JP2016088721A - Article transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article transfer device that can accelerate processing speed and cope with a high-speed processing line.CONSTITUTION: The article transfer device comprises: a first conveying conveyor 11 that conveys an article placed in a flat state; a second conveying conveyor 13 arranged at a height different from the height of the first conveying conveyor; a servo loop device 20 arranged between the first conveying conveyor and the second conveying conveyor; a first parallel robot 15 that transfers at a supply position the article on the first conveying conveyor to a bucket 23 of the servo loop device; and a second parallel robot 16 that extracts at an extraction position the article stored in the bucket and transfers the article to the second conveying conveyor. The servo loop device is configured to revolve and move the bucket in inclined faces inclined toward conveyance faces of the first conveying conveyor and the second conveying conveyor.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an article transfer device that changes the posture of an article to be transferred.

  Conventionally, there has been a package supply apparatus disclosed in Patent Document 1 as an apparatus for changing an article group in which a plurality of articles are stacked into a framed posture. This packaging body supply device is configured to superimpose a plurality of PTP sheets and band them with a film to change the conveying posture of the integrated group of articles. An upstream transfer conveyor and a downstream flat belt conveyor And an articulated robot disposed between the two conveyors. The multi-joint robot includes a suction cup that sucks the group of articles, and has a function of directing the suction cup in an arbitrary direction or moving it in a three-dimensional space arbitrarily. Then, the actual transport posture is changed as follows.

  The article group moves on the transfer conveyor in a stacked state in which PTP sheets are stacked one above the other. The article group on the transfer conveyor is sucked and held by a suction cup with the suction surface down by driving the articulated robot, and the picked article group is lifted and transferred by moving the articulated robot along a predetermined trajectory. For example, the posture of the suction cup is changed so that the suction surface faces sideways while moving along a predetermined locus. Then, the article group is placed on an alignment table arranged along the carry-in side of the flat belt conveyor in a state where the suction cup is laid to release the suction holding. As a result, the posture of the group of articles placed on the alignment table is converted to a stand-up state in which each PTP sheet stands. After that, the group of articles placed on the alignment table is transferred onto the flat belt conveyor. In this way, the transportation posture of the article group is changed from the stacked state to the piece standing state.

JP 2014-991 A

  In the above-described conventional apparatus, the group of articles are attracted one by one using an articulated robot and the posture is changed, so that the processing speed cannot be increased and the problem cannot be made to correspond to the high-speed processing line. .

  In order to solve the above-described problems, an article transfer device of the present invention includes (1) a first transfer conveyor that transfers an article in a flat state, and a second transfer that is disposed at a different height from the first transfer conveyor. A conveyor, a bucket conveyor device disposed between the first conveyor and the second conveyor, and a first for transferring the article on the first conveyor to a bucket of the bucket conveyor device at a supply position. Transfer means, and second transfer means for taking out the article stored in the bucket of the bucket conveyor device at the take-out position and transferring it to the second transport conveyor, wherein the bucket conveyor device has the bucket Revolution movement is performed within an inclined surface inclined with respect to the conveying surface of the first conveying conveyor and the second conveying conveyor, and the bucket is at the supply position. The plurality of articles are stored in a stacked state in which the articles are stacked one above the other, and the posture of the bucket is changed by the revolving movement, and the plurality of articles are changed to a stand-up state in which the plurality of articles stand up at the take-out position. did. The first transfer means corresponds to the first parallel robot 15, and the second transfer means corresponds to the second parallel robot 16.

  The process of changing the posture of a plurality of articles from the stacked state to the stand-up state is to change the posture from flat placement to stand-up while moving the bucket conveyor device. Therefore, it is possible to easily increase the speed by increasing the speed of the revolution movement.

  (2) The bucket conveyor device may be a servo loop device. (3) The bucket includes a first opening and a second opening, and the first opening is positioned upward at the supply position, and the second opening is positioned upward at the take-out position. A first guide part that covers the second opening in a section including the supply position may be provided, and a second guide part that covers the first opening may be provided in a section including the take-out position. The article can be supplied into the bucket from the first opening at the supply position, and the article in the bucket can be taken out from the second opening at the take-out position. For example, at the supply position, there is a possibility that the article may be detached from the second opening, but since the article is covered with the first guide part, the separation is suppressed. Similarly, there is a possibility that the article may be detached from the first opening at the take-out position, but the second guide portion prevents the separation.

  (4) An article restraining member that urges the article stored in the bucket in a direction away from the second guide part and raises the article is provided on the bucket side from the second guide part. Good. If it does in this way, an article will be pushed by an article control member and an article may stand up neatly.

  (5) The second transfer device may include a holding unit that sandwiches and holds the plurality of articles in a framed state, and a suction unit that holds and holds the plurality of articles. It is good because it can hold the article in the frame state firmly.

  According to the present invention, the processing speed can be increased and it is possible to cope with a high-speed processing line. In addition, there is no need to arrange a device for stacking horizontally placed articles and a device for stacking stacked articles, and these functions are integrated into one to make the entire system compact. be able to.

It is a top view which shows an example of the whole packaging system containing the goods transfer apparatus which concerns on this invention. It is a top view which shows suitable one Embodiment of the goods transfer apparatus which concerns on this invention. It is the enlarged side view. (A) is a side view which shows a servo loop apparatus, (b) is a perspective view which shows the bucket attached to the servo loop apparatus. It is a partial enlarged plan view showing a servo loop device. It is a figure explaining an effect | action. It is a figure explaining an effect | action.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the present invention is not construed as being limited thereto, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

  FIG. 1 shows an example of a packaging system in which an article transfer device according to the present invention is mounted, and FIGS. 2 to 7 show a preferred embodiment of the article transfer device according to the present invention. First, a packaging system in which the article transfer device is mounted will be described. This packaging system manufactures a collective package in which a plurality of individual packages that package a plurality of products are arranged and the plurality of individual packages are packaged, for example. For example, a flat product is used as the plurality of products, and each product is stored in a state where a plurality of products are stacked. In this embodiment, the product is, for example, relatively brittle and easily damaged, such as biscuits, cookies, and other sweets.

  A specific configuration of the packaging system for executing such processing is as follows. A first pillow packaging machine 1 for producing an individual package is provided on the upstream side. Two first pillow packaging machines 1 are arranged to increase the number of manufactured units per unit time. The two first pillow wrapping machines 1 both have the same configuration, and a product transport / supply device 1a that transports a stacked product group at predetermined intervals, and a first transport device 1a disposed on the carry-out side of the product transport / supply device 1a. A packaging machine main body 1b and a film supply device (not shown) for continuously supplying a strip-shaped packaging film to the first packaging machine main body 1b are provided.

  The product conveyance supply device 1a conveys the product group 3 in a state where a plurality of products are stacked in the vertical direction. Moreover, the thickness of each product is also thin, and the product group 3 in which a plurality of products are stacked one above the other has a low height and a flat shape as a whole compared to the longitudinal length and width. The first packaging machine body 1b includes a bag making device on the carry-in side, passes the film continuously supplied from the film supply device through the bag making device, forms a bag into a cylindrical shape, and also supplies a product conveying and supplying device. The product group 3 sequentially supplied from 1a is wrapped in a cylindrical film formed into a cylindrical shape, and the product group 3 is subjected to a pillow packaging process by sealing and cutting an appropriate position of the cylindrical film. The individual package 4 to be included is manufactured.

  The carry-out side of the first packaging machine main body 1 b is linked to the first transport conveyor 11 arranged on the carry-in side of the article transfer device 10. The individual package 4 sequentially carried out from the first packaging machine body 1b is transferred to the first transport conveyor 11 and moves on the first transport conveyor 11. The conveyance posture of the individual package 4 at this time is the same as the state where the individual package 4 is unloaded from the first packaging machine body 1b, and is in a flat state where the products to be included are stacked one above the other. Therefore, the individual wrapping bodies 4 are transported one by one on the first transport conveyor 11 in order in a flat state. The individual package 4 is an article to be transferred in the article transfer apparatus 10.

  The article transfer device 10 is configured in a stacked state in which a plurality of individually packaged bodies 4 placed in a flat state are stacked vertically in the middle of conveyance, and the posture of the group of articles 5 in the stacked state is a piece on which each individual packaged body 4 stands. Changed to the standing state, transferred to the second conveyor 13, transferred to the second conveyor 13 in a state where a plurality of the article groups 5 in the framed state are arranged in the front and rear, and a second pillow arranged on the downstream side Carry out toward the packaging machine 2. A specific configuration for performing such processing will be described later.

  The second pillow wrapping machine 2 has a second wrapping machine body 2a that performs a pillow wrapping process on the article group 5 that is transported on the second conveyor 13 at predetermined intervals, and the second wrapping machine body 2a. A film supply device 2b for continuously supplying a belt-shaped packaging film is provided. As described above, the articles to be packaged in the second packaging machine main body 2a are aggregates in which a plurality of the grouped articles 5 are arranged back and forth along the conveying direction, and the total length is increased. The second packaging machine body 2a includes a bag making machine on the carry-in side, passes the film through the bag making machine, forms a bag, and is sequentially supplied from the product transport and supply device 1a. Is wrapped with a tubular film made into a cylindrical shape, and an appropriate position of the tubular film is sealed and cut, whereby a collective package including the aggregate is manufactured by a pillow packaging process.

  As shown in FIG. 2, the article transfer apparatus 10 according to the present embodiment includes two first transport conveyors 11 arranged at a predetermined interval in a direction orthogonal to the transport direction, and the two first transport conveyors. 11, a second conveyor 13 disposed between 11, a servo loop device 20 disposed in a space between the first conveyor 11 and the second conveyor 13, and an individual package as an article on the first conveyor 11 The first parallel robot 15 that transfers 4 to the servo loop device 20 and the second parallel robot 16 that transfers the individual package 4 on the servo loop device 20 to the second transport conveyor 13 are provided. The fixed section on the carry-out side of the first conveyor 11 and the fixed section on the carry-in side of the second conveyor 13 are arranged so as to overlap in the front-rear direction. As shown in FIGS. 3 and 5, the second transport conveyor 13 is disposed at a position higher than the first transport conveyor 11.

  The 1st conveyance conveyor 11 comprises a belt conveyor apparatus, for example. As described above, the carry-in side of the first conveyor 11 is arranged on the carry-out end side of the first pillow packaging machine 1 so as to receive the individual package 4 sequentially carried out from the first pillow packaging machine 1. To do. The conveying posture of the individual package 4 on the first conveying conveyor 11 is the same as the conveying posture when the individual packaging body 1 is carried out from the first pillow packaging machine 1. Specifically, the product group 3 to be included is a state in which a plurality of products are stacked one above the other, and the flat individual package 4 is placed in a flat position (see FIG. 4 and the like).

  The servo loop device 20 is configured by connecting a large number of buckets 23 to an endless chain 22 spanned between sprockets 21 arranged at a predetermined interval in the front and rear direction. The bucket 23 moves around along the rotation trajectory of the endless chain 22. Further, the pair of sprockets 21 can be reciprocated along a line connecting them together, and the reciprocating movement and rotation / temporary stop of the sprocket 21 are appropriately controlled, so that the revolving movement of the bucket 23 and the bucket 23 adjusts the timing to reach the supply position and the take-out position of the servo loop device 20.

  In the present embodiment, as shown in FIGS. 3, 4, 6, and the like, the rotation surfaces of the sprocket 21 and the endless chain 22 are inclined by a predetermined angle with respect to the horizontal plane, and are rotated within the inclined surface. The inclination angle was 45 degrees, for example. The bucket 23 is linked to the endless chain 22 in a posture inclined by a predetermined angle with respect to the inclined surface. The predetermined angle is such that when the bucket 23 moves in a straight section between the pair of sprockets 21, the bucket 23 takes an attitude that stands up with respect to the horizontal plane. The angle was 45 degrees. In order to hold the bucket 23 at such an inclination angle, one end of the connection plate 25 is attached to the endless chain 22, a base 26 for angle adjustment is attached to the other end of the connection plate 25, and the bucket 23 is installed on the upper surface of the base 26. .

  The connection plate 25 is located in a plane parallel to the rotation surface of the endless chain 22. The mounting surface 26 a of the pedestal 26 is inclined 45 ° with respect to the connecting plate 25. As a result, the mounting surface 26a of the base 26 is horizontal in the horizontally moving area including the supply position along the first transport conveyor 11, and is vertical in the horizontally moving area including the take-out position along the second transport conveyor 13. become.

  As shown in FIG. 4 and the like, the bucket 23 has a substantially rectangular box as a basic configuration. The bucket 23 has a structure in which the upper surface and the front surface are opened with the mounting surface 26a as a reference. That is, the rectangular storage space is partitioned by the bottom plate 23a fixed on the mounting surface 26a of the pedestal 26, the rear wall 23b positioned inside the rotation locus by the endless chain 22, and the left and right side walls 23c. The bucket 23 includes a first opening 23e on the upper surface of the bucket 23 with the mounting surface 26a as a reference, and a second opening 23f on the outer side of the rotation locus by the endless chain 22. Further, the side wall 23c has a notch 23d extending downward from the upper end. As shown in FIG. 6B, the bottom plate 23a is also provided with a notch 23g from the second opening 23f side.

  The size and shape of the bottom plate 23a are set to be approximately equal to the size and shape of the individual package 4 in a flat state, and the height of the bucket 23 is set to be slightly higher than the height in which a plurality of individual packages 4 are stacked. Thereby, the individual package 4 can be stored in the bucket 23 in a stacked state in which a plurality of the individual packages 4 are stacked in a flat posture. And the articles | goods group 5 comprised and accommodated in the said stepped state stays in the back position which fell one step from the 1st opening part 23e. And then

  In addition, as described above, the mounting surface 26a of the base 26 is horizontal in the horizontally moving region including the supply position along the first transport conveyor 11, and is horizontally moved including the take-out position along the second transport conveyor 13. Since the vertical region is vertical, the posture when the bucket 23 attached to the pedestal 26 is also positioned at the supply position and when the bucket 23 is positioned at the take-out position is changed by 90 degrees. Specifically, as shown in FIGS. 4, 6, etc., at the supply position along the first conveyor 11, the first opening 23 e is located on the upper side with respect to the ground / device installation surface, At the take-out position along the second conveyor 13, the second opening 23f is positioned on the upper side with respect to the ground / device installation surface.

  Along with the change in posture, the bucket 23 that moves in the horizontally moving region including the supply position along the first conveyor 11 is positioned above the second opening 23f with respect to the ground / device installation surface. However, at the take-out position along the second conveyor 13, the second opening 23f is located on a vertical plane with respect to the ground / device installation surface. Therefore, as shown in FIGS. 2 and 5, in addition to the horizontally moving area including the supply position along the first conveyor 11, the lower half area of the section that moves up and down while rotating along the sprocket 21. The first guide portion 30 is provided at a position covering the second opening 23f. By providing the first guide portion 30, the individual individual packaging bodies 4 constituting the article group 5 housed in the bucket 23 that is moving in the region along the first transport conveyor 11 are provided from the second opening portion 23f. Deter outside.

  Similarly, the first opening 23e is covered over the upper half of the section that moves up and down while rotating along the sprocket 21 in addition to the horizontally moving area including the take-out position along the second conveyor 13. The second guide portion 31 is provided at the position. By providing the second guide portion 31, the individual individual packaging bodies 4 constituting the article group 5 housed in the bucket 23 that is moving in the region along the second transport conveyor 13 are separated from the first opening 23e. Deter outside.

  Further, as shown in FIG. 5, the tip end of the first guide portion 30 and the tip end of the second guide portion 31 are overlapped by a predetermined section, and in the overlapping section, the first opening portion 23 e and the second opening portion are overlapped. Both 23f are covered. This is because the first opening 23e and the second opening 23f both incline about 45 degrees with respect to the ground / device installation surface at an intermediate point of the section that moves up and down while rotating along the sprocket 21. Since there is a possibility that the individual wrapping body 4 is detached from either opening, the detachment is suppressed by covering both. In particular, when the bucket 23 is moved at a high speed in order to improve the processing speed, the centrifugal force generated when rotating along the sprocket 21 increases, so that the individual package 4 is easily detached. The occurrence of a situation can be reliably suppressed.

  Furthermore, the product restraining member 32 is disposed on the bucket 23 side of the second guide portion 31 in a predetermined section of the horizontally moving region including the take-out position along the second transport conveyor 13. As shown in FIG. 4, FIG. 6, etc., the product holding member 32 is inserted into the notch 23d provided in the side wall 23c of the bucket 23, and urges the individual packaging body 4 upright toward the bottom plate 23a. The individual wrapping bodies 4 are kept in contact with each other and kept in a clean standing posture.

  The amount of entry of the product holding member 32 into the bucket 23 is gradually increased from the upstream side of the take-out position toward the take-out position. Thereby, the individual packaging body 4 in the bucket 23 takes an upright posture while being gradually brought closer to the bottom plate 23a side, and smoothly shifts to a clean frame state. In addition, when the standing article group 5 is pushed to the bottom plate 23 a side, a predetermined space is made between the second guide portion 31 and the surface of the article group 5. Further, the product restraining member 32 is, for example, a round bar or the like so as to reduce the contact resistance with the individual package 4.

  As shown in FIG. 3, the first parallel robot 15 has a plate 15b suspended and supported by a plurality of rods 15a, and the position of the plate 15b by the operation of a drive mechanism linked to the upper end of each rod 15a. Has a function to control the posture. Then, an appropriate actuator is attached to the plate 15b. As shown in FIG. 6, the first parallel robot 15 includes a suction unit 15c as an actuator. The suction unit 15c includes, for example, three suction nozzles, and each suction nozzle sucks the individual package 4 respectively. Since the three suction nozzles are arranged in a row and the arrangement pitch can be changed, the suction nozzles can be appropriately adjusted to the conveyance pitch of the individual package 4 moving on the first conveyance conveyor 11. Thereby, if the adsorption | suction means 15c is moved downward at the same timing, the three individual package bodies 4 arranged in the front and rear can be adsorbed and held at a time. Furthermore, in the present embodiment, two first parallel robots 15 having such a configuration are prepared to increase the processing capability and correspond to the high-speed processing line. Then, the supply of the individual package 4 to the bucket 23 using the first parallel robot 15 is performed as follows.

  As shown in FIG. 6 and the like, the first parallel robot 15 positions the suction means 15c (three suction nozzles) above the predetermined individual package 4 on the first transport conveyor 11, and makes the suction means 15c flat. While making it contact the film surface of the individual packaging body 4 in the placed state, adsorption by the adsorption means 15c is performed, and the three individual packaging bodies 4 are collectively adsorbed and held. Next, the first parallel robot 15 moves the suction means 15 c above the predetermined bucket 23 while maintaining the state where the individual package 4 is sucked and held. Then, the first parallel robot 15 lowers the suction unit 15c and stops the suction of the suction unit 15c at an appropriate timing. The individual packaging body 4 that has been held by suction and that is not both is supplied into the bucket 23 in a flat state from the side of the first opening 23e facing upward with respect to the ground / device installation surface. Therefore, the individual packaging bodies 4 arranged in the front-rear direction on the first transport conveyor 11 are sucked and held at a time, and one individual packaging body 4 is supplied to each of the three adjacent buckets 23.

  Each first parallel robot 15 sucks and holds the individual package 4 moving on the first transport conveyor 11 as appropriate, and supplies the individual package 4 into a predetermined bucket 23. Such processing is appropriately executed, and the stacked product group 5 is set in which a plurality of (for example, four) individual packaging bodies 4 are placed in the bucket 23 in a flat position. In the present embodiment, since two first parallel robots 15 are prepared, for example, a predetermined number (for example, four) of supply to one bucket 23 may be performed using one first parallel robot 15. Good, and the two first parallel robots 15 cooperate to supply (for example, the upstream first parallel robot 15 supplies two in succession and the downstream first parallel robot 15 supplies two more. ). In such a case, if the height of the first guide portion 30 in the section supplied by the first first parallel robot 15 is lowered, the movement distance of the robot can be shortened as much as possible. Becomes more advantageous.

  As described above, the article group 5 is in a stacked state at the supply position, but moves with the bucket 23 along with the revolution movement of the bucket 23, and reaches the take-out position along the second conveyor 13. As described above, the bucket 23 has the first opening 23e positioned above the ground / device installation surface at the supply position, while the second opening 23f is located at the ground / device installation surface at the take-out position. It is changed 90 degrees to the posture positioned above with reference to. Therefore, the orientation of the article group 5 is also changed by 90 degrees with the change of the posture. That is, the posture is changed from the stacked state in which the plurality of individual packaging bodies 4 are stacked one above the other to the standing state posture in which each individual packaging body 4 stands on the basis of the ground / device installation surface.

  On the other hand, the second parallel robot 16 that picks up the article group 5 in the framed state has a plate 16b suspended and supported by a plurality of rods 16a, and the operation of the drive mechanism linked to the upper end of each rod 16a. Therefore, the position and posture of the plate 16b are controlled. Then, an appropriate actuator is attached to the plate 16b. As shown in FIGS. 6 and 7, the second parallel robot 16 includes a suction part 16 c and a pair of hands 16 d arranged with the suction part 16 c interposed therebetween as an actuator. Two suction portions 16c are provided, and are attached so as to be relatively close to and away from each other in a parallel plane along the plate 16b.

  The lower end of the hand 16d protrudes below the lower surface of the suction portion 16c, and at least one of the hands 16d moves, so that both the hands 16d approach and separate from each other. The article group 5 can be gripped by narrowing the distance between the two hands 16d. That is, in this embodiment, the article group 5 is firmly held by the suction function by the suction part 16c and the grip function by the hand 16d. And taking out from the bucket 23 of the articles | goods group 5 into which the attitude | position was changed to the frame standing state using the said 2nd parallel robot 16 is performed as follows.

  As shown in FIG. 7A, the second parallel robot 16 positions the suction portion 16 c above the adjacent bucket 23 positioned at the take-out position of the servo loop device 20. At this time, the two adsorbing portions 16c are separated from each other. The interval between the two suction portions 16 c is adjusted to the arrangement pitch of the buckets 23.

  Then, as shown in FIG. 7B, the suction portion 16c and the hand 16d move downward together, the hand 16d enters the inside of the bucket 23 from the second opening 23f, and the article group 5 in the framed state is moved to both sides. The adsorbing part 16c comes into contact with the surface of the article group 5 and adsorbs and supports it, and holds it firmly. When entering the bucket 23, the pair of hands 16d moves smoothly through the space between the second guide portion 31 and the article group 5 and the notch 23g provided in the bottom plate 23a.

  Next, as shown in FIG. 7C, the second parallel robot 16 moves up the suction portion 16 c and the hand 16 d while maintaining the state of holding the article group 5, and takes out the article group 5 from the bucket 23. Thereafter, as shown in FIG. 7D, the pair of suction portions 16c are moved relatively close to each other so that the held article group 5 comes close. Next, the second parallel robot 16 moves the suction portion 16c to a predetermined position on the second conveyor 13, stops suction of the suction portion 16c at an appropriate timing, and relatively separates both hands 16d. The held article group 5 that is neither of these is supplied on the second transport conveyor 13 in a framed state. Further, as described above, by moving the suction portion 16c closer, the two article groups 5 are set on the second transport conveyor 13 in a state of being close to each other in the front-rear direction.

  By performing the transfer from the bucket 23 to the second transport conveyor 13 by the second parallel robot 16 a plurality of times, a predetermined number of article groups are set along the transport direction of the second transport conveyor 13 in the framed state.

  The 2nd conveyance conveyor 13 is comprised from a plate conveyor apparatus, for example. And the 2nd conveyance conveyor 13 is. A plurality of article groups 5 that are close to each other in the conveying direction are conveyed at predetermined intervals and supplied to the second pillow packaging machine 2.

  According to the present embodiment, the supply work to the bucket 23 using the first parallel robot 15 and the take-out work from the bucket 23 using the second parallel robot 16 are the postures of the individual package 4 and the article group 5. Is not changed from a flat placement to a frame stand, so it can cope with high-speed processing. Since the posture change from the flat placement to the frame stand is performed with the revolution movement of the bucket 23 using the servo loop device 20, it is possible to cope with a higher speed by increasing the speed of the revolution movement.

  In the above-described embodiment, the servo loop device 20 is used as a device for revolving the bucket 23. However, the present invention may not use such a servo loop device. For example, a continuous bucket device that does not have an accumulation rate function, a double loop device, a free bucket device, or the like can be used. For these drives, chain drive, belt drive, linear motor drive, and the like can be employed.

  As another embodiment, if the first and second guide portions 30 and 31 can be removed, maintenance is facilitated. In addition, when the processing capability is not high, the first parallel robot and the second parallel robot can be combined with one robot.

4 Individual Package 5 Article Group 10 Article Transfer Device 11 First Conveyor 13 Second Conveyor 15 First Parallel Robot 15c Suction Unit 16 Second Parallel Robot 16c Suction Unit 16d Hand 20 Servo Loop Device 21 Sprocket 22 Endless Chain 23 Bucket 23e 1st opening part 23f 2nd opening part 30 1st guide part 31 2nd guide part 32 Product control member

Claims (5)

A first conveyor for conveying articles in a flat position;
A second transport conveyor disposed at a different height from the first transport conveyor;
A bucket conveyor device disposed between the first conveyor and the second conveyor;
First transfer means for transferring the article on the first transport conveyor to a bucket of the bucket conveyor device at a supply position;
A second transfer means for taking out the article stored in the bucket of the bucket conveyor device at the take-out position and transferring it to the second transport conveyor;
The bucket conveyor device revolves within an inclined surface inclined with respect to the conveying surface of the first conveying conveyor and the second conveying conveyor,
The bucket is stored in a stacked state in which the plurality of articles are stacked in the bucket at the supply position, the bucket is changed in posture by the revolving movement, and the plurality of articles are standing upright at the take-out position. An article transfer device configured to be changed.   The article transfer device according to claim 1, wherein the bucket conveyor device is a servo loop device. The bucket includes a first opening and a second opening,
In the supply position, the first opening is located above, and in the take-out position, the second opening is located above,
Providing a first guide portion covering the second opening in a section including the supply position;
The article transfer device according to claim 1, wherein a second guide portion that covers the first opening is provided in a section including the take-out position.   An article restraining member that urges the article stored in the bucket in a direction away from the second guide part and raises the article is provided on the bucket side from the second guide part. The article transfer apparatus according to claim 3.   The said 2nd transfer apparatus was equipped with the holding means which pinch | interposes and hold | maintains these articles | goods of a piece frame state, and the adsorption | suction means which adsorbs and hold | maintains, The any one of Claims 1-4 characterized by the above-mentioned. Goods transfer device.

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