JP2016199346A - Article processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operation rate and yielding percentage by reducing containers to which bag products are not input in a bag product input device for picking up and inputting the bag products randomly conveyed to containers continuously conveyed.SOLUTION: Containers C arrayed in one row are conveyed by a first conveyance conveyor 12. Bag products P randomly scattered and conveyed on a second conveyance conveyor 14 are picked up by first and second robots 16, 18 and input to the containers C conveyed by the first conveyance conveyor 12. A bag product presence/absence detection camera 44 is installed on the first conveyance conveyor 12 on the downstream side with respect to the first and second robots 16, 18 to detect whether or not the bag products P exist in the containers C. The containers C to which the bag products are not input yet are transferred from the first conveyance conveyor 12 to a second return conveyor 24, and conveyed to the first conveyance conveyor 12 on the upstream side with respect to the first and second robots 16, 18. The containers C returned by the second return conveyor 24 is transferred from a transfer device 52 to the first conveyance conveyor 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article processing apparatus that holds articles such as bag products conveyed in a random state on a conveyance conveyor and transfers the articles to a container conveyed by another conveyance conveyor.

  In the cup noodle production line, noodles are stored, and the ingredients and soup packed in a container transported on a conveyor are put in, and then a lid is attached to the cup mouth to seal the container. In such a cup noodle production line, a configuration is known in which the weight of a cup is measured before sealing with a lid, and a poorly filled cup is discharged without sealing (Patent Document 1).

Japanese Patent No. 3914546

  For example, after a bag product packed with ingredients and soup materials is supplied in a random state on a conveyor, the bag product continuously conveyed by this conveyor is photographed, and the bag product is held by a robot while recognizing the position. In a bag product input device that puts into a container that is continuously transported on another conveyor, if the transport amount of the bag product transported on the conveyor is less than the transport amount of the container, Since the bag product is not transferred and the robot cannot put the bag product into the container, the container into which the bag product is not put is transferred downstream.

  In addition, since bag products are generally thin and flat, some of the bag products tend to overlap each other on the conveyor at the time of supply. Even if you try to scrape the overlapping bag products using a rotating brush, It was difficult to completely eliminate product overlap. If the bag products overlap each other, the up / down judgment cannot be made and the bag product cannot be held well. If the robot is controlled so as not to hold such bag products, the amount of bag products that can be held by the robot will be reduced, and the robot will Containers that cannot be filled with bag products are generated. Such a container into which the bag product is not charged has been judged NG at the downstream and rejected from the production line and discarded as it is, or the bag product is manually put into the rejected container and then returned to the production line. Therefore, in such a bag product input device, the operation rate and the yield are reduced depending on the amount of bag product transported.

  An object of the present invention is to reduce the number of containers to which articles are not transferred and improve the operation rate and yield in an article processing apparatus that holds articles that are randomly transferred and transfers them to containers that are continuously transferred.

  The article processing apparatus according to the present invention recognizes the position of a first transport conveyor for transporting containers, a second transport conveyor for transporting articles to be transported to the containers, and a container transported on the first transport conveyor. Means for recognizing the position of an article to be conveyed on the second conveyor, and holding an article on the second conveyor based on signals from the container position recognizer and the article position recognizer. Article transfer means for transferring to a container on one conveyor, detection means for detecting whether or not an article has been transferred to the container, provided on a first transfer conveyor downstream from the article transfer means, and a first conveyor A return path connecting the branch position downstream of the detection means and the transfer position upstream of the article transfer means, and a branch hand for branching the container on the first conveyor to the return path at the branch position And a transfer means for returning the container on the return path to the transfer position of the first transport conveyor, and the container determined by the detection means that the article has not been transferred to the first transport conveyor via the return path. It is characterized by transferring and transferring the article again to the transferred container.

  According to the present invention, in an article processing apparatus that holds articles such as bag products that are randomly conveyed and transfers them to containers that are continuously conveyed, the number of containers to which articles are not transferred can be reduced, and the operation rate and yield can be improved. it can.

It is a top view which shows the layout of the bag product injection | throwing-in apparatus which is one Embodiment of the article processing apparatus of this invention. It is a side view which shows the layout of the bag product injection | throwing-in apparatus of FIG. It is a top view which shows the layout of the branch apparatus provided in the bag product injection | throwing-in apparatus. It is a top view which shows the layout of the transfer apparatus provided in the bag product injection | throwing-in apparatus. It is a cross-sectional view which shows the layout of the transfer apparatus provided in the bag product injection | throwing-in apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing the overall layout of a bag product input device as an embodiment of the article processing apparatus of the present invention, and FIG. 2 is a side view. With reference to FIG. 1, FIG. 2, the structure of the bag product injection | throwing-in apparatus of this embodiment and the flow of the whole bag product input operation | work are demonstrated.

  The bag product input device 10 is used, for example, in a cup noodle production line. In the present embodiment, the bag product input device 10 includes, for example, a first transport conveyor 12 that transports containers (cups) C that store noodles, and a second product that transports bag products P packed with ingredients and soup materials. First and second robots (article transfer means) 16 and 18 for picking up one bag at a time from the conveyor 14, the bag products P on the second conveyor 14, putting them into the container C and transferring them, and the second conveyor 14 The first return conveyor 22 that returns the bag product P that has been transported and not put into the container C back to the hopper 20, and the container that has not been put into the bag product P from the downstream side to the upstream side of the first transport conveyor 12 And a second return conveyor 24 (return path) for returning C to the upstream side of the first conveyor 12.

  As shown in FIG. 2, the bag product P put into the hopper 20 is scraped up by the belt conveyor 26 with a crosspiece, and is randomly sprinkled on the transport surface of the second transport conveyor 14 (at this time, further through the vibrating conveyor). You may make it transfer to the 2nd conveyance conveyor 14). Downstream of the second conveyor 14, the first camera 30 and the first robot 16 are disposed above the conveying surface, and the second camera 32 and the second robot 18 are similarly disposed immediately downstream thereof. The first and second robots 16 and 18 are, for example, parallel link robots equipped with suction heads. The first and second robots 16 and 18 are secondly linked by images taken by the first and second cameras 30 and 32 and an encoder signal (not shown) of the second transport conveyor 14. The position of the bag product P transported on the transport conveyor 14 is detected, and the bag product P is sucked and held one by one and transferred to the containers C transported by the first transport conveyor 12. Here, the first and second cameras 30 and 32 and the encoder of the second transport conveyor 14 serve as article position recognition means. In FIG. 1, the movable ranges of the first and second robots 16 and 18 are indicated by circles 16A and 18A, respectively.

  The second transfer conveyor 14 ends downstream of the second robot 18, and the bag product P that has not been picked up by the first and second robots 16, 18 is laid downward from the end of the second transfer conveyor 14. It falls onto the transport surface of the first return conveyor 22 and is transported toward the hopper 20. The bag product P transported to the upstream side of the second transport conveyor 14 by the first return conveyor 22 is picked up by the belt conveyor 25 with a crosspiece and collected again into the hopper 20.

  The containers C are filled with noodles in the noodle filling device 34, are aligned in a line with a space in the front and rear, and are continuously conveyed on the first conveyor 12. In the illustrated example, the first transport conveyor 12 passes under the second transport conveyor 14 and then has the same height as the second transport conveyor 14 in the vicinity where the first robot 16 is disposed. 14 so as to run in parallel. The first transfer conveyor 12 then wraps around the end of the second transfer conveyor 14 and is disposed along the side opposite to the second transfer conveyor 14 in the vicinity where the second robot 18 is disposed.

  On the upstream side of the first robot 16 of the first transport conveyor 12, a first container detection sensor 36 that detects the transported container C is provided. When the container C is detected by the first container detection sensor 36, the subsequent position of the detected container C is grasped by, for example, an encoder (not shown) provided on the first conveyor 12. When the container C enters the movable range 16A, the first robot 16 puts the bag product P sucked and held in the second transport conveyor 14 into the container C.

  In the first conveyor 12, a second container detection sensor 38 and a first bag product presence / absence detection camera 40 are provided upstream of the second robot 18. When the container C on the first transport conveyor 12 is detected by the second container detection sensor 38, the subsequent position of the container C is grasped by an encoder (not shown) provided on the first transport conveyor 12. Thereafter, an image in the container C is taken from above by the first bag product presence / absence detection camera 40, and it is determined whether or not the bag product P is put in the container C. When the bag product P is not put into the container C, the second robot 18 picks up the bag product P from the second transport conveyor 14 by sucking and holding it in the movable range 18A, and determines that the bag product P is not put in. Into container C. Here, the 1st, 2nd container detection sensors 36 and 38 and the encoder of the 1st conveyance conveyor 12 become a container position recognition means.

  In the first conveyor 12, a third container detection sensor 42 and a second bag product presence / absence detection camera (detection means) 44 are disposed downstream of the second robot 18. When the container C conveyed by the third container detection sensor 42 is detected, an image in the container C is taken from above while grasping the position with an encoder (not shown), and the bag is placed in the container C. It is determined again whether or not the product P is loaded.

  In the first conveyor 12, a fourth container detection sensor 46 and a branching device (branching means) 48 are provided downstream of the second bag product presence / absence detection camera 44. As will be described later, the branching device 48 sends the container C, which has been determined that the bag product P is not put in from the image of the second bag product presence / absence detection camera 44, from the first transfer conveyor 12 to the second return conveyor 24. Transfer to. That is, all the containers C in which the bag product P is not charged are transferred to the second return conveyor 24 by the branching device 48, and only the containers C in which the bag product P is charged are further transferred by the first conveyor 12. It is conveyed to the apparatus (not shown) for sticking the lid | cover provided downstream. In addition, the position of the container C in which the bag product P is not put in is accurately grasped by the fourth container detection sensor 46 provided immediately before the branching device 48, and the branching device 48 detects the container C in synchronization with this. 2 Transfer to the return conveyor 24.

  It is determined that the bag product P is not charged (NG determination), and the container C transferred to the second return conveyor 24 is upstream of the first transport conveyor 12 (from the first container detection sensor 36 and the first robot 16). Is also returned to the upstream side, and the bag product P is charged again using the first and second robots 16 and 18. Further, in the vicinity of the downstream end of the second return conveyor 24, a fifth container detection sensor 50 for detecting the container C transported on the second return conveyor 24, and the container C from the second return conveyor 24 to the first transport conveyor 12. A transfer device (transfer means) 52 for transferring to is provided.

  A sixth container detection sensor 54 is provided on the upstream side of the transfer device 52 in the first transport conveyor 12, and the position of the container C transported on the first transport conveyor 12 is detected. As will be described later, the transfer device 52 transfers the containers C into which the bag product P has not been loaded onto the first transport conveyor 12 based on signals from the fifth and sixth container detection sensors 50 and 54, and 1 Return to the line on the conveyor 12.

  Next, the details of the configuration of the branching device 48 of the present embodiment will be described with reference to FIG. FIG. 3 is a plan view showing a layout in the vicinity of the branching device 48.

  As shown in FIG. 3, in the vicinity of the branching device 48, the second return conveyor 24 is arranged to run in parallel with the first transport conveyor 12. Guide members 12G and 24G are provided on both sides of each of the first conveyor 12 and the second return conveyor 24, and the container C is guided and conveyed by the guide members 12G and 24G provided on both sides. The The branching device 48 includes an air cylinder 48A and a pusher 48P, and the pusher 48P can be moved back and forth across the first transport conveyor 12 by the air cylinder 48A. At the position where the pusher 48P crosses the first transport conveyor 12 (branch position), the guide members 12G on both sides of the first transport conveyor 12 and the guide members 24G on the first transport conveyor 12 side of the second return conveyor 24 have no pusher. An opening is provided for 48P to traverse. Further, the first conveying conveyor 12 and the second return conveyor 24 at the same position are communicated with each other by a jumper plate 56.

  When the fourth container detection sensor 46 detects the position of the container C determined that the bag product P is not inserted from the image of the second bag product presence / absence detection camera 44, an encoder provided on the first conveyor 12 The position of the container C is accurately grasped (not shown), and when the container C comes in front of the pusher 48P, the pusher 48P is pushed out by the air cylinder 48A, and the container C is moved onto the second return conveyor 24. It is pushed.

  Next, with reference to FIGS. 4 and 5, the details of the configuration of the transfer device 52 of the present embodiment will be described. FIG. 4 is a plan view showing a layout in the vicinity of the transfer device 52, and FIG. 5 is a cross-sectional view of the transfer device 52.

  As shown in FIGS. 4 and 5, in the vicinity of the transfer device 52, the second return conveyor 24 is arranged to run in parallel with the first transport conveyor 12. Guide members 12G and 24G are provided on both sides of each of the first conveyor 12 and the second return conveyor 24, and the container C is guided and conveyed by the guide members 12G and 24G provided on both sides. The The transfer device 52 includes an air cylinder 52A and a pusher 52P, and the pusher 52P can be moved back and forth across the second return conveyor 24 by the air cylinder 52A. At the position where the pusher 52P crosses the second return conveyor 24 (transfer position), the guide members 24G on both sides of the second return conveyor 24 and the guide members 12G on the second return conveyor 24 side of the first transport conveyor 12 An opening for moving the pusher 52P forward and backward and transferring the container C from the second return conveyor 24 to the first transport conveyor 12 is provided. Further, a connecting plate 58 communicates between the second return conveyor 24 and the first transport conveyor 12 at the same position.

  A fixed stopper 60 is provided at the downstream end of the second return conveyor 24, and the conveyed container C comes into contact with the fixed stopper 60 and stops at the transfer position before the pusher 52P. Moreover, in the 2nd return conveyor 24, the stopper for stopping the transfer of the container C continuously conveyed on the 2nd return conveyor 24 just before the transfer position upstream from the transfer apparatus 52. A device 62 is provided. The stopper device 62 includes an air cylinder 62A and a movement stopper 62S, and the movement stopper 62S can move forward and backward on the second return conveyor 24 by the air cylinder 62A.

  The interval between the containers C conveyed on the first conveyor 12 is calculated based on the detection signal of the container detection sensor 54 (for example, calculated based on the conveyance speed and the detection time interval), and there is an interval equal to or more than one container C. When the determination is made, the transfer device 52 is activated, and the container C stopped at the downstream end of the second return conveyor 24 is pushed onto the first transfer conveyor 12 by the pusher 52P. The stopper device 62 prevents the container C that is transported next from interfering with the container C that is already at the downstream end (transfer position) of the second return conveyor 24, and the moving stopper 62S serves as the second return. It protrudes onto the conveyor 24 and blocks its path. That is, when the container C is already at the transfer position, the stopper device 62 stops the next container C from waiting before the transfer position 52 (standby position), and the container C is already at the transfer position. To interfere with the container C in

  When the container detection sensor 50 detects that the container C is present at the standby position of the second return conveyor 24 and the container C at the transfer position has already been transferred to the first conveyor 12, the stopper device 62. Moves the movement stopper 62S from the second return conveyor 24, and moves only one container C from the standby position to the transfer position. At this time, the next container C is further transported to the transfer position, and the transport path of the second return conveyor 24 is closed again by the movement stopper 62S so as not to buffer the container C at the transfer position.

  As described above, in the bag product input device 10 of the present embodiment, the bag products P supplied from the hopper 20 and randomly conveyed on the second transport conveyor 14 are transported one by one in the first and second robots. Picked up by 16 and 18, and put into the container C to be transported on the first transport conveyor 12. And the bag product P which was not thrown in is collect | recovered to the hopper 20 by the 1st return conveyor 22. FIG. In the present embodiment, the container C in which the bag product P could not be loaded by the first and second robots 16 and 18 is detected by the second bag product presence / absence detection camera 44, and the second return conveyor is used by using the branching device 48. Since the branching to 24 and returning to the upstream side of the first conveyor 12, the container C in which the bag product P is not charged is again loaded with the bag product P using the first and second robots 16 and 18. Can be turned to.

  In general, it is difficult to uniformly disperse bag products on a conveyor, and there are places where bag products are densely packed, such as overlapping bag bags, and places where the bag products are sparsely distributed. Therefore, it is generally difficult to put bag products into all containers even if a plurality of robots are used. In this embodiment, since the container in which the bag product has not been input is returned to the input operation again, the defect rate due to the bag product not being input can be reduced to approximately 0%.

  As described above, according to the present embodiment, in the bag product input device that picks up the bag products that are transported randomly and inputs them into the containers that are continuously transported, the number of containers into which the bag products are not charged is reduced, and the operating rate is improved. be able to.

  In the present embodiment, the bag product input device used in the cup noodle production line has been described as an example of the article processing device. However, the present invention provides a syrup on a container containing solid yogurt. It is also possible to transfer bag products packed in bags, or to transfer a spoon onto a container containing pudding or jelly. Moreover, the structure of a branching device or a transfer apparatus should just be a structure which can transfer a container, and is not limited to the structure of this embodiment. For example, the air cylinder may be replaced with another drive mechanism such as a servo motor, or the container can be moved in a non-contact manner by adopting a structure in which air is blown instead of a structure in which the pusher is brought into contact with the container.

DESCRIPTION OF SYMBOLS 10 Bag product input device 12 1st conveyance conveyor 14 2nd conveyance conveyor 16, 18 1st, 2nd robot (article transfer means)
20 hopper 22 first return conveyor 24 second return conveyor (return path)
25, 26 Conveyor with crosspiece 34 Noodle filling device 36, 38, 42, 46, 50, 54 Container detection sensor 40 First bag product presence / absence detection camera 44 Second bag product presence / absence detection camera (detection means)
48 Branching device (branching means)
52 Transfer equipment (transfer means)
C Container filled with noodles (cup)
P bag products

Claims (1)

A first conveyor for conveying containers;
A second transport conveyor for transporting articles transferred to the container;
Container position recognizing means for recognizing the position of a container transported on the first transport conveyor;
Article position recognition means for recognizing the position of an article to be conveyed on the second conveyor;
Article transfer means for holding an article on the second transfer conveyor and transferring it to a container on the first transfer conveyor based on signals from the container position recognition means and the article position recognition means;
Detecting means provided on the first transport conveyor downstream from the article transfer means for detecting whether or not the article has been transferred to the container;
A return path connecting the branch position downstream of the detection means and the transfer position upstream of the article transfer means in the first transport conveyor;
Branching means for branching the container on the first conveyor to the return path at the branch position;
A transfer means for returning the containers on the return passage to the transfer position of the first conveyor,
The article processing characterized in that the container determined by the detection means that the article is not transferred is transferred to the first transport conveyor via the return path, and the article is transferred again to the transferred container. apparatus.

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