JP2018103347A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suitably transfer an object while suppressing deformation of the object.SOLUTION: A transfer device comprises a hand part 30 for holding an object A, and transfer means for transferring the hand part 30 from transportation means 2 to a target position. The hand part 30 is provided with: a pair of regulation parts 40, 40 which are so located as to face each other in a direction crossing a transportation direction of the transportation means 2 and which are formed so that a space therebetween becomes narrow as approaching a downstream side in the transportation direction and so as to contact the object A along outside surfaces A1, A2 of the object A; a pressing part 50 which contacts an outside surface A3 of the object 40, 40, which have entered between the pair of regulation parts 40, 40 from an upstream side in the transportation direction, from the upstream side in the transportation direction; and driving means 60 which transfers the pressing part 50 between a pressing position B1 at which the transfer object A is pressed and a retreat position B2 separated from the pressing position B1.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transfer apparatus for lifting an object conveyed by a predetermined conveying means and transferring it to a target position.

  Conventionally, the next work performed in a food processing factory, that is, a manufactured object such as food is transported along a predetermined transport path, and the object is taken out from the transport path and stored in a container box or the like. It is being considered to automate the work of transferring to a location.

  For example, Patent Document 1 discloses a device that holds a sandwich conveyed by a belt conveyor and transfers the sandwich to a working place for bagging.

  Specifically, the apparatus of Patent Document 1 includes two plate-like members extending in parallel to the belt conveyor and means for driving these plate-like members, and the two plate-like members are connected to the belt conveyor. After placing horizontally, one plate-like member is extended to the belt conveyor side and placed on the upper surface of the sandwich on the belt conveyor, and then the other plate-like member is extended to the belt conveyor side and placed between the sandwich and the belt conveyor. And sandwiching the sandwich by plate members from both the upper and lower sides to grasp it.

JP 2014-198571 A

  In the apparatus of Patent Document 1, since a sandwich, that is, an object is sandwiched from above and below by a plate-like member and supported, there is a problem that a relatively strong force needs to be applied to the object and the object is easily deformed. is there. Moreover, when inserting a plate-shaped member between a target object and a belt conveyor, there exists a problem that a plate-shaped member will damage a target object.

  This invention is made | formed in view of the above situations, and it aims at providing the transfer apparatus which can transfer this appropriately, suppressing a deformation | transformation of a target object.

  In order to solve the above problems, the present invention is a transfer device for lifting an object being conveyed by a predetermined conveying means and transferring it to a target position, and a hand unit for holding the object; Moving means for moving the hand unit from the transport unit to the target position, the hand unit being disposed opposite to the direction intersecting the transport direction of the transport unit, and spaced closer to the downstream side of the transport direction. And a pair of restricting portions formed so as to be in contact with the outer surface of the object along the outer surface, and the pair of restricting portions entered from the upstream side in the transport direction between the pair of restricting portions. A drive that moves the pressing portion that contacts the outer surface of the object from the upstream side in the conveying direction, and a pressing position that presses the conveying object and a retreat position that is separated from the pressing position. Providing a transfer device, characterized in that it comprises a stage (claim 1).

  According to this configuration, the regulating portions are in contact with both side surfaces in the direction intersecting the transport direction of the transport unit on the outer side surface of the object, and on the upstream side in the transport direction of the transport unit on the outer surface of the target object. A pressing part contacts a part. In other words, the outer surface of the object and the hand part come into contact in three directions. Therefore, a high frictional force can be generated between the object and the hand part (each restricting part and the pressing part). Therefore, the object can be prevented from falling by this frictional force when the object is lifted, and the object is deformed without applying excessive pressing force to the object. It is possible to appropriately lift and transfer the object while suppressing the above.

  In addition, in this configuration, since each regulating portion is formed so that the interval is narrower toward the downstream side in the transport direction, the object can easily enter between the regulating portions, and the object can be placed in the regulating portion. It is possible to prevent the restricting part from interfering with and damaging the object when entering between the two.

  In the above-described configuration, each of the restriction portions and the pressing portion includes a base portion and a non-slip portion attached to a side surface of the base portion so as to be in direct contact with the object, and a friction coefficient of the non-slip portion is The base portion is preferably larger than the base portion (claim 2).

  According to this configuration, it is possible to further increase the frictional force generated between the restricting portion and the pressing portion and the object, and to more reliably suppress the object from falling.

  In the configuration described above, the detection unit may detect that the object has entered between the pair of restriction parts, and the driving unit may detect that the object has entered between the pair of restriction parts. When detected by the means, it is preferable to move the pressing portion from the retracted position to the pressing position.

  According to this configuration, the pressing portion can be moved to the pressing position in a state where the object enters between the regulating portions, and the pressing portion can be prevented from interfering with and damaging the object. .

  In the above configuration, when the object has a triangular shape, the pair of restricting portions are preferably inclined so as to be along two oblique sides of the object in plan view (claims). 4).

  According to this configuration, it is possible to more reliably suppress the falling of the target object by effectively bringing the triangular target object into contact with the restricting portion.

  As described above, according to the transfer device of the present invention, it is possible to appropriately transfer the object while suppressing deformation of the object.

1 is a schematic configuration diagram of a transport system to which a transfer apparatus according to an embodiment of the present invention is applied. It is the schematic perspective view which expanded and showed the hand part periphery. It is a bottom view of a hand part. It is the IV-IV sectional view taken on the line of FIG. It is a figure for demonstrating operation | movement of a transfer apparatus, (a)-(c) is the figure which showed the mode of the transfer apparatus in different time. It is a figure for demonstrating operation | movement of a transfer apparatus, (a)-(c) is the figure which showed the mode of the transfer apparatus in different time. It is the schematic perspective view which expanded and showed the hand part periphery which concerns on 2nd Embodiment. It is the figure which abbreviate | omitted the cover with respect to FIG. It is a schematic bottom view of the hand part which concerns on 2nd Embodiment. It is a schematic side view of the hand part which concerns on 2nd Embodiment. It is a schematic side view of the hand part which concerns on 2nd Embodiment. It is the bottom view which showed the other example of the hand part.

(1) Overall Configuration FIG. 1 is a schematic configuration diagram of a transfer system 1 to which a transfer apparatus of the present invention is applied. Here, a case will be described in which the transport system 1 is a system that transports a substantially equilateral triangular rice ball A in a packed state.

  The conveying system 1 includes a belt conveyor (conveying means) 2 for conveying the produced rice ball A, a tray 3 for storing the rice ball A, and a transfer device 10 for transferring the rice ball A on the belt conveyor 2 to the tray 3. And.

  The belt conveyor 2 extends along a predetermined direction, and conveys the rice ball A in this direction. Hereinafter, as appropriate, the conveying direction of the rice ball A by the belt conveyor 2 is simply referred to as the conveying direction, and the direction orthogonal to the conveying direction is referred to as the width direction of the belt conveyor 2.

  The rice ball A is placed on the upper surface of the upstream end portion in the conveying direction of the belt conveyor 2 with a predetermined time from the packing device 4 or the like, and as shown in FIG. , A plurality of rice balls A are arranged at almost equal intervals in the transport direction. Moreover, as shown in FIG. 1, the rice ball A is mounted on the belt conveyor 2 in a posture that forms a triangle in plan view.

  The transfer device 10 is arranged near the downstream end in the conveying direction of the belt conveyor 2, and transfers the rice ball A that has reached the vicinity of the downstream end to the tray 3 (target position).

  The tray 3 is disposed in the vicinity of the downstream end in the transport direction of the belt conveyor 2. The tray 3 has a capacity capable of accommodating a plurality of rice balls A, and the transfer device 10 sequentially transfers the rice balls A conveyed by the belt conveyor 2 into the tray 3.

(2) Transfer Device The detailed structure of the transfer device 10 will be described.

  As shown in FIG. 1, the transfer device 10 is fixed to the upper end of a support column 5 extending in the vertical direction. The transfer device 10 includes a base end portion 12 fixed to the upper end of the column 5, an arm portion 14 extending from the base end portion 12 in a direction orthogonal to the column 5, and a head portion 16 fixed to the tip of the arm portion 14. And have.

  The base end portion 12 is fixed to the upper end of the support column 5 so as to be rotatable around the center axis X <b> 1 of the support column 5. The arm portion 14 is fixed to the base end portion 12 so as to be rotatable about the central axis X1 integrally therewith, and is also fixed to be rotatable about an axis X2 extending in the horizontal direction with respect to the support column 5. The head portion 16 is fixed to the tip of the arm portion 14 so as to be rotatable and pivotable integrally therewith, and is also pivotably fixed about an axis X3 extending in the horizontal direction with respect to the arm portion 14. The base end portion 12, the arm portion 14, and the head portion 16 are rotated or swiveled by a motor or the like built in the transfer device 10, respectively.

  The head portion 16 includes a first base portion 21 extending from the tip end of the arm portion 14 in a direction perpendicular to the axis X3, a substantially cylindrical second base portion 22 extending in the vertical direction at the tip end of the first base portion 21, and a second base portion 22. And a hand portion 30 fixed to the lower end. The hand part 30 is movable in the horizontal direction as the base end part 12 rotates. Further, the hand portion 30 is movable in the vertical direction by the arm portion 14 turning around the axis X2 while turning the head portion 16 around the axis X3. In the present embodiment, the hand unit 30 of the transfer apparatus 10 functions as a hand unit that holds the rice ball A, and the head unit 16, the arm unit 14, a motor that drives these, etc. It functions as a moving means for moving in the horizontal direction.

(Hand part)
FIG. 2 is a schematic perspective view showing the periphery of the hand unit 30 in an enlarged manner. FIG. 3 is a bottom view of the hand unit 30. FIG. 4 is a cross-sectional view of the periphery of the hand portion 30 in a cross section passing through the line IV-IV in FIG. 3.

  The hand unit 30 includes a substrate 31 extending in the horizontal direction, and one end in the longitudinal direction of the substrate 31 is supported by the second base 22 by being fixed to the lower end of the second base 22 with a bolt.

  In the following description of the hand unit 30, the longitudinal direction of the substrate 31 is appropriately referred to as the front-rear direction, the second base 22 side is referred to as the rear side, the opposite side is referred to as the front side, and the direction orthogonal to the longitudinal direction of the substrate 31 is referred to as the left-right direction. In FIG. 2, the far side is called right and the near side is left.

  The hand portion 30 is provided with a pair of restricting portions 40 and 40 that extend in the front-rear direction and the up-down direction and face each other in the left-right direction below the substrate 31.

  As illustrated in FIG. 3, the restricting portions 40 and 40 have a shape that is symmetrical with respect to a reference line X10 that extends in the front-rear direction. Each restricting portion 40 is inclined so that the interval between the restricting portions 40 becomes narrower toward the front side, that is, the restricting portions 40 are positioned on the left and right outer sides as they reach the rear side. Specifically, the restricting portion 40 arranged on the right side is inclined to the right oblique rear side, and the restricting portion 40 arranged on the left side is inclined to the left oblique rear side.

  The angle of inclination of the regulating portions 40, 40 with respect to the reference line X10 and the distance between them in the left-right direction are such that the rice balls A are arranged as shown by the chain lines in FIG. 3, that is, the rice balls A are triangular in plan view. A plane (outer side surface, hereinafter referred to as a bottom surface) A3 constituting the base of the triangle is orthogonal to the reference line X10, and the leading edge P constituting the apex P of the triangle is the reference. In a state where the restricting portions 40, 40 are arranged at positions on the line X10 and on the front side of the bottom surface A3, the respective restricting portions 40, 40 respectively have two slopes (outside surface, In plan view, they are set so as to extend along the slant sides extending from the apex P of the triangle, respectively, along the planes A1 and A2, and to come into contact with the slopes A1 and A2.

  Here, both the restriction | limiting parts 40 and 40 are mutually spaced apart about the left-right direction, and the space between these is open | released ahead. Therefore, as shown in FIG. 3, in the contact state where both restriction portions 40, 40 are in contact with the slopes A <b> 1, A <b> 2 of the rice ball A, the rice ball A is more forward than the front end of each restriction portion 40, 40. It will protrude. In the example shown in the drawing, each restricting portion 40 is arranged such that a portion of about 1/5 of the entire length of the rice ball A in the abutting direction protrudes forward from the restricting portions 40 and 40 in this abutting state.

  In addition, the length in the front-rear direction of each restricting portion 40 is set to a value slightly larger than half of the length in the front-rear direction of the slopes A1, A2 of the rice ball A. A rice ball A protrudes behind the rear end of 40. In the example shown in the figure, the length of the restricting portions 40, 40 in the front-rear direction is such that a portion of about 1/4 of the total length of the rice ball A protrudes rearward from the restricting portions 40, 40 in the front-rear direction.

  Each restricting portion 40 includes a plate-like projecting plate (base portion) 41 extending downward from both left and right edges of the front end portion of the substrate 31, and left and right inner surfaces of the projecting plate 41 (on the right projecting plate 41, the left side surface and the left side surface). In the protruding plate 41, the anti-slip portion 42 is supported on the right side surface), and the anti-slip portion 42 of the restricting portions 40 contacts the slopes A 1 and A 2 of the rice ball A.

  In the present embodiment, the protruding plates 41 and 41 and the substrate 31 are integrally formed with each other, and the protruding plates 41 and 41 and the substrate 31 are formed by bending a plate-like member.

  The anti-slip portion 42 is made of a member having a larger coefficient of friction than the protruding plate 41. For example, the protruding plate 41 is formed of a metal such as aluminum, and the anti-slip portions 42 are formed of urethane rubber, silicone rubber, or the like. Each anti-slip portion 42 is provided over substantially the entire front-rear direction of the left and right inner surfaces of the projecting plates 41, 41. Each of the anti-slip portions 42 is attached to the protruding plates 41 and 41 with an adhesive, for example. The protruding plates 41, 41 and the anti-slip portions 42, 42 have a constant thickness in the front-rear direction, and the protruding plates 41, 41 and the anti-slip portions 42, 42 are each left or right as they reach the rear side. It is inclined to be located outside.

  In the example shown in FIG. 4, the vertical dimension of each protruding plate 41 is larger than the vertical dimension of the rice ball A (vertical dimension in a state where the rice balls A are arranged in a triangular shape in plan view). The vertical dimension of each anti-slip portion 42 is set to be substantially the same as the vertical dimension of the rice ball A.

  A sensor (detection means) 90 for detecting whether or not the rice ball A is arranged in this portion is attached to the lower surface of the portion between the restricting portions 40, 40 in the front end portion of the substrate 31. In the present embodiment, an optical sensor 90 is used as the sensor 90. The optical sensor 90 irradiates light downward and detects the amount of light that bounces back. The detection result of the optical sensor 90 is transmitted to a control device (not shown) provided in the transfer device 10 and controlling it. Then, the control device determines whether or not the light amount detected by the optical sensor 90 is greater than a predetermined value, and if the detected light amount is greater than the predetermined value, the rice ball A is located below the optical sensor 90. It is determined that it has been placed.

  The hand portion 30 is provided with a pressing portion 50 that comes into contact with the bottom surface A3 of the rice ball A, that is, the rear end surface from the rear in a state where the two slopes A1 and A2 of the rice ball A are in contact with the restricting portions 40 and 40, respectively. ing.

  As shown in FIGS. 3 and 4, the pressing portion 50 has a plate shape that extends in the left-right direction and the up-down direction in the pressing position B <b> 1 in contact with the bottom surface A <b> 3 of the rice ball A. The pressing portion 50 has a shape that extends in the left-right direction so as to straddle the reference line X10 and is symmetric with respect to the reference line X10. In the present embodiment, the size of the pressing portion 50 in the left-right direction is set to about half of the length in the left-right direction of the bottom surface A3 of the rice ball A, and the pressing portion 50 includes the left and right central portions of the bottom surface A3 of the rice ball A. Abut.

  In the present embodiment, as with the restricting portion 40, the pressing portion 50 is also composed of a non-slip portion 52 that directly contacts the rice ball A and a pressing plate (base portion) 51 that supports it. That is, the pressing portion 50 is in a state where it is in the pressing position, and has a plate-like pressing plate 51 extending in the left-right direction and the vertical direction, and a non-slip having a higher friction coefficient than the pressing plate 51 by being fixed to the front side surface of the pressing plate 51. Part 52. The anti-slip part 52 is provided over the entire left and right direction of the pressing plate 51. In the present embodiment, the anti-slip portion 52 of the pressing portion 50 and the anti-slip portion 42 of the restricting portion 40 are formed of the same material, and the pressing plate 51 and the protruding plate 41 are formed of the same material. .

  In the hand portion 30, the pressing portion 50 extends in the vertical direction as described above and can be brought into contact with the bottom surface A3 of the rice ball A from behind, and the pressing position as shown by a two-dot chain line in FIG. A pressing portion driving device (driving means) 60 is provided for moving between the retracted position B2 separated from B1.

  The pressing unit driving device 60 includes a hinge 61 and an actuator 63 that rotates the hinge 61.

  The hinge 61 has a columnar shaft 61c extending in the left-right direction, and two plate portions 61a and 61b coupled to the shaft 61c so as to be rotatable around the central axis. The hinge 61 is supported by the substrate 31 by fixing one plate portion 61 a to the upper surface of the substrate 31 with the shaft 61 c extending in the left-right direction. A through hole 31a is formed in the substrate 31 behind the portion to which one plate portion 61a of the hinge 61 is fixed. The other plate portion (hereinafter referred to as a moving side hinge plate) 61b extends to the lower side of the substrate 31 through the through hole 31a, and the pressing portion 50 is fixed to the moving side hinge plate 61b. The moving-side hinge plate 61b is supported by the shaft 61c so as to be rotatable about its central axis, and the pressing portion 50 also rotates about the central axis of the shaft 61c as the moving-side hinge plate 61b rotates.

  In this embodiment, the base 51d connected to the upper end of the pressing plate 51 is fixed to the lower surface of the moving-side hinge plate 61b, and the pressing portion 50 is fixed to the moving-side hinge plate 61b via the base 51d. ing. In the example shown in the figure, the base 51d and the pressing plate 51 are formed by bending a single plate-like member.

  An actuator 63 is connected to the moving-side hinge plate 61b via a link portion 62.

  The link portion 62 has a pair of link plates 62a extending upward from the upper surface of the moving-side hinge plate 61b and a link shaft 62b penetrating these two link plates 62a in the left-right direction. Each link plate 62a and link shaft 62b are connected so that each link plate 62a rotates relative to the link shaft 62b around a central axis extending in the left-right direction of the link shaft 62b.

  The actuator 63 has a rod 63a extending in a predetermined direction and a piston 63b for expanding and contracting the rod 63a. The tip of the rod 63a is connected to the link shaft 62b. The actuator 63 is supported by a pair of support plates 63e extending upward from the upper surface of the substrate 31 with the rod 63a extending obliquely upward and forward from the link shaft 62b.

  As shown in FIG. 4, when the rod 63a expands and contracts, the link plate 62a rotates relative to the tip of the rod 63a, and the moving side hinge plate 61b and the pressing portion 50 rotate around the central axis of the hinge shaft 61c. Move. As a result, the pressing portion 50 has a pressing position B1 as shown by a solid line in FIG. 4 and a pressing position B1 extending straight in the vertical direction as described above and a pressing position B1 as shown by a two-dot chain line in FIG. It rotates between the retracted position B2 separated from the position. In the state in the retracted position B2, the pressing portion 50 is in a posture extending substantially horizontally.

  The actuator 63 is controlled by the control device, and when the optical sensor 90 detects that the rice ball A is disposed below the optical sensor 90, the rod is arranged so that the pressing portion 50 moves from the retracted position B2 to the pressing position B1. Extend 63a. On the other hand, when the hand part 30 moves above the tray 3, the actuator 63 contracts the rod 63a so that the pressing part 50 moves to the retracted position B1. The actuator 63 is, for example, an air drive type, and air is pumped from an air pump (not shown).

(3) Operation Next, the operation of the transfer apparatus 10 configured as described above will be described. FIG. 5 and FIG. 6 are diagrams showing a state when the hand unit 30 holds the rice ball A, and time passes in the order of (a), (b), and (c). In FIGS. 5 and 6, only the outline of the rice ball A is shown for explanation.

  First, when the conveyance of the rice ball A by the belt conveyor 2 is started, the hand unit 30 is disposed close to the upper surface of the belt conveyor 2 as shown by the solid line in FIG. The

  At this time, the hand unit 30 is arranged so that the substrate 31 extends in parallel with the upper surface (horizontal plane) of the belt conveyor 2 and along the conveying direction of the belt conveyor 2, and the front end of the substrate 31 is located upstream in the conveying direction. It is arranged to face. Further, the hand unit 30 is disposed at a position where the rice ball A is predicted to pass in the width direction of the belt conveyor 2. For example, when the rice ball A passes near the center in the width direction of the belt conveyor 2, the hand unit 30 is arranged so that the reference line X <b> 10 overlaps the center line in the width direction of the belt conveyor 2 in plan view. At this stage, the position of the pressing portion 50 is set to the retracted position B2.

  By arranging the hand portion 30 in this manner, the rice ball A moves toward the portion between the restricting portions 40 as shown in FIGS. 5 (a) and 6 (a).

  Here, even when the rice ball A is deviated from the expected position as shown by the chain line in FIG. 6A, the width of the belt conveyor 2 is increased in the lateral direction, that is, the width of the belt conveyor 2 as the regulating portions 40, 40 move rearward. By being inclined so as to be located outside the direction, the rice ball A moves along the restricting portion 40 and is introduced between the restricting portions 40, 40.

  After that, when the belt conveyor 2 conveys the rice ball A further downstream, as shown in FIGS. 5 (b) and 6 (b), both regulating portions 40, 40 are formed on the two slopes A1, A2 of the rice ball A. Abutting from the downstream side in the transport direction, this restricts the movement of the rice ball A to the downstream side in the transport direction.

  Thus, in this embodiment, both the regulation parts 40 and 40 contact the rice ball A from the downstream side in the transport direction to regulate the movement of the rice balls A, and thereby the rice ball A is formed at a portion between the regulation parts 40 and 40. Stops.

  When the rice ball A reaches the vicinity of the front ends of the restricting portions 40, 40, the optical sensor 90 detects this as described above. Then, as shown in FIGS. 5C and 6C, the pressing portion 50 is moved from the retracted position B2 to the pressing position B1, and the pressing portion 50 contacts the bottom surface A3 of the rice ball A from the upstream side in the conveying direction. Touch.

  In the present embodiment, the optical sensor 90 detects that the rice ball A has been introduced between the restriction parts 40 and 40 earlier than the restriction timing at which the restriction parts 40 and 40 restrict the movement of the rice ball A. However, since the pressing portion 50 has a drive delay, the pressing portion 50 is disposed at the pressing position B1 almost simultaneously with the regulation timing. Note that the timing at which the pressing portion 50 moves to the pressing position B1 may be before or after the regulation timing. However, if the timing at which the pressing portion 50 is arranged at the pressing position B1 is the same as or after the regulation timing, interference between the pressing portion 50 and the rice ball A can be avoided more reliably.

  As described above, when the pressing portion 50 moves to the pressing position B1, the rice ball A is disposed in the space defined by the two restricting portions 40, 40 and the pressing portion 50, and the both slopes A1, A2 are both The regulating portions 40 and 40 are in contact with each other from the downstream side in the transport direction and from the outside in the direction orthogonal to the transport direction, and the pressing portion 50 is in contact with the bottom surface A3 from the upstream side in the transport direction. In the present embodiment, as described above, at this time, both the slopes A1 and A2 of the rice ball A and the anti-slip portions 42 of the regulating portions 40 and 40 are in surface contact, and the bottom surface A3 of the rice ball A and the anti-slip of the pressing portion 50 are in contact with each other. The part 52 comes into surface contact.

  Thereafter, as indicated by a two-dot chain line in FIG. 1, the hand unit 30 is moved upward and then moved above the tray 3. At this time, the rice ball A moves while being held by the hand unit 30 without dropping due to the frictional force generated between the restricting portions 40 and 40 and the pressing portion 50 and the outer surface of the rice ball A. Then, the pressing portion 50 is driven to the retracted position B2 above the tray 3, and the rice ball A is put into the tray 3.

  In this way, the rice balls A are held by the hand unit 30 and transferred from the belt conveyor 2 into the tray 3. When the transfer of one rice ball A is completed, the hand unit 30 is again arranged above the belt conveyor 2 and starts transferring the next rice ball A.

(4) Operation, etc. As described above, in the present embodiment, a space that substantially coincides with the outer shape of the rice ball A is formed by the restricting portions 40, 40 of the hand portion 30 and the pressing portion 50, and the rice ball A is formed in this space. Is placed. Then, the two slopes A 1, A 2 and the bottom surface A 3 of the rice ball A abut against the restricting portions 40, 40 and the pressing portion 50 of the hand portion 30. That is, each part 40, 40, 50 of the hand part 30 comes into contact with the rice ball A from three directions. Therefore, a uniform and high frictional force can be generated between the restricting portions 40 and 40 and the pressing portion 50 and the outer surface of the rice ball A, without applying excessive pressing force or clamping force to the rice ball A. Rice balls A can be held. Accordingly, it is possible to appropriately hold and transfer the rice ball A while suppressing the deformation of the rice ball A.

  In particular, in the present embodiment, the anti-slip portions 42, 42, 52 with high friction coefficients provided in the restricting portions 40, 40 and the pressing portion 50 come into contact with the outer surface of the rice ball A. Therefore, the rice ball A can be held more appropriately by increasing the frictional force between the outer surface of the rice ball A and the restricting portions 40, 40 and the pressing portion 50.

  The restricting portions 40 and 40 and the pressing portion 50 are in close contact with the outer surface of the rice ball A, so that the outer surface of the rice ball A is slightly restricted when the rice ball A is slightly tilted when lifted. At least one of the pressing parts 50 is caught. Therefore, the rice ball A can be prevented from falling by this.

  Further, in the present embodiment, the regulation portions 40 and 40 are inclined so as to be located on the outer side in the width direction of the belt conveyor 2 as they reach the rear side, that is, the upstream side in the transport direction of the belt conveyor 2. Therefore, as described above, the rice ball A can be reliably introduced between the restriction portions 40, 40, and the rice ball A can be efficiently held by the hand portion 30.

  Further, in the present embodiment, the restriction portions 40, 40 abut the rice ball A from the downstream side in the conveyance direction so that the movement of the rice ball A in the conveyance direction downstream side is restricted, and the pressing portion 50 is conveyed to the rice ball A. The rice ball A is held by the hand part 30 by contacting from the upstream side in the direction. Therefore, when the movement is restricted and when the rice ball A is held by the hand part 30, it is possible to suppress the restriction parts 40, 40 and the pressing part 50 from interfering with the rice ball A and damaging them.

  Further, in the present embodiment, when it is detected by the optical sensor 90 that the rice ball A has reached the vicinity of the front ends of the restricting portions 40, 40, the pressing portion 50 is moved to the pressing position B1. Therefore, it can suppress that the rice ball A and the press part 50 interfere, and the damage and deformation | transformation of the rice ball A by this interference can be suppressed.

(5) 2nd Embodiment In the said embodiment, the board | substrate 31 extended in the horizontal direction is provided in the hand part 30, and the regulation parts 40 and 40, the press part 50, and the press part drive device 60 are provided in the front-end part of this board | substrate 31. However, instead of this, the hand unit 30 may be configured as shown in FIGS.

  FIG. 7 is a schematic perspective view corresponding to FIG. 2 and showing an enlarged periphery of the hand unit 130 according to the second embodiment. FIG. 8 is a view in which a cover 139 and the like to be described later are omitted from FIG. FIG. 9 is a schematic bottom view of the hand unit 130. 10 and 11 are schematic side views of the hand unit 130 with the cover 139 removed. In the following description of the second embodiment, the vertical, horizontal, and front-rear directions shown in FIG.

  As shown in FIG. 8 and the like, the hand unit 130 includes a substrate 131 that is fixed to the lower portion of the second base 22 of the head unit 16. The substrate 131 has a substantially U-shape when viewed from the side, and includes a substantially square upper plate 131a extending along the lower surface of the second base 22, and a lateral plate 131b extending downward from one edge of the upper plate 131a. The lower plate 131c extends substantially parallel to the upper plate 131a from the lower edge of the horizontal plate 131b. The upper plate 131a and the lower plate 131c are connected to each other by two support columns 132 and 132 extending vertically.

  With this structure, in the second embodiment, a space surrounded by the substrate 131 and the two support columns 132 and 132 is defined below the second base portion 22 of the head portion 16.

  The two restricting portions 140 and 140 are detachably fixed to the lower plate 131c, respectively. Specifically, also in the second embodiment, as shown in FIGS. 8 and 9 and the like, each restricting portion 140 includes a plate-like protruding plate 141 extending in the vertical direction and a non-slip portion 142 fixed to the plate-like protruding plate 141. Respectively. On the other hand, in the second embodiment, each protruding plate 141 is provided with a plate-like attachment portion 143 that extends in a direction substantially orthogonal from the upper edge thereof. And this attachment part 143 is being fixed to this lower board 131c with the attitude | position along the lower surface of the lower board 131c with a volt | bolt etc., and, thereby, the control part 140 can be attached or detached with the attitude | position extended below from this to the lower board 131c. It is fixed. Note that the protruding plate 141 and the attachment portion 143 of each regulating portion 140 are integrally formed, and are formed by bending a single plate-like member substantially at a right angle.

  On the other hand, the fixing structure of the pressing portion 150 is substantially the same between the first embodiment and the second embodiment, and a base portion 151d extends from the upper end of the presser plate 151 of the pressing portion 150, and this base portion 151d. Is fixed to the substrate 131 via a hinge 161. However, in the second embodiment, the hinge 161 is fixed to the rear end portion of the lower plate 131c of the substrate 131. Also in the second embodiment, as shown in FIG. 9, the pressing portion 150 includes a pressing plate 151 and a non-slip portion 152 fixed to the pressing plate 151.

  In the second embodiment, most of the actuator 163 in the pressing unit driving device 160 for moving the pressing unit 150 is arranged in a space surrounded by the substrate 131 and the two support columns 132 and 132. It has become.

  Specifically, also in the second embodiment, in addition to the hinge 161, the pressing portion driving device 160 includes a link portion 162 coupled to the hinge 161, and an actuator 163 including a rod 163a and a piston 163b. Yes. 10 and 11, the piston 163b expands and contracts the rod 163a, so that the pressing portion 150 rotates between the pressing position B1 and the retracted position B2, and the pressing portion 150 Is placed at the pressing position B1 so that it comes into contact with the rice ball A, whereby the rice ball A is gripped by the restricting portions 140 and 140 and the pressing portion 150.

  On the other hand, in 2nd Embodiment, piston 163b is arrange | positioned in the said space. Specifically, as shown in FIG. 10, the piston 163b is fixed to the upper part of the horizontal plate 131b and extends rearward and obliquely downward from this position. A rod 163a extends rearward and obliquely downward from the piston 163b and is connected to a link portion 162 connected to the hinge 161.

  Thus, in the second embodiment, the upper plate 131a and the lower plate 131c that are vertically opposed to the substrate 131 fixed to the second base portion 22 of the head portion 16 are provided, and the regulating portion 140 is provided on the lower plate 131c. 140 are fixed, and a part of the pressing portion driving device 160 is disposed in the inner space of the substrate 131. As a result, the second base portion 22 and the hand portion 130 overlap in plan view. Therefore, in 2nd Embodiment, the amount which the hand part 130 protrudes in the horizontal direction with respect to the 2nd base 22 can be restrained small, and the hand part 130 periphery of the transfer apparatus 10 can be made compact.

  In the second embodiment, as shown in FIG. 7, the substrate 131, the two support columns 132 and 132, and a part of the pressing unit driving device 160 disposed in the space between them are covered with a cover 139. ing. Specifically, the cover 139 has a substantially cylindrical shape that opens downward, and is positioned below the second base portion 22 of the head portion 16 and extends substantially coaxially therewith.

(6) Other Modifications In the above embodiment, the case where the object is the rice ball A having a substantially equilateral triangle shape is described, but the shape and type of the object are not limited thereto.

  For example, the object A10 may be substantially circular in plan view. In this case, as shown in FIG. 12, the restricting portions 240 and 240 and the pressing portion 250 may be curved along the outer surface of the substantially circular object A10. That is, each regulation part 140 is curved so that it may go to the right and left outside toward the back. Further, the pressing portion 250 is bent so as to bulge backward.

  Moreover, the specific dimension of each control part 40 and the press part 50 is not restricted above. Moreover, the specific material which forms the protrusion board 41 of each control part 40, the pressing board 51 of the press part 50, and each slip prevention part 42 and 52 is not restricted above.

  Further, the specific configuration for driving the pressing unit 50, the trajectory of movement of the pressing unit 50, and the specific position of the retreat position B2 are not limited to the above.

  In addition, the specific means for detecting that the restricting portions 40, 40 have moved to the position where the movement of the rice ball A is restricted is not limited to the optical sensor 90. Even when the optical sensor 90 is used, the mounting position is not limited to the above. For example, the optical sensor 90 may be attached so that it can be detected whether or not the rice ball A is present at a position ahead of the front ends of the restricting portions 40, 40.

2 Belt conveyor (conveying means)
DESCRIPTION OF SYMBOLS 10 Transfer apparatus 30 Hand part 40 Control part 41 Projection board (base part)
42 Non-slip part 50 Press part 51 Holding plate (base part)
52 Non-slip part 60 Press part drive device (drive means)
90 Optical sensor (detection means)
130 Hand part (2nd Embodiment)
140 Regulation part (2nd Embodiment)
141 Protruding plate (base, second embodiment)
142 Non-slip part (2nd Embodiment)
150 pressing portion (second embodiment)
151 holding plate (base, second embodiment)
152 Non-slip part (second embodiment)
240 Restriction (Modification)
A rice ball (object)
A10 Object (variation)

Claims (4)

A transfer device for lifting an object being conveyed by a predetermined conveying means and transferring it to a target position,
A hand unit for holding the object;
Moving means for moving the hand unit from the transport means to the target position;
The hand part is
It is arranged so as to be opposed in the direction intersecting the transport direction of the transport means, and is formed so that the interval becomes narrower toward the downstream side of the transport direction and in contact with the outer surface of the object. A pair of regulating parts,
A pressing portion that comes into contact with the outer surface of the object that has entered from the upstream side in the transport direction between the pair of regulating portions from the upstream side in the transport direction;
A transfer apparatus comprising: a pressing unit that moves the pressing unit between a pressing position that presses the conveyance object and a retracted position that is separated from the pressing position. The transfer device according to claim 1,
Each of the restricting portions and the pressing portion includes a base and a non-slip portion attached to a side surface of the base so as to directly contact the object.
The transfer device according to claim 1, wherein a friction coefficient of the anti-slip portion is larger than that of the base portion. The transfer apparatus according to claim 1 or 2,
Detecting means for detecting that the object has entered between the pair of regulating portions;
The driving means moves the pressing portion from the retracted position to the pressing position when the detecting means detects that the object has entered between the pair of restricting portions. Mounting device. In the transfer apparatus in any one of Claims 1-3,
The object has a triangular shape;
The transfer device according to claim 1, wherein the pair of restricting portions are inclined so as to be along two oblique sides of the object in a plan view.

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