JP2018104179A - Article transshipment device - Google Patents

Article transshipment device Download PDF

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Publication number
JP2018104179A
JP2018104179A JP2016255167A JP2016255167A JP2018104179A JP 2018104179 A JP2018104179 A JP 2018104179A JP 2016255167 A JP2016255167 A JP 2016255167A JP 2016255167 A JP2016255167 A JP 2016255167A JP 2018104179 A JP2018104179 A JP 2018104179A
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Japan
Prior art keywords
conveyor
robot
transport direction
article
package
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JP2016255167A
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Japanese (ja)
Inventor
幸祐 渡辺
Kosuke Watanabe
幸祐 渡辺
卓也 岩佐
Takuya Iwasa
卓也 岩佐
俊幸 小松
Toshiyuki Komatsu
俊幸 小松
悟史 西辻
Satoshi Nishitsuji
悟史 西辻
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株式会社イシダ
Ishida Co Ltd
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Priority to JP2016255167A priority Critical patent/JP2018104179A/en
Publication of JP2018104179A publication Critical patent/JP2018104179A/en
Application status is Pending legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To provide an article transshipment device capable of efficiently transshipping an article between two conveyors serially arranged along a transporting direction with the use of a robot.SOLUTION: An article transhipment device 1 comprises a first conveyor 10, a second conveyor 20, a robot 30, and a relative position change mechanism 40. The first conveyor 10 and the second conveyor 20 transport a package B in a transporting direction. The second conveyor 20 is so arranged as to be linearly aligned with the first conveyor 10 in a downstream side of the first conveyor 10 in the transporting direction. The robot 30 transships the package B transported by the first conveyor 10 to the second conveyor 20. The relative position change mechanism 40 changes a relative position of a position of a conveyor boundary 50, which is a boundary between the first conveyor 10 and the second conveyor 20 in the transporting direction when the first conveyor 10 and the second conveyor 20 are viewed from above, and the robot 30 in the transporting direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article transshipment apparatus that transposes articles using a robot between two conveyors arranged in series along a conveyance direction.

  2. Description of the Related Art Conventionally, an article transshipment apparatus that transposes an article conveyed by a conveyor to another conveyor using a robot is used. The article re-loading device is used, for example, as a boxing device for transferring goods from a transport conveyor for supplying products to a stacking conveyor for stacking products, and packing the articles transported by the stacking conveyor.

  As an example of the article transshipment apparatus, in the container transport device disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2011-213812), the containers transported by the entrance conveyor (transport conveyor) are sucked and held by the alignment robot. The intermediate conveyor (stacking conveyor) adjacent to the entrance conveyor is reloaded.

  In the container transport device disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2011-213812), the entrance conveyor and the intermediate conveyor are arranged in parallel in the width direction of the conveyor. Thus, in the article transshipment apparatus in which the two conveyors for conveying the articles are arranged in parallel, the distance that the robot moves the articles to reload the articles tends to be long, and the installation area in the width direction of the conveyor Tends to grow.

  In order to solve this problem, an article transshipment apparatus that transposes articles between two conveyors arranged in series along the conveyance direction of the articles has been conventionally devised. This article transshipment apparatus reloads articles that have been transported to the downstream end of the transport conveyor to the upstream end of a stacking conveyor that is another conveyor. This article transshipment apparatus can suppress the distance that the robot moves the article in order to transship the article, and the installation area in the width direction of the conveyor.

  However, the article transshipment apparatus in which two conveyors (conveyance conveyor and stacking conveyor) are arranged in series has a problem that the effective pick-up range tends to be narrower than the article transshipment apparatus in which two conveyors are arranged in parallel. There is a point. The effective pickup range is a range on the conveyor where the robot can pick up articles from the conveyor. In order to cope with the disturbance of the pitch of the articles conveyed by the conveyor (interval between the articles to be conveyed), it is necessary to secure the pickup effective range as wide as possible. However, since there is a limit to the range in which the robot arm can move in the article conveyance direction, an attempt to secure a wide pickup effective range results in a narrow accumulation effective range. The stacking effective range is a range on the stacking conveyor in which articles picked up from the transfer conveyor by the robot can be placed on the stacking conveyor. When the accumulation effective range becomes narrow in the conveyance direction, there is a possibility that articles having a large dimension in the conveyance direction cannot be reloaded normally. Therefore, in order to cope with the transshipment of articles of various dimensions, it is necessary to secure the widest possible collection range. However, if an attempt is made to secure a wide collection effective range, the distance that the robot moves the article becomes long, the processing capacity of the entire apparatus is lowered, and the pickup effective range cannot be sufficiently secured. Therefore, in order to suppress a decrease in the processing capacity of the article transshipment apparatus and efficiently reload the articles between the two conveyors, it is preferable to appropriately secure the pickup effective range and the accumulation effective range according to the articles. .

  An object of the present invention is to provide an article transshipment apparatus capable of efficiently transshipping articles using a robot between two conveyors arranged in series along the conveyance direction.

  The article transshipment apparatus according to the present invention includes a first conveyor, a second conveyor, a robot, and a relative position changing mechanism. The first conveyor conveys the article in the conveyance direction. A 2nd conveyor is arrange | positioned so that it may align with a 1st conveyor in the downstream of the conveyance direction of a 1st conveyor. The second conveyor conveys the article in the conveyance direction. The robot transfers the articles conveyed by the first conveyor to the second conveyor. The relative position changing mechanism changes the relative position in the transport direction between the position of the boundary between the first conveyor and the second conveyor in the transport direction and the robot when the first conveyor and the second conveyor are viewed from above. .

  This article transshipment apparatus changes the position of the boundary between the first conveyor and the second conveyor and the relative position with the robot in the conveyance direction of the article, so that the effective pickup range on the first conveyor, and The accumulation effective range on the second conveyor can be changed. Therefore, the article transshipment apparatus can appropriately secure the effective pick-up range and the effective stacking range according to the articles, and thus can suppress a reduction in processing capacity. Therefore, this article transshipment apparatus can efficiently transship articles using a robot between two conveyors arranged in series along the conveyance direction.

  Moreover, it is preferable that a relative position change mechanism has a conveyor drive part. The conveyor drive unit changes the relative position by moving at least one of the downstream end of the first conveyor in the transport direction and the upstream end of the second conveyor in the transport direction along the transport direction.

  This article transshipment apparatus can change the position of the boundary between the first conveyor and the second conveyor by moving at least one of the downstream end of the first conveyor and the upstream end of the second conveyor. . Therefore, the article transshipment apparatus does not need to move the robot in order to change the pickup effective range and the accumulation effective range. Therefore, the article transshipment apparatus can quickly change the pickup effective range and the accumulation effective range.

  Moreover, it is preferable that at least one of the first conveyor and the second conveyor can be expanded and contracted in the transport direction.

  This article transshipment apparatus has a simple configuration for changing the position of the boundary between the first conveyor and the second conveyor.

  Moreover, it is preferable that an article transshipment apparatus is further provided with the detection part which detects the dimension of an article. In this case, the relative position changing mechanism changes the relative position based on the size of the article detected by the detection unit.

  This article transshipment apparatus can change the effective pickup range on the first conveyor and the effective stacking area on the second conveyor based on the size of the article detected by the detector. Therefore, the article transshipment apparatus can appropriately secure the effective pick-up range and the effective stacking range in accordance with the dimensions of the articles, and thus can suppress a reduction in processing capacity.

  Moreover, it is preferable that a relative position change mechanism has a robot drive part. The robot drive unit changes the relative position by moving the robot along the transport direction.

  This article transshipment apparatus can change the pickup effective range on the first conveyor and the accumulation effective range on the second conveyor by changing the position of the robot.

  The article transshipment apparatus according to the present invention can efficiently transship articles using a robot between two conveyors arranged in series along the conveyance direction.

It is a top view of the article transshipment apparatus 1 which is one Embodiment of this invention. It is a side view of the article transshipment apparatus 1. FIG. 6 is a state transition diagram of the transshipment operation of the package B by the robot 30. The state of the transshipment operation transitions in the order of FIGS. 3 (a), 3 (b), and 3 (c). It is a top view similar to FIG. 1 and is a diagram for explaining a robot movable range A1, a pickup effective range A2, and an integrated effective range A3. FIG. 3 is a side view similar to FIG. 2 for explaining a relative position changing mechanism 40. It is a figure which shows the state which moved the conveyor boundary 50 to the upstream of the conveyance direction from the state shown by FIG. It is a figure which shows the state which moved the conveyor boundary 50 to the downstream of the conveyance direction from the state shown by FIG. It is a reference view for comparison, and is a top view of the article transshipment apparatus 101 in which two conveyors 110 and 120 are arranged in parallel. It is a top view of the article transshipment apparatus 201 in the modification A. It is a side view of the article transshipment apparatus 201 in the modification A. It is an example of the side view of the article transshipment apparatus 201 in the modification B. It is an example of the side view of the article transshipment apparatus 201 in the modification B. It is an example of the side view of the article transshipment apparatus 201 in the modification B.

  Embodiments of the present invention will be described with reference to the drawings. The embodiment described below is one specific example of the present invention, and does not limit the technical scope of the present invention.

(1) Overall configuration of article transshipment apparatus 1 FIG. 1 is a schematic plan view of an article transshipment apparatus 1 according to an embodiment of the present invention. FIG. 2 is a schematic side view of the article transshipment apparatus 1. The article transshipment apparatus 1 is installed in a line of a food factory that produces and packs a package B filled with potato chips or the like, for example. The article transshipment apparatus 1 mainly includes a first conveyor 10, a second conveyor 20, a robot 30, and a relative position changing mechanism 40 (see FIG. 5).

  In the line of the food factory where the goods transshipment apparatus 1 is installed, the package B is produced by a bag making and packaging machine (not shown) installed on the upstream side of the goods transshipment apparatus 1, and the weight inspection and the contamination inspection are performed. Then, it is placed on the first conveyor 10 of the article transshipment apparatus 1. In the article transshipment apparatus 1, the package B is transferred from the first conveyor 10 to the second conveyor 20 by the robot 30 while the package B is transferred by the first conveyor 10, and the package B is further transferred by the second conveyor 20. Is done. A boxing device (not shown) for packing the package B into a cardboard box is installed on the downstream side of the article transshipment device 1.

  In the article transshipment apparatus 1, the direction in which the package B is conveyed by the first conveyor 10 is the same as the direction in which the package B is conveyed by the second conveyor 20. Hereinafter, the direction in which the package B is conveyed by the first conveyor 10 and the second conveyor 20 is referred to as a “conveying direction”. In FIG. 1 and FIG. 2, the conveyance direction is indicated by a white arrow. As shown in FIG. 1, in the article transshipment apparatus 1, the first conveyor 10 and the second conveyor 20 are arranged in series along the transport direction. That is, the 2nd conveyor 20 is arrange | positioned in the conveyance direction at the downstream of the 1st conveyor 10, and is arrange | positioned so that it may align with the 1st conveyor 10 in the conveyance direction.

(2) Detailed configuration of article transshipment apparatus 1 (2-1) First conveyor 10
As shown in FIG. 2, the first conveyor 10 is a belt conveyor in which a first endless belt 13 is stretched around a first driving roller 11 and a first driven roller 12. The package B conveyed by the first conveyor 10 is placed on the upper surface of the first endless belt 13. When the first driving roller 11 is rotated by a driving device (not shown) such as a motor, the first driven roller 12 and the first endless belt 13 are driven, and the package B placed on the first endless belt 13 is moved. It is transported in the transport direction. The first conveyor 10 conveys the plurality of packages B in a state where the plurality of packages B are arranged in a line along the conveyance direction on the first endless belt 13. The first drive roller 11 is located upstream of the first driven roller 12 in the transport direction.

  The first conveyor 10 conveys the package B in the conveyance direction from the upstream side of the article transshipment apparatus 1 to the effective pickup range of the robot 30. The effective pickup range is a range on the first endless belt 13 of the first conveyor 10 in which the robot 30 can pick up the package B from the first conveyor 10.

  The first conveyor 10 can transport the package B from the first upstream end 10a that is the most upstream point in the transport direction to the first downstream end 10b that is the most downstream point in the transport direction. In the transport direction, the effective pickup range is a range from the first downstream end 10b to a predetermined point between the first upstream end 10a and the first downstream end 10b.

(2-2) Second conveyor 20
As shown in FIG. 2, the second conveyor 20 is a belt conveyor in which a second endless belt 23 is stretched around a second driving roller 21 and a second driven roller 22. The package B conveyed by the second conveyor 20 is placed on the upper surface of the second endless belt 23. When the second driving roller 21 is rotated by a driving device (not shown) such as a motor, the second driven roller 22 and the second endless belt 23 are driven, and the package B placed on the second endless belt 23 is moved. It is transported in the transport direction. The second conveyor 20 conveys the plurality of packages B in a state where the plurality of packages B are arranged in a line along the conveyance direction on the second endless belt 23. The second drive roller 21 is located downstream of the second driven roller 22 in the transport direction.

  The second conveyor 20 conveys the package B in the conveyance direction from the effective collection range of the robot 30 to the downstream side of the article transshipment apparatus 1. The effective stacking range is a range on the second endless belt 23 of the second conveyor 20 in which the package B picked up from the first conveyor 10 by the robot 30 can be placed on the second endless belt 23.

  The second conveyor 20 can transport the package B from the second upstream end 20a that is the most upstream point in the transport direction to the second downstream end 20b that is the most downstream point in the transport direction. In the transport direction, the effective stacking range is a range from the second upstream end 20a to a predetermined point between the second upstream end 20a and the second downstream end 20b.

  As shown in FIG. 2, the placement surface of the second endless belt 23 of the second conveyor 20 is at the same height as the placement surface of the first endless belt 13 of the first conveyor 10. The placement surface is a surface on which the package B is placed.

  In the transport direction, the second upstream end 20 a of the second conveyor 20 is adjacent to the first downstream end 10 b of the first conveyor 10. However, the second conveyor 20 is not in contact with the first conveyor 10. Hereinafter, a portion between the first downstream end 10 b of the first conveyor 10 and the second upstream end 20 a of the second conveyor 20 is referred to as a conveyor boundary 50. The conveyor boundary 50 is a boundary between the first conveyor 10 and the second conveyor 20 when the article transshipment apparatus 1 is viewed from above. As will be described later, the position of the conveyor boundary 50 can be changed along the transport direction.

(2-3) Robot 30
The robot 30 is a device for transshipping the package B from the first conveyor 10 to the second conveyor 20. Specifically, the robot 30 picks up the package B that has been transported to the vicinity of the first downstream end 10 b of the first conveyor 10, and performs a transshipment operation for placing it on the vicinity of the second upstream end 20 a of the second conveyor 20. FIG. 3 is a state transition diagram of the reloading operation of the package B by the robot 30. The state of the transshipment operation transitions in the order of FIGS. 3 (a), 3 (b), and 3 (c). In FIG. 3, the conveyance direction is indicated by a white arrow.

  As shown in FIG. 2, the robot 30 is a parallel link robot having three sets of links. The robot 30 mainly includes a base 32, three servo motors 33a, 33b, and 33c, and three parallel link arms 34a, 34b, and 34c.

  The base 32 is arrange | positioned in the position which overlaps with the conveyor boundary 50, as FIG. 1 shows. The base 32 is fixed to a frame or the like of the article transshipment apparatus 1. The servo motors 33a, 33b, and 33c are attached to the lower side of the base 32. The parallel link arms 34a, 34b, 34c are driven by servo motors 33a, 33b, 33c, respectively. The upper ends of the parallel link arms 34a, 34b, 34c are connected to the output shafts of the servo motors 33a, 33b, 33c, respectively. Each lower end of the parallel link arms 34a, 34b, 34c is connected to a common suction gripping portion 38. Thus, the parallel link arms 34a, 34b, 34c extend from the output shafts of the servo motors 33a, 33b, 33c to the suction gripping portion 38, respectively.

  The robot 30 can move the lower ends of the parallel link arms 34a, 34b, 34c in the horizontal direction and the vertical direction by controlling the rotation amount and the rotation direction of the output shafts of the servomotors 33a, 33b, 33c. . Thereby, the robot 30 can move the suction gripping part 38 to an arbitrary position in a predetermined three-dimensional space.

  The suction gripping part 38 has a plurality of suction pads (not shown). The suction pad is attached to the lower part of the suction gripping part 38 and connected to a suction tube 36 extending from a vacuum pump and a vacuum blower (not shown). The suction gripping part 38 can grip and release the package B by switching between the suction gripping state and the suction release state of the package B by the suction pad.

  The robot 30 sucks and grips the package B on the first conveyor 10 by the suction gripping portion 38, lifts the suction gripping portion 38 gripping the package B by the parallel link arms 34a, 34b, and 34c, and moves it in a plane. The suction of the package B by the suction gripping portion 38 is released above the second conveyor 20, and the package B is placed on the second conveyor 20.

  The effective pickup range and the effective collection range of the robot 30 are included in the robot movable range in which the suction gripper 38 can move in a plane in the transport direction. FIG. 4 is a top view similar to FIG. 1 and is a view for explaining the robot movable range A1, the pickup effective range A2, and the integrated effective range A3. In FIG. 4, the robot 30 is omitted. In FIG. 4, the conveyance direction is indicated by a white arrow. In FIG. 4, the robot movable range A1, the pickup effective range A2, and the accumulation effective range A3 are shown as ranges in the transport direction.

  As shown in FIG. 4, when the article transshipment apparatus 1 is viewed from above, the effective pickup range A2 is a range in which the placement surface of the first endless belt 13 of the first conveyor 10 and the robot movable range A1 overlap. The accumulation effective range A3 is a range in which the placement surface of the second endless belt 23 of the second conveyor 20 overlaps the robot movable range A1.

  The robot 30 can grip and release the package B existing in the robot movable range A1. The robot 30 can grip the package B in the pickup effective range A2 on the first conveyor 10 by the suction gripping portion 38, and the package B gripped by the suction gripping portion 38 on the second conveyor 20 Can be placed on A3.

(2-4) Relative position changing mechanism 40
The relative position changing mechanism 40 is a mechanism for changing the relative position in the transport direction between the position of the conveyor boundary 50 and the robot 30. The conveyor boundary 50 is a boundary between the first conveyor 10 and the second conveyor 20 in the transport direction when the first conveyor 10 and the second conveyor 20 are viewed from above. FIG. 5 is a side view similar to FIG. 2, for explaining the relative position changing mechanism 40. In FIG. 5, the robot 30 is omitted. In FIG. 5, the conveyance direction is indicated by a white arrow. 5, similarly to FIG. 4, the robot movable range A1, the pickup effective range A2, and the accumulation effective range A3 are shown as ranges in the transport direction.

  In the article transshipment apparatus 1 of the present embodiment, the base 32 of the robot 30 is fixed, so the position of the robot 30 cannot be changed. Therefore, the relative position changing mechanism 40 is a mechanism that changes the position of the conveyor boundary 50 in the transport direction. The relative position changing mechanism 40 mainly includes a conveyor driving unit 41 and a control unit 43.

  The conveyor drive unit 41 is connected to the first conveyor 10 and the second conveyor 20. The conveyor drive part 41 changes the position in the conveyance direction of the 1st downstream end 10b of the 1st conveyor 10, and the 2nd upstream end 20a of the 2nd conveyor 20, and changes the position in the conveyance direction of the conveyor boundary 50. . Specifically, the conveyor drive unit 41 has a mechanism for moving the first driven roller 12 of the first conveyor 10 and the second driven roller 22 of the second conveyor 20 in the transport direction. The conveyor driving unit 41 includes the first driven roller 12 and the second driven roller 12 so that the distance in the transport direction between the first downstream end 10b of the first conveyor 10 and the second upstream end 20a of the second conveyor 20 does not change. The driven roller 22 is moved in the same direction by the same distance. The first endless belt 13 of the first conveyor 10 and the second endless belt 23 of the second conveyor 20 are formed of members that can expand and contract in the transport direction. Therefore, the relative position changing mechanism 40 moves the first endless belt 13 and the second endless belt 23 in the transport direction by moving the first driven roller 12 and the second driven roller 22 in the transport direction by the conveyor driving unit 41. The dimensions can be changed.

  The relative position changing mechanism 40 is connected to the detection unit 60. The detection unit 60 is a sensor that detects the dimensions of the package B. As shown in FIG. 5, the detection unit 60 is installed above the first conveyor 10. The detection unit 60 detects the dimension in the conveyance direction of the package B conveyed by the first conveyor 10.

  The control unit 43 is connected to the conveyor drive unit 41 and the detection unit 60. The control unit 43 controls the conveyor driving unit 41 based on the size of the package B detected by the detection unit 60. The control unit 43 is a computer including a CPU, a ROM, a RAM, and the like.

  The relative position changing mechanism 40 changes the position of the conveyor boundary 50 in the transport direction by the control unit 43 based on the dimensions of the package B. The range in which the relative position changing mechanism 40 can move along the conveyor boundary 50 in the transport direction is a range in which both the effective pickup range A2 on the first conveyor 10 and the effective stacking range A3 on the second conveyor 20 can exist. That is, the relative position changing mechanism 40 cannot move the conveyor boundary 50 to the outside of the robot movable range A1. However, in practice, the range in which the conveyor boundary 50 can be moved in the transport direction is that the package B in the effective pickup range A2 on the first conveyor 10 is gripped by the suction gripping portion 38 and gripped by the suction gripping portion 38. The operation of placing the package B on the effective accumulation range A3 on the second conveyor 20 is limited to a range in which the robot 30 can smoothly perform the operation.

(3) Operation of the article transshipment apparatus 1 Referring to FIG. 3, the article transshipment apparatus 1 transfers the package B that has been conveyed in one row by the first conveyor 10 onto the second conveyor 20 by the robot 30. The operation of transshipment to a row will be described.

  First, as shown in FIG. 3A, the robot 30 sucks and grips the package B that has been carried on the first endless belt 13 of the first conveyor 10 by suction chucking unit 38. Lift up. Next, as shown in FIG. 3B, the robot 30 that sucks and holds the package B moves the package B in the horizontal direction in a state where the package B is lifted from the first conveyor 10. Move up. Next, as shown in FIG. 3C, the robot 30 releases the suction gripping of the package B by the suction gripping portion 38 and puts the package B on the second endless belt 23 of the second conveyor 20. Place.

  During the transshipment operation of the package B by the robot 30, the first conveyor 10 is continuously operated. During the reloading operation of the package B by the robot 30, the second conveyor 20 operates intermittently so as to transport the package B by a predetermined distance each time the package B is reloaded from the first conveyor 10. .

(4) Features of article transshipment apparatus 1 (4-1)
The article transshipment apparatus 1 includes a robot 30 for transshipping the package B from the first conveyor 10 to the second conveyor 20. The robot 30 lifts the package B transported by the first conveyor 10 and places it on the second conveyor 20. The second conveyor 20 is arranged on the downstream side of the first conveyor 10 in the conveyance direction of the package B, and is arranged so as to be aligned with the first conveyor 10.

  The article transshipment apparatus 1 includes a relative position changing mechanism 40 for changing the position of the conveyor boundary 50 that is a boundary between the first conveyor 10 and the second conveyor 20 in the conveyance direction of the package B. That is, the article transshipment apparatus 1 can change the effective pickup range A2 on the first conveyor 10 and the effective collection range A3 on the second conveyor 20.

  In the article transshipment apparatus 1, the position and size of the robot movable range A1 are unchanged, and the pickup effective range A2 and the accumulation effective range A3 are included in the robot movable range A1. Therefore, the article transshipment apparatus 1 can change the dimension in the conveyance direction of the pickup effective range A2 and the accumulation effective range A3 by moving the conveyor boundary 50 in the conveyance direction.

  6 and 7 are diagrams illustrating a state in which the conveyor boundary 50 is moved in the transport direction from the state illustrated in FIG. 4. FIG. 6 shows a state where the conveyor boundary 50 is moved to the upstream side in the transport direction. FIG. 7 shows a state where the conveyor boundary 50 is moved to the downstream side in the transport direction. In FIG. 6 and FIG. 7, the conveyance direction is indicated by a white arrow.

  In FIG. 6, compared with FIG. 4, the effective pickup range A2 is narrower in the transport direction, and the effective stacking range A3 is wider in the transport direction. On the other hand, in FIG. 7, compared with FIG. 4, the effective pick-up range A2 is wider in the transport direction, and the effective stacking range A3 is narrower in the transport direction. As described above, since the position and size of the robot movable range A1 are unchanged, when the size of the pickup effective range A2 in the transport direction increases or decreases, the size of the accumulation effective range A3 in the transport direction decreases or increases, respectively. .

  As shown in FIG. 6 and FIG. 7, the article transshipment apparatus 1 can change the pickup effective range A2 and the accumulation effective range A3 according to the package B conveyed by the first conveyor 10, so that the processing of the transshipment operation is performed. A decrease in ability can be suppressed. Next, the reason will be described.

  In the article transshipment apparatus in which the two conveyors are arranged in series as in the article transshipment apparatus 1 of the present embodiment, the installation place in the conveyor width direction as compared with the article transshipment apparatus in which the two conveyors are arranged in parallel. There is an advantage that the distance for moving the articles for transshipment can be shortened, while the effective pickup range and the effective stacking range tend to be narrow in the conveyance direction of the articles.

  FIG. 8 is a reference diagram for comparison, and is a top view of the article transshipment apparatus 101 in which two conveyors 110 and 120 are arranged in parallel. An article transshipment apparatus 101 shown in FIG. 8 is an apparatus that transposes articles P from the first conveyor 110 to the second conveyor 120 by a robot (not shown). In FIG. 8, the conveyance direction of the article P by the first conveyor 110 and the second conveyor 120 is indicated by a white arrow, and the robot movable range A11 of the robot is indicated as a range in the conveyance direction. As shown in FIG. 8, the first conveyor 110 and the second conveyor 120 are arranged in parallel in a direction orthogonal to the transport direction. Therefore, the dimensions in the transport direction of the effective pickup range A12 on the first conveyor 110 and the effective stacking area A13 on the second conveyor 120 are equal to the dimensions in the transport direction of the robot movable range A11. Further, when the position and size of the robot movable range A11 are unchanged, the positions and sizes of the pickup effective range A12 and the accumulation effective range A13 are also unchanged. Therefore, the article transshipment apparatus 101 cannot change the pickup effective range A12 and the accumulation effective range A13 unless the robot movable range A11 is changed.

  On the other hand, in the article transshipment apparatus 1 of the present embodiment, as shown in FIG. 4, the position and size of the robot movable range A1 are unchanged, and the effective pickup range A2 and the effective stacking range A3 are along the transport direction. Are arranged in series. Therefore, the dimensions in the transport direction of the pickup effective range A2 and the stacking effective range A3 are shorter than the dimensions in the transport direction of the robot movable range A1. As can be seen from a comparison between FIG. 4 and FIG. 8, the effective pickup range A2 of the article transshipment apparatus 1 in FIG. 4 is narrower than the effective pickup range A12 of the article transfer apparatus 101 in FIG. 4 is narrower than the effective accumulation range A13 of the article transshipment apparatus 101 in FIG.

  In the article transshipment apparatus 1, when the effective pick-up range A2 is too narrow, there is a problem that it is difficult to cope with the disturbance of the pitch of the package B conveyed by the first conveyor 10. The pitch of the package B is an interval between the packages B conveyed by the first conveyor 10. The disturbance of the pitch of the package B may cause a reduction in the efficiency of the reloading operation of the package B by the robot 30. In order to cope with the disturbance of the pitch of the package B, it is necessary to secure the dimension in the transport direction of the pickup effective range A2 as wide as possible. However, as described above, if the pickup effective range A2 is to be secured wide in the transport direction, the effective stacking range A3 becomes narrow in the transport direction.

  And in the article transshipment apparatus 1, when the accumulation | aggregation effective range A3 is too narrow in a conveyance direction, there exists a possibility that the package B with a large dimension of a conveyance direction cannot be reloaded normally. For example, if the package B placed on the second conveyor 20 protrudes from the upstream end portion (second upstream end 20a) of the accumulation effective range A3, a part of the package B is part of the first conveyor 10. There is a possibility that the package B is placed on top and is not normally conveyed by the second conveyor 20. Therefore, in order to cope with the transshipment of the package B having various dimensions, it is necessary to secure the accumulation effective range A3 as wide as possible. However, as described above, when it is attempted to secure the effective stacking range A3 in the transport direction, the effective pick-up range A2 becomes narrower in the transport direction. Further, the wider the accumulation effective range A3 in the transport direction, the longer the distance that the robot 30 moves the package B when reloading the package B from the first conveyor 10 to the second conveyor 20, The efficiency of the transshipment operation may be reduced.

  As described above, in the article transshipment apparatus 1, in order to efficiently perform the transshipment operation of the package B, the dimensions in the transport direction of the pickup effective range A2 and the stacking effective range A3 correspond to the dimensions in the transport direction of the package B. It is preferable that it is ensured appropriately. And the article transshipment apparatus 1 can change the dimension of the pick-up effective range A2 and the collection effective range A3 of the conveyance direction by changing the position of the conveyor boundary 50 along a conveyance direction by the relative position change mechanism 40. FIG. . Therefore, the goods transshipment apparatus 1 can appropriately change the dimensions in the transport direction of the pickup effective range A2 and the effective stacking range A3 according to the dimensions in the transport direction of the package B. It is possible to suppress a decrease in processing capacity.

  Therefore, the article transshipment apparatus 1 can efficiently transship articles using the robot 30 between the two conveyors 10 and 20 arranged in series along the conveyance direction.

(4-2)
The article transshipment apparatus 1 includes a relative position changing mechanism 40 for changing the relative position of the conveyor boundary 50 and the robot 30 in the transport direction. The relative position changing mechanism 40 changes the relative position by moving the conveyor boundary 50 in the transport direction with respect to the robot 30 whose position is fixed. Specifically, the relative position changing mechanism 40 causes the conveyor driving unit 41 to move the first downstream end 10b of the first conveyor 10 and the second upstream end 20a of the second conveyor 20 in the transport direction. The position of the conveyor boundary 50 can be changed.

  Therefore, the article transshipment apparatus 1 does not need to move the robot 30 in order to change the pickup effective range A2 and the accumulation effective range A3. Therefore, the article transshipment apparatus 1 can quickly change the pickup effective range A2 and the accumulation effective range A3 by the relative position changing mechanism 40 having the conveyor driving unit 41.

(4-3)
The article transshipment apparatus 1 includes a first conveyor 10 and a second conveyor 20 that can expand and contract in the transport direction. Specifically, the conveyor drive unit 41 of the relative position changing mechanism 40 moves the first driven roller 12 of the first conveyor 10 and the second driven roller 22 of the second conveyor 20 in the transport direction, thereby The first endless belt 13 and the second endless belt 23 can be expanded and contracted in the transport direction. Therefore, since the article transshipment apparatus 1 has a simple configuration for changing the position of the conveyor boundary 50, the cost of the relative position changing mechanism 40 can be suppressed.

(4-4)
In the article transshipment apparatus 1, the relative position changing mechanism 40 can change the position in the transport direction of the conveyor boundary 50 according to the dimension in the transport direction of the package B detected by the detection unit 60. For this reason, the article transshipment apparatus 1 has the effective pickup range A2 on the first conveyor 10 and the accumulation effective on the second conveyor 20 according to the dimensions in the transport direction of the package B that is the target of the transshipment operation by the robot 30. The range A3 can be ensured appropriately. For example, the article transshipment apparatus 1 reduces the processing capability of the transshipment operation of the package B by the robot 30 by increasing the dimension in the transport direction of the collection effective range A3 as the dimension in the transport direction of the package B is larger. Can be suppressed.

  Therefore, the article transshipment apparatus 1 can appropriately change the dimensions in the conveyance direction of the pickup effective range A2 and the accumulation effective range A3 according to the dimension in the conveyance direction of the package B detected by the detection unit 60. The transshipment operation of the package B having the dimensions can be automatically made efficient.

(5) Modifications One embodiment of the present invention has been described above, but the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.

(5-1) Modification A
In the above embodiment, as shown in FIG. 2, the placement surface of the second endless belt 23 of the second conveyor 20 is at the same height position as the placement surface of the first endless belt 13 of the first conveyor 10. The 1st conveyor 10 and the 2nd conveyor 20 are installed so that it may become. However, the first conveyor 10 and the second conveyor 20 may be installed such that the placement surface of the second conveyor 20 is at a height position different from the placement surface of the first conveyor 10.

  FIG. 9 is a schematic top view of the article transshipment apparatus 201 of the present modification. FIG. 10 is a schematic side view of the article transshipment apparatus 201. The article transshipment apparatus 201 is an apparatus for transshipping the package B from the first conveyor 210 to the second conveyor 220 by a robot (not shown). 9 and 10, the conveyance direction of the package B is indicated by white arrows. 9 and 10, the robot movable range A21, the pickup effective range A22 on the first conveyor 210, and the accumulation effective range A23 on the second conveyor 220 are shown as ranges in the transport direction. The first conveyor 210 is a belt conveyor in which a first endless belt 213 is wound around a first driving roller 211 and a first driven roller 212. The second conveyor 220 is a belt conveyor in which a second endless belt 223 is stretched around a second driving roller 221 and a second driven roller 222.

  As shown in FIG. 10, the placement surface of the second conveyor 220 is located below the placement surface of the first conveyor 210. Further, the second upstream end 220a of the second conveyor 220 is located upstream of the first downstream end 210b of the first conveyor 210 in the transport direction. That is, as shown in FIG. 9, when the article transshipment apparatus 201 is viewed from above, the downstream end of the first conveyor 210 overlaps the upstream end of the second conveyor 220.

  The article transshipment apparatus 201 includes a relative position changing mechanism (not shown) for changing the position of the conveyor boundary 250 in the transport direction. The conveyor boundary 250 is a boundary between the first conveyor 210 and the second conveyor 220 in the transport direction. As shown in FIG. 9, in the article transshipment apparatus 201, the position of the conveyor boundary 250 is the same as the position of the first downstream end 210 b of the first conveyor 210. The relative position changing mechanism changes the position of the first downstream end 210b of the first conveyor 210 and the position of at least one of the second upstream end 220a of the second conveyor 220 in the conveying direction of the conveyor boundary 250. Change the position. The relative position changing mechanism can change the dimensions of the pickup effective range A22 and the stacking effective range A23 in the transfer direction by changing the position of the conveyor boundary 250 in the transfer direction.

  Therefore, the article transshipment apparatus 201 can appropriately change the dimensions in the transport direction of the pickup effective range A22 and the stacking effective range A23 according to the dimensions in the transport direction of the package B. It is possible to suppress a decrease in processing capacity.

  Moreover, in this modification, the 1st conveyor 210 and the 2nd conveyor 220 may be installed so that the mounting surface of the 2nd conveyor 220 may be located above the mounting surface of the 1st conveyor 210. FIG. In this case, the position of the conveyor boundary 250 is the same as the position of the second upstream end 220 a of the second conveyor 220.

(5-2) Modification B
In Modification A, as shown in FIG. 10, the placement surface of the second conveyor 220 is located below the placement surface of the first conveyor 210. In this case, since the position of the conveyor boundary 250 is the same as the position of the first downstream end 210b of the first conveyor 210, the relative position changing mechanism moves the position of the first downstream end 210b of the first conveyor 210 in the transport direction. The mechanism to change may be sufficient. FIG. 11 is a schematic side view of an article transshipment apparatus 201 including such a relative position changing mechanism. The difference between the article transshipment apparatus 201 in FIG. 10 and the article transshipment apparatus 201 in FIG. 11 is only the first conveyor 210. 11 includes a robot (not shown) that reloads the package B from the first conveyor 210 to the second conveyor 220.

  In the article transshipment apparatus 201 in FIG. 11, the first conveyor 210 is a type of belt conveyor called a telescopic conveyor or a shuttle conveyor that can expand and contract the length of the conveyor. The first conveyor 210 is a belt conveyor in which a first endless belt 213 is wound around one first driving roller 211, two first driven rollers 212, and two guide rollers 214a and 214b. The guide rollers 214a and 214b are rollers for changing the position of the first downstream end 210b of the first conveyor 210 in the transport direction.

  The relative position changing mechanism of the article transshipment apparatus 201 shown in FIG. 11 can expand and contract the length of the first conveyor 210 by moving the guide rollers 214a and 214b in the transport direction. For example, the relative position changing mechanism changes the position in the transport direction of the conveyor boundary 250 by changing the position in the transport direction of the first downstream end 210b of the first conveyor 210, so that the pickup effective range A22 and the accumulation effective range are changed. The dimension of the conveyance direction of A23 is changed. Specifically, the relative position changing mechanism changes the position of the first downstream end 210b of the first conveyor 210 in the transport direction by moving the guide rollers 214a and 214b by the same distance in the same direction. On the other hand, the relative position changing mechanism may not change the position of the second upstream end 220a of the second conveyor 220 in the transport direction.

  Moreover, in this modification, the 2nd conveyor 220 may be a telescopic conveyor instead of the 1st conveyor 210, and both the 1st conveyor 210 and the 2nd conveyor 220 may be a telescopic conveyor.

  In FIG. 12, the first conveyor 210 is a belt conveyor in which the length of the conveyor is fixed similarly to the first conveyor 10 of the embodiment, and the outline of the article transshipment apparatus 201 in which the second conveyor 220 is an extendable conveyor. FIG. The first conveyor 210 is a belt conveyor in which a first endless belt 213 is wound around a first drive roller 211 and a first driven roller 212. The second conveyor 220 is a belt conveyor in which a second endless belt 223 is stretched over one second driving roller 221, two second driven rollers 222, and two guide rollers 224a and 224b. The guide rollers 224a and 224b are rollers for changing the position of the second upstream end 220a of the second conveyor 220 in the transport direction. The placement surface of the second conveyor 220 is located above the placement surface of the first conveyor 210.

  The relative position changing mechanism of the article transshipment apparatus 201 shown in FIG. 12 can expand and contract the length of the second conveyor 220 by moving the guide rollers 224a and 224b in the transport direction. For example, the relative position change mechanism changes the position in the transport direction of the conveyor boundary 250 by changing the position in the transport direction of the second upstream end 220a of the second conveyor 220, so that the effective pickup range A22 and the effective stacking range are changed. The dimension of the conveyance direction of A23 is changed. Specifically, the relative position changing mechanism changes the position in the transport direction of the second upstream end 220a of the second conveyor 220 by moving the guide rollers 224a and 224b by the same distance in the same direction. On the other hand, the relative position changing mechanism may not change the position of the first downstream end 210b of the first conveyor 210 in the transport direction.

  FIG. 13 is a schematic side view of the article transshipment apparatus 201 in which both the first conveyor 210 and the second conveyor 220 are telescopic conveyors. The first conveyor 210 in FIG. 13 has the same configuration as the first conveyor 210 in FIG. The second conveyor 220 in FIG. 13 has the same configuration as the second conveyor 220 in FIG. In the article transshipment apparatus 201 in FIG. 13, the placement surface of the second conveyor 220 is at the same height as the placement surface of the first conveyor 210. Therefore, the robot of the article transshipment apparatus 201 in FIG. 13 can efficiently transship the package B from the first conveyor 210 to the second conveyor 220.

  The relative position changing mechanism of the article transshipment apparatus 201 shown in FIG. 13 can expand and contract the length of the first conveyor 210 by moving the guide rollers 214a and 214b in the transport direction, and guide rollers 224a, 214b, By moving 224b in the transport direction, the length of the second conveyor 220 can be expanded and contracted. For example, the relative position changing mechanism changes the position of the first downstream end 210b of the first conveyor 210 and the second upstream end 220a of the second conveyor 220 in the same direction by the same distance, thereby changing the conveyor boundary. The position in the transport direction of 250 is changed, and the dimensions in the transport direction of the pickup effective range A22 and the stacking effective range A23 are changed. Specifically, the relative position changing mechanism changes the position of the first downstream end 210b of the first conveyor 210 in the transport direction by moving the guide rollers 214a and 214b by the same distance in the same direction. Further, the relative position changing mechanism changes the position of the second upstream end 220a of the second conveyor 220 in the transport direction by moving the guide rollers 224a and 224b by the same distance in the same direction.

(5-3) Modification C
In said embodiment, the article transshipment apparatus 1 is provided with the detection part 60 which is a sensor which detects the dimension of the package B. For example, the detection unit 60 is installed above the first conveyor 10 and detects the dimension in the transport direction of the package B transported by the first conveyor 10. The relative position changing mechanism 40 controls the conveyor driving unit 41 based on the size of the package B detected by the detecting unit 60, and changes the position of the conveyor boundary 50 in the transport direction.

  However, the detection unit 60 may not be a sensor that detects the size of the package B, but may be a sensor that detects the type of the package B. In this case, the relative position changing mechanism 40 refers to the database related to the package B stored in the ROM or the like of the control unit 43 based on the type of the package B detected by the detection unit 60, and the package B You may acquire the dimension of the conveyance direction. In this case, the relative position changing mechanism 40 can change the position of the conveyor boundary 50 in the transport direction by controlling the conveyor driving unit 41 based on the acquired dimensions of the package B by the control unit 43.

  Moreover, the detection unit 60 may not be installed above the first conveyor 10. For example, the detection unit 60 may be attached to an apparatus for supplying the package B to the first conveyor 10 on the upstream side of the article transshipment apparatus 1.

(5-4) Modification D
In the above-described embodiment, the article transshipment apparatus 1 includes the robot 30 for transshipping the package B from the first conveyor 10 to the second conveyor 20. The robot 30 may carry out the transshipment from the first conveyor 10 to the second conveyor 20 without changing the planar posture of the package B, and the package B is rotated in a plane so that the first Transshipment from the conveyor 10 to the second conveyor 20 may be performed.

  Even when the package B is rotated two-dimensionally during the reloading operation by the robot 30, if the moving direction of the package B during the reloading operation is along the transport direction A of the first conveyor 10, the robot The processing capacity of the reloading operation by 30 is unlikely to decrease.

(5-5) Modification E
In the above-described embodiment, the article transshipment apparatus 1 performs the transshipment operation of the package B by the robot 30 while the first conveyor 10 is always operated. However, depending on the conveyance speed of the first conveyor 10 and the operation status of the robot 30, the package B drops from the first downstream end 10b of the first conveyor 10 during the conveyance of the package B by the first conveyor 10. It is also assumed that

  When there is such a possibility, the article transshipment apparatus 1 uses an air jet device that blows out a jet stream from the side of the first conveyor 10 and distributes the package B in the vicinity of the first downstream end 10b of the first conveyor 10. It is preferable to provide. By the air jet device, the article transshipment device 1 can once sort the package B that has not been processed by the robot 30 out of the line and return it to the upstream side of the line again.

(5-6) Modification F
In said embodiment, the 1st conveyor 10 conveys the package B continuously, and the 2nd conveyor 20 conveys the package B intermittently. However, the article transshipment apparatus 1 may intermittently transport the package B on both the first conveyor 10 and the second conveyor 20 according to various conditions. You may convey the package B continuously by both. The various conditions are, for example, the number of packages B supplied to the first conveyor 10 per unit time.

(5-7) Modification G
In the above embodiment, the article transshipment apparatus 1 includes the relative position changing mechanism 40 for changing the relative position of the conveyor boundary 50 and the robot 30 in the transport direction. The relative position changing mechanism 40 changes the relative position by moving the conveyor boundary 50 in the transport direction by the conveyor driving unit 41 with respect to the robot 30 whose position is fixed.

  However, the article transshipment apparatus 1 may change the relative position of the conveyor boundary 50 and the robot 30 in the transport direction by moving the robot 30 in the transport direction. In this case, the relative position changing mechanism 40 includes a robot driving unit (not shown) instead of the conveyor driving unit 41 or together with the conveyor driving unit 41. The robot drive unit is a mechanism for moving the robot 30 along the transport direction. The relative position changing mechanism 40 may change the relative position by moving the robot 30 along the transport direction without moving the conveyor boundary 50 along the transport direction. The relative position may be changed by moving in the transport direction.

  In this modification, the article transshipment apparatus 1 changes the pickup effective range A2 of the first conveyor 10 and the accumulation effective range A3 of the second conveyor 20 by changing the position of the robot 30 by the robot drive unit. Can do. In this case, the article transshipment apparatus 1 may control the robot drive unit based on the size of the package B detected by the detection unit 60 by the control unit 43 to change the position of the conveyor boundary 50 in the transport direction. Good.

(5-8) Modification H
In said embodiment, the article transshipment apparatus 1 is the 1st conveyor 10 which conveys the package B in 1 row, the 2nd conveyor 20 which conveys the package B in 1 row, and the 2nd conveyor from the 1st conveyor 10. 20 and a robot 30 for transshipping the package B to 20.

  However, the article transshipment apparatus 1 includes a first conveyor 10 that conveys the package B in m rows, a second conveyor 20 that conveys the package B in n rows, and a package from the first conveyor 10 to the second conveyor 20. You may provide the robot 30 which reloads B. Here, m and n are integers of 1 or more, and n is m or more. For example, the article transshipment apparatus 1 may include a robot 30 that reloads the package B from the first conveyor 10 that conveys the package B in two rows to the second conveyor 20 that conveys the package B in three rows. . The article transshipment apparatus 1 of this modification can make the transshipment operation of the package B more efficient.

DESCRIPTION OF SYMBOLS 1 Article transshipment apparatus 10 1st conveyor 10b 1st downstream end (downstream end of 1st conveyor)
20 Second conveyor 20a Second upstream end (upstream end of second conveyor)
30 Robot 40 Relative Position Change Mechanism 41 Conveyor Drive Unit 50 Conveyor Boundary (Boundary)
60 Detection part B Package (article)

JP 2011-213812 A

Claims (5)

  1. A first conveyor for transporting articles in a transport direction;
    A second conveyor arranged linearly with the first conveyor on the downstream side in the transport direction of the first conveyor, and transports the article in the transport direction;
    A robot for transshipping the articles conveyed by the first conveyor to the second conveyor;
    When the first conveyor and the second conveyor are viewed from above, the position of the boundary between the first conveyor and the second conveyor in the transport direction and the relative position of the robot in the transport direction are changed. A relative position changing mechanism to
    An article transshipment apparatus comprising:
  2. The relative position changing mechanism moves at least one of the downstream end of the first conveyor in the transport direction and the upstream end of the second conveyor in the transport direction along the transport direction. Having a conveyor drive to change,
    The article transshipment apparatus according to claim 1.
  3. At least one of the first conveyor and the second conveyor is extendable in the transport direction.
    The article transshipment apparatus according to claim 1 or 2.
  4. A detection unit for detecting the dimensions of the article;
    The relative position changing mechanism changes the relative position based on the size of the article detected by the detection unit.
    The article transshipment apparatus according to any one of claims 1 to 3.
  5. The relative position change mechanism has a robot drive unit that changes the relative position by moving the robot along the transport direction.
    The article transshipment apparatus according to any one of claims 1 to 4.
JP2016255167A 2016-12-28 2016-12-28 Article transshipment device Pending JP2018104179A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016255167A JP2018104179A (en) 2016-12-28 2016-12-28 Article transshipment device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016255167A JP2018104179A (en) 2016-12-28 2016-12-28 Article transshipment device
CN201711317291.7A CN108248932A (en) 2016-12-28 2017-12-11 Article transfer device

Publications (1)

Publication Number Publication Date
JP2018104179A true JP2018104179A (en) 2018-07-05

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Application Number Title Priority Date Filing Date
JP2016255167A Pending JP2018104179A (en) 2016-12-28 2016-12-28 Article transshipment device

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JP (1) JP2018104179A (en)
CN (1) CN108248932A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1313334C (en) * 2004-07-22 2007-05-02 辽宁中田干燥设备制造有限公司 Flyash brick transfer device
CN202894295U (en) * 2012-11-29 2013-04-24 浙江天能电源材料有限公司 Full-automatic lead ingot putting and transferring system
CN203484526U (en) * 2013-09-10 2014-03-19 聊城市金帝保持器厂 Slope press production line of bearing retainer
JP6042860B2 (en) * 2014-12-02 2016-12-14 ファナック株式会社 Article transferring apparatus and article transferring method for transferring article using robot
US10279940B2 (en) * 2015-06-03 2019-05-07 Deere & Company Module wrap feed arrangement

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