylinder body 85 is attached to the support frame 82, and the tip of the rod part 86 is raised and lowered. It is attached to the body 83.

  The lifting / lowering body 83 has a substantially rectangular annular plate part 87 in which a substantially rectangular opening 80 is formed, and rod-like parts 88 project downward from four corners of the annular plate part 87, A rod-shaped portion 88 is slidably inserted into the ring portion 89 of the support frame 82.

  The annular plate portion 87 of the elevating body 83 is provided with a rotating plate 91 which is four rotating bodies constituting a four-way guide so as to be rotatable in the vertical direction around a horizontal axis 92. . The rotating plate 91 as the guide plate is disposed along four edges facing the opening 80 of the annular plate portion 87, and a portion of the rotating plate 91 located above the annular plate portion 87. The connecting plate 93 is connected to the shaft 92, and the rotating plate 91 is attached to the shaft 92 via the connecting plate 93. Each rotating plate 91 is rotated by power from a driving means (not shown) such as a driving motor. In other words, the respective rotating plates 91 are simultaneously turned upward by the power from the driving means to be inclined, and are simultaneously turned downward by the power from the driving means to be in a vertical state substantially along the vertical plane. .

  Each rotating plate 91 advances into the bag C in an inclined state by the lowering of the elevating body 83. When the rotating plate 91 is rotated about the shaft 92 from the inclined state to the vertical state, the side plate of the shipping container B is moved. The bag C is sandwiched between the part B2, and the part of the inner surface of the bag C facing the four side plate parts B2 of the shipping container B is covered.

  Each rotating plate 91 is made of, for example, a thin stainless plate. The two rotating plates 91 facing the left and right side plate portions B2 in the transport direction of the shipping container B are formed in a substantially rectangular plate shape substantially the same as the side plate portion B2. The two rotating plates 91 facing the side plate portions B2 before and after the shipping container B in the transport direction are formed in a substantially plate shape whose width narrows downward.

  Note that the article is an input device that holds the article W by the holding means 51 and the bag breakage preventing means 81 and transfers the article W to a predetermined position, and then puts the article W into the shipping container B by releasing the holding. A holding device 99 is configured.

  Next, the operation of the sorting apparatus 1 will be described.

  One type of article W stored in the storage container A is taken out from the storage container A by one take-out means 11, and the first placement surface 23 of the placement table 21 of the first first article transport means 12. It is placed on top, extruded by the first extrudate 26 and the second extrudate 27, and stored on the conveyer 22 in a single row standing position close to each other along the convey direction of the conveyer 22. The

  Similarly, the other types of articles W stored in the storage container A are taken out from the storage container A by the other take-out means 13 and the first placement on the placement table 21 of the other first article transport means 14. Placed on the mounting surface 23, extruded by the first extrudate 26 and the second extrudate 27, and placed on the transport conveyor 22 along the transport direction of the transport conveyor 22 in a single row standing posture It is stored at.

  Here, an example in which one order information is “one kind of article (for example, milk) W is three and another kind of article (for example, coffee) W is one” is taken as an example with reference to the drawings. explain.

  As shown by a two-dot chain line in FIG. 4, the pressing member 35 of the first first article conveying means 12 advances toward the fourth article W and clamps the article W with the receiving plate member 34. . The pressing member 35 of the other first article transport means 14 advances toward the second article W and clamps the article W with the receiving plate member 34.

  Next, as shown in FIG. 5, when the stopper body 31 of the first article transporting unit 12 changes from the restricted state to the permitted state, the three kinds of articles W are cut out by the transport conveyor 22 to be It is conveyed to a position facing the extruding means 46. When the stopper body 31 of the other first article conveying means 14 changes from the restricted state to the permitted state, one other type of article W is cut out by the conveying conveyor 22 to the position facing the other pushing means 47. Be transported.

  Subsequently, as shown in FIG. 6, three kinds of articles W are transferred from the conveying conveyor 22 of the one extruding means 46 to the other conveying conveyor 43 of the second article conveying means 41. Extruded. One other type of article W is extruded from the conveying conveyor 22 onto the other conveying conveyor 43 of the second article conveying means 41 by the extruded body 48 of the other extruding means 47.

  Next, as shown in FIG. 7, three one type of articles W and one other type of articles W are transported by the other-side transport conveyor 43 of the second article transport means 41, but are restricted. The movement is restricted by the contact with the stopper body 44 in the state and stops.

  As a result, as shown in FIG. 8, three one type of articles W and one other type of articles W are brought close to each other on the other-side conveying conveyor 43 of the second article conveying means 41. The other side conveyor 43 is aligned in the conveyance direction. That is, two types of four articles W corresponding to the order information are in a state of being integrated into one lump.

  When there are two types of order information as described above, the movement restriction by the stopper body 44 is combined into one lump. However, if the order information is one type, movement restriction by the stopper body 44 is unnecessary.

  Then, the four kinds of four articles W in a collective state are conveyed to a position facing the robot hand unit 78 of the holding means 51 and then simultaneously held by the robot hand unit 78. The posture is changed to the collapsed posture and is put into the shipping container B on the container transport means 50.

  Therefore, the making operation of the holding means 51 by the robot hand unit 78 will be described with reference to the drawings.

  As shown in FIG. 17, when the robot hand portion 78 is located at the standby position, the elevating body 83 of the bag breakage preventing means 81 is lowered, and the four inclined rotating plates 91 are located in the shipping container B, that is, It enters into the bag C covered with the shipping container B.

  Thereafter, as shown in FIG. 18, the four rotating plates 91 rotate to change from the inclined state to the vertical state, sandwich the bag C with the four side plate portions B2 of the shipping container B, and The portion of the inner surface of the shipping container B facing the four side plate portions B2 is covered.

  As indicated by a two-dot chain line in FIG. 17, when the shipping container B on the container transport means 50 is shifted laterally from the reference position, the shipping container B is pushed by the rotating plate 91 and becomes the reference. The position of the shipping container B is corrected by moving to the position.

  Further, the robot hand unit 78 moves toward the standing article W on the other-side conveyor 43 of the second article conveying means 41, and holds the four articles W in the standing attitude as the sandwiching body 70 and the suction holding body. Hold at 76 and 77 simultaneously.

  Thereafter, as shown in FIG. 19, the robot hand portion 78 rotates 90 degrees about the shaft 66 with respect to the apparatus main body 56, and as a result, the four articles W change from the standing posture to the lying-down posture.

  Subsequently, as shown in FIG. 20, the robot hand unit 78 descends while holding the four articles W in the lying position with the sandwiching body 70 and the suction holding bodies 76 and 77, in the shipping container B, In other words, the side faced into the space surrounded by the four vertical rotating plates 91 and facing the underside of the article W in the lying down position is positioned in the proximity of the bottom plate portion of the shipping container B.

  In this state, the holding body 70 of the robot hand unit 78 releases the holding of the upper opening portion W1, and the suction holding bodies 76 and 77 of the robot hand unit 78 hold the suction side facing upward. When the release is made, the four articles W in the lying down posture are put into the lower part of the shipping container B and stored.

  Thereafter, as shown in FIG. 21, the robot hand portion 78 is raised and returned to the standby position, while the lifting body 83 of the bag breakage prevention means 81 is raised and the four vertical rotating plates 91 are shipped. The container B is retreated from the position in the container B to a position that allows the container B to move the shipping container B. After this retraction, the four rotating plates 91 rotate and return to the inclined state.

  In this way, the shipping container B in which the number of articles W corresponding to one order information is input is transported to the next process by the container transporting means 50. For example, a product such as food is input into the shipping container B in the next process. And placed on the article W.

  According to the holding means 51 of the article holding device 99 of the sorting apparatus 1, the standing article W held by the holding body 70 and the suction holding means 71 is used as the third arm body of the device main body 56 of the rotating body 65. By turning 90 degrees with respect to 60, the side surface held by the suction holding means 71 is placed in a sideways posture in which the side faces upward, and then put into the shipping container B, so that the article W is properly placed in a sideways posture and shipped. For example, the goods W in the shipping container B can be stabilized, and further articles such as other products can be input and stored in the shipping container B in the next step or the like.

  Further, the suction holding means 71 has an upper suction holding body 76 for sucking and holding the upper side surface of the standing article W and a lower suction holding body 77 for sucking and holding the lower side face of the standing article W. The side surface of the article W can be stably held by the upper suction holding body 76 and the lower suction holding body 77.

  On the other hand, in the sorting apparatus 1, it is not necessary for the operator to manually remove the article W from the storage container A, and at least two kinds of articles W are automatically and appropriately sorted based on order information according to the order contents of the customer. Can be sorted efficiently.

  Further, when the rotary plate 91 of the bag breakage prevention means 81 of the article holding device 99 is advanced, the robot hand portion 78 of the holding means 51 moves into the shipping container B, so that the robot hand portion 78 and the robot hand portion 78 The articles W held in a lying position are not caught by being brought into contact with the bag C, and the bag C can be prevented from being damaged.

  Further, the positional deviation of the shipping container B can be corrected by the rotation of the rotating plate 91 of the bag breakage preventing means 81, and the collision between the shipping container B and the article W or the robot hand portion 78 can be prevented.

  In the above embodiment, the structure in which the suction holding means 71 includes the upper suction holding body 76 and the lower suction holding body 77 has been described. For example, in addition to the both suction holding bodies 76 and 77, the article in a standing posture is used. A configuration having a central suction holding body that sucks and holds the central portion in the vertical direction of the side surface may be used, or a configuration having only this central suction holding body may be used.

  The sorting apparatus 1 can also be applied to, for example, sorting only one type of article W or sorting three types of articles W.

  In addition, the article W is not limited to a beverage pack, and is arbitrary, and may be a plastic bottle in which a beverage is enclosed, a food other than a beverage, or the like.

  Further, the configuration is not limited to the configuration in which the number of articles W based on the order information is separated using the article sandwiching body 33, and may be a configuration in which the extrusion means 46 and 47 separate and push out.

  Further, the number of articles W based on one order information is not limited to the configuration of pushing out by the extruding means 46, 47, but two or more pieces of order information (for example, order information of three milks and milk are added for improving workability The number of articles W based on one order information) may be pushed out by the extruding means 46, 47. In this case, the second article conveying means 41 sends the articles W in a state of being pushed out to each order. It is necessary to have means for separating each order number corresponding to the information, that is, means for dividing the information into, for example, three and one.

  Further, the number of articles W that can be simultaneously extruded by the extruding bodies 48 of the extruding means 46 and 47 coincides with the number of articles W that can be simultaneously held by the robot hand portion 78 of the holding means 51, for example, four. Although described, the number is not limited to four and may be three or five or more.

  Further, the second article transport means 41 is not limited to one composed of two separate transport conveyors 42 and 43, but is composed of, for example, one wide transport conveyor that forms a plurality of lines. It may be a dish.

W Goods B Shipping containers that are containers
56 Main unit
65 Rotating body
70 sandwich
71 Suction holding means
76 Upper suction holder
77 Lower suction holder
99 Goods holding device

Claims (2)

The device body;
A rotating body rotatably provided on the apparatus body;
A pair of sandwiching bodies provided on the rotating body and paired to sandwich the upper end of the standing article;
A suction holding means provided on the rotating body for sucking and holding a side surface of the article in a standing posture;
An article in a standing position held by the holding body and the suction holding means is brought into a sideways posture in which the side surface sucked and held by the suction holding means is turned upward by the rotation of the rotating body with respect to the apparatus main body. An article holding device characterized by being put into a container. The suction holding means is
An upper suction holding body for sucking and holding the upper part of the side surface of the article in a standing posture;
The article holding apparatus according to claim 1, further comprising: a lower suction holding body that sucks and holds a lower portion of the side surface of the article in a standing posture.

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