JP2019001473A - Transfer head and rice ball storing device with transfer head - Google Patents

Abstract

To provide a transfer head which enables firm and orderly storage of rice balls in a container.SOLUTION: A transfer head of rice balls is attached to a transfer machine which receives provided rice balls and transfers them to a predetermined arrangement area. It has a row support member, curved to fit with triangular shaped rice balls, which includes a bottom plate for supporting the bottom of the row of standing multiple rectangular rice balls, aligned in fronts and backs contacting closely, and a slant plate to fit with the slant side face of the row of rice balls. The bottom plate or the slant plate of the row support member is a contacting part so that it is pressed against the slant face of the row of rice balls to move them together in the predetermined arrangement area when changing the position of the row of rice ball from a temporary position in the predetermined arrangement area.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a transfer head and a rice ball storage device including the transfer head.

  Traditionally, rice balls sold in supermarkets and convenience stores have been widely popular as popular items.

  Rice balls were originally prepared manually one by one, but in recent years they are generally produced mechanically in factories in order to provide more efficient and constant quality.

  In such a rice ball production plant, the process of wrapping ingredients with rice and forming it into a rice ball type or packaging the formed rice with a resin film is carried out in a series of flows while being conveyed by a conveyor or the like. Is called.

  The produced rice balls are stored orderly in a predetermined container (work weight) and finally delivered to each store.

  Therefore, in the downstream area of the rice ball production line, it is necessary to orderly store the individual rice balls that have been transported by the conveyor in the container, but it takes a lot of labor to pack them one by one. Therefore, in recent years, it is often performed using a robot.

  However, even if robots are used, it is not efficient to place rice balls supplied from the end of the production line one by one in the container.

  Therefore, a transfer head capable of storing a plurality of rice balls is provided in a transfer mechanism such as a robot for transferring to a container, and this transfer head is kept waiting at the end position of the production line, and the rice balls supplied from the end of the production line are dropped. An alignment and storage device has been proposed that sequentially captures and collects and transfers them to a container when a predetermined number of them are stored (see, for example, Patent Document 1).

JP 2006-016966 A

  However, in the above conventional storage device, a method is adopted in which the transfer head is held in an inclined state at the end of the production line and the falling rice balls are caught, and the rice balls are instantaneously in a highly flexible state. Therefore, depending on circumstances, there may be a situation where the transfer head is not properly accommodated.

  In addition, the caught rice balls are placed in a container placed in an inclined state and packed without gaps while using their own weight.If there is a large amount of friction on the bottom of the container due to scratches, There was a risk that it was not stored neatly.

  This invention is made | formed in view of such a situation, Comprising: The transfer head which can store a rice ball more firmly and orderly in a container is provided.

  The present invention also provides a rice ball storage device including the transfer head capable of storing rice balls more steadily and orderly in a container.

  In order to solve the above-described conventional problems, in the transfer head according to the present invention, (1) a rice ball transfer head mounted on a transfer mechanism that receives a supplied rice ball and transfers it to a predetermined arrangement area, A corner shape of the triangular onigiri having a bottom plate that supports the bottom surface of the rice ball row in which a plurality of triangular rice balls are closely aligned in a standing posture in a standing posture, and a swash plate along one side slope of the rice ball row. The outer surface of the bottom plate or the swash plate of the row holder is pressed against the slope of the rice ball row when the rice ball row temporarily placed in the placement region is changed over the placement region. In this case, a contact portion for moving the rice ball rows integrally was used.

  In the rice ball storage apparatus according to the present invention, (2) a row forming mechanism that forms a rice ball row by closely contacting and aligning a plurality of triangular rice balls that are intermittently supplied in a standing posture, And a transfer mechanism for receiving the rice ball row formed by the transfer head according to claim 1 and transferring it to the arrangement area in the container.

In addition, the rice ball storage apparatus according to the present invention has the following features.
(3) The transfer mechanism includes an arm body that moves the transfer head and a control unit that controls the arm body, and the control unit is configured such that the rice ball rows sequentially formed by the row forming mechanism are empty. Control the arm body so that it is juxtaposed in the container from the first rice ball row that is first placed in the container to the nth rice ball row where the container is fully loaded.
(4) The said control part controls the said arm body so that the said nth rice ball row | line | column may be arrange | positioned between the rice ball row | line | columns from a 1st rice ball row | line | column to the n-1st rice ball row | line | column.
(5) When transferring the rice ball rows to the respective target positions on the arrangement region where each rice ball row is to be arranged, the control unit transfers the n-1 rice ball rows from the first rice ball row to each target position. In this case, the rice ball row is temporarily placed in a temporary placement region that is temporarily placed on the placement region, and the contact portion of the transfer head is pressed against the slope of the rice ball row so as to move integrally to each target position. Controlling the arm body;
(6) A container supply stacking mechanism that obtains containers from a group of containers stacked in an empty state and arranges them in the arrangement area while stacking containers full of rice balls with other full containers The container is displaceable into a normal position that can be stacked in a stacked manner with respect to another container and a reverse position that can be stacked in a nested manner, and the container supply stacking mechanism is A displacement part for displacing a container acquired in an inverted state with respect to other full-packed containers from a group of empty containers stacked in a nested manner is provided.

  According to the present invention, rice balls can be stored more steadily and orderly in the container.

It is explanatory drawing which showed the structure of the rice ball storage apparatus which concerns on this embodiment. It is explanatory drawing which showed the structure of the row | line | column formation mechanism and the transfer mechanism. It is explanatory drawing which showed the structure of the row | line | column formation mechanism and transfer mechanism in planar view. It is explanatory drawing which showed the structure of the transfer head. It is explanatory drawing which showed the acceptance process of the rice ball row | line | column in a transfer head. It is explanatory drawing which showed the transfer state to the container by a transfer mechanism. It is an operation | movement flow of a transfer mechanism. It is explanatory drawing which showed the mounting process of the rice ball row | line | column in the container by a transfer mechanism. It is explanatory drawing which showed the structure of the container supply stacking mechanism.

  The present invention relates to a rice ball transfer head that is mounted on a transfer mechanism that receives a supplied rice ball and transfers it to a predetermined onigiri arrangement area, and is capable of storing the rice ball more firmly and orderly in a container. Is to provide.

  The transfer mechanism on which the transfer head is mounted is not particularly limited, and may be a general mechanism device in which the spatial arrangement position of the transfer head is physically regulated in advance by constituent members, or a so-called robot. A device such as an arm that can determine the spatial arrangement position of the transfer head with a relatively high degree of freedom may be used.

  A feature of the transfer head according to the present embodiment is a rice ball transfer head that is mounted on a transfer mechanism that receives a supplied rice ball and transfers it to a predetermined arrangement area, and a plurality of triangular rice balls are set up. A row holder that is bent into the triangular shape of the triangular rice balls, comprising: a bottom plate that supports the bottom surface of the rice ball rows that are closely aligned in the abdominal and back direction in a posture; and a swash plate along one side slope of the rice ball rows. The outer surface of the bottom plate or the swash plate of the row holders is pressed against the slope of the rice ball row when the rice ball row temporarily placed in the placement region is moved, and the rice ball row is integrally formed on the placement region. The point which is made into the contact part for making it move while sliding is mentioned.

  Here, the belly and back of the triangular rice ball are the surfaces formed in a triangular shape. Further, the standing posture refers to a posture in which a substantially rectangular shape other than the abdominal surface or the back surface is used as the bottom, for example, a posture in which the label sticker or printing attached to the abdominal surface or the back surface is in the correct orientation. .

  By providing such a configuration, even if the friction on the bottom surface of the container is somewhat large, the row of rice balls can be smoothly moved by the contact portion, and the rice balls can be stored in the container more steadily and orderly.

  The present embodiment also provides a rice ball storage device capable of storing rice balls more steadily and orderly in the container.

  The rice ball storage device according to the present embodiment includes at least a row forming mechanism and a transfer mechanism.

  The row formation mechanism is a mechanism that forms a row of rice balls by closely aligning a plurality of triangular rice balls that are intermittently supplied in a standing posture in the belly-dorsal direction, and into the transfer head mounted on the transfer mechanism described below. Is to ensure that it is accepted in a proper condition.

  Further, the transfer mechanism can be, for example, a robot arm having a transfer head attached to the tip, and accepts the rice ball row formed by the row forming device with the transfer head, and moves it to the placement region in the container placed in advance. Transport.

  The rice ball storage device according to the present embodiment has such a configuration, so that a plurality of rice balls can be reliably supplied to the transfer head in a state of being closely aligned in the abdominal and dorsal direction, and can be properly stored in the transfer head. Can be performed stably.

  Moreover, even if the friction on the bottom surface of the container is somewhat large, the row of rice balls can be properly arranged, and the rice balls can be stored more firmly and orderly in the container.

  In the rice ball storage apparatus according to the present embodiment, the transfer mechanism includes an arm body that moves the transfer head and a control unit that controls the arm body, and the control unit is a rice ball that is sequentially formed by the row forming mechanism. The arm body may be controlled so that the rows are juxtaposed in the container from the first rice ball row that is initially placed in the empty container to the n-th rice ball row where the container is fully loaded.

  That is, when arranging the rice ball rows in the container, it is possible to store the rice balls in an orderly manner by controlling the arm body so that all the rice ball rows are parallel.

  Further, the control unit may control the arm body so as to arrange the n-th rice ball row between any rice ball rows from the first rice ball row to the (n-1) -th rice ball row.

  In other words, the last rice ball row that is fully loaded when arranged is not necessarily at the end of the container, and may be between another rice ball row and the rice ball row.

  In particular, with such a configuration, the transfer head can be prevented from interfering with the outer peripheral wall of the container, and the rice ball can be stored more securely in the container.

  In addition, when transferring the rice ball row to each target position on the arrangement area where each rice ball row should be placed, the control unit transfers the n-1 rice ball row from the first rice ball row to each target position. Control the arm body so that the rice ball rows are temporarily placed in the temporary placement area where they are temporarily placed on the placement area, and the abutting portion of the transfer head is pressed against the slope of the rice ball rows to move to each target position integrally. You may make it do.

  With such a configuration, the rice ball rows other than the last rice ball row can be smoothly moved by pushing and moving the rice ball rows integrally by the contact portion of the transfer head even if the friction on the bottom surface of the container is somewhat large. The rice balls can be stored more steadily and orderly in the container. In addition, about the last rice ball row | line | column, the rice ball row | line | column can be stored orderly generally only by arrange | positioning a rice ball row | line | column in the last area | region which remained.

  In the rice ball storage device according to the present embodiment, containers are acquired from a container group that is stacked in an empty state and placed in the placement area, while containers that are full in a rice ball row are stacked with other full containers. It is good also as providing the container supply stacking mechanism made to overlap.

  If such a container supply stacking mechanism is provided, it is possible to save labor for manually placing empty containers in the placement area or stacking full containers.

  By the way, containers that have been used in recent years for onigiri store delivery are those that can be displaced into a normal position that can be stacked in a stacked manner with respect to other containers, and a reverse position that can be stacked in a nested manner, Many so-called two-color containers are used.

  Specifically, if the color and brightness of one side half and the other side half of the container are different, and stacking in a state where the color etc. are aligned with each other (normal position), it will be stacked and the color Nested containers can be listed if they are stacked in a different state (inverted).

  This two-color container is placed in a stacked state (stacking state) when the goods are stored in the container, and is placed in a nested state (nesting state) when empty. The space volume occupied by the overlapped containers (container group) can be reduced.

  Therefore, although it can be said that the container is efficient in terms of physical distribution, the two-color container group returned to the onigiri manufacturing factory is in a nesting state and needs to be returned to the stacking state in order to store the rice balls inside.

  Until now, this work was often done manually, and in order to set an empty container group in the container supply stacking mechanism, it was necessary to invert every other container in the nesting state and stack it again. .

  In this regard, in the container supply stacking mechanism of the rice ball storage apparatus according to the present embodiment, the container acquired in an inverted state with respect to the other full-packed containers from the empty container group stacked in a nested manner is orthonormal. It is supposed that a displacement part to be displaced is provided.

  Therefore, it is not necessary to return the nesting container group to the stacking state and set it in the container supply stacking mechanism, so that containers filled with rice balls can be stacked in the stacking state, which greatly increases the labor of workers. Can be reduced.

  Hereinafter, the transfer head and the rice ball storage apparatus according to the present embodiment will be described in detail with reference to the drawings.

  FIG. 1 is an explanatory view showing the appearance of a rice ball storage device A according to this embodiment. FIG. 1 shows a state where the rice ball Q is supplied to the rice ball storage device A from the inspection device 10 arranged at the end of the rice ball production line on the conveyor 11.

  The rice ball storage apparatus A includes a row forming mechanism B that forms rice ball rows L by aligning rice balls Q that are intermittently supplied in a standing position on the conveyor 11 and a rice ball row L that is formed on the row forming mechanism B. And the transfer mechanism C for transferring the rice ball row L into the container 13 arranged in the rice ball arrangement area 12 and the empty container 13 arranged in the arrangement area 12 on the feed conveyor 14 while being fully packed 13 and a container supply stacking mechanism D for stacking 13. In FIG. 1, the worker P1 shows a state where an empty container group 15 in which empty containers (hereinafter also referred to as empty containers 13a) are stacked in the container supply stacking mechanism D is supplied by the carriage 16. In addition, the worker P2 loads a full-packed container group 17 in which containers full of rice ball rows L (hereinafter also referred to as full-packed containers 13b) are stacked on the carriage 16 and transports them to a department that prepares for shipment. It shows the state.

  FIG. 2 is an explanatory diagram showing the configuration of the row forming mechanism B and the transfer mechanism C. As shown in FIG. 2, the rice balls Q conveyed by the conveyor 11 through the inspection device 10 are supplied to the row forming mechanism B in a standing posture.

  In the inspection process of the rice ball Q by the inspection device 10 or the like, it is generally important to determine whether the sticker or print attached to the back surface of the rice ball Q is appropriate. The rice ball Q is in a standing posture so that it can be easily checked.

  On the other hand, when storing the rice ball Q after inspection in the container 13 using a robot arm or the like, the robot arm must be in a stable recumbent posture rather than an unstable standing posture so that the robot arm can easily catch it. Absent.

  However, when the rice ball Q is stored in the container 13, the rice ball Q is often stored in a standing posture. Therefore, the rice ball Q in the standing posture after the inspection is temporarily set to the lying posture, and the standing posture is again set in the container 13. Further, as described above as a prior art, a method of waiting and catching the transfer head in an oblique state has been performed.

  In that regard, in the rice ball storage apparatus A according to the present embodiment, since the row forming mechanism B is interposed when the rice ball Q is delivered to the transfer mechanism C, the rice ball Q is stored until it is stored in the container 13 from the conveyor 11. It can be left standing and is very solid and efficient.

  The configuration of the row forming mechanism B will be described. The row forming mechanism B includes a first alignment portion 21 a, a second alignment portion 21 b, and a delivery portion 22 on the base 20.

  The first aligning portion 21a is a portion that forms the rice ball row L by receiving the rice balls Q supplied from the conveyor 11 when the second aligning portion 21b described later does not accept the rice balls Q.

  Specifically, as shown in FIG. 3A, the first alignment unit 21 a holds the shift conveyor 23 disposed on the base 20 and the rice ball Q conveyed by the conveyor 11 in a standing posture. And a pusher 24 that is moved onto the shift conveyor 23 as it is.

  Then, when the rice ball Q reaches the front of the pusher 24 by the conveyor 11, it is detected by a sensor (not shown), and the pressing body 24a extends from the pusher 24 to move the rice ball Q on the conveyor 11 onto the shift conveyor 23.

  The shift conveyor 23 is provided with a fall prevention body 23a, which shifts the conveyor belt in the depth direction by the thickness of the rice ball Q while preventing the rice ball Q from falling down.

  This operation is repeated until a predetermined number (10 in the present embodiment) of rice balls Q are placed on the shift conveyor 23, and the rice ball row L is formed. After the rice ball row L is formed, a delivery unit 22 described later operates to deliver the rice ball row L to the transfer mechanism C.

  The second alignment part 21b is a part that receives the rice balls Q supplied from the conveyor 11 when the first alignment part 21a does not receive the rice balls Q, and forms the rice ball rows L. The second alignment portion 21b has substantially the same configuration as the first alignment portion 21a, and a detailed description thereof will be omitted.

  That is, in the row forming mechanism B, the two aligning portions 21 of the first aligning portion 21a and the second aligning portion 21b are arranged in parallel, and the rice ball rows L to be transferred to the transfer mechanism C are alternately formed. .

  The delivery unit 22 is for transferring the rice ball row L formed in the alignment unit 21 to the transfer mechanism C, and the rail body 22a disposed in the left-right direction and the movement that moves along the rail body 22a. A body 22b, and a delivery plate 22c that extends from the movable body 22b and is disposed at a position facing the slope of the rice ball row L formed by the alignment portion 21.

  For example, when the rice ball row L is formed in the first alignment portion 21a, as shown in FIG. 3B, the moving body 22b travels in the feeding direction along the rail body 22a, and accordingly the sending plate 22c. The rice ball row L is moved while pressing the slope of the rice ball row L, and the rice ball row L is accommodated in a transfer head H (described later) of the transfer mechanism C that is made to wait in advance on the upper surface or end of the base 20. In addition, when the rice ball row L is formed in the second alignment portion 21b, it is driven in substantially the same manner.

  As shown in FIG. 2, the transfer mechanism C employs a so-called robot arm in this embodiment, a transfer head H that receives the rice ball row L formed and sent out by the row formation mechanism B, and a plurality of movable heads. And an arm 26 on which the transfer head H can be arranged at a desired spatial position, and a control unit (not shown) for controlling the arm 26.

  As shown in FIG. 4, the transfer head H includes a rice ball receiver 30 that receives the rice ball row L, an opening / closing part 31 that opens and closes the front opening of the rice ball receiver 30, and a transfer head H at the tip of the arm 26. And a connecting body 32 for connecting the two.

  The rice ball receptor 30 is a bottom plate 33 that supports a part of the bottom surface of the received rice ball row L, for example, approximately one-half to two-thirds of the left-right width of the rice ball Q indicated by symbol K in FIG. And a swash plate 34 along the slope of the rice ball row L, and the bottom plate 33 and the swash plate 34 are bent at substantially the same angle as the corner shape of the rice ball Q, and are arranged in a substantially square shape in side view. A holding body 35 is formed.

  The outer surfaces of the row holders 35, particularly the outer surfaces of the bottom plate 33 and the swash plate 34, are arranged when the control unit executes a predetermined program so that the transfer mechanism C functions as a rice ball row movement execution means described later. A contact portion 44 for moving the rice ball row L in contact with one slope of L is provided.

  Further, as shown in FIG. 4, side restricting pieces 36 for preventing the rice balls Q from dropping off are formed on the left and right side surfaces of the row holding body 35, and the rice ball rows are moved along with the movement and stop of the arm 26. The rice ball Q is prevented from dropping from the transfer head H by the acceleration applied to L.

  Further, as shown in FIGS. 4 and 5A, a substantially U-shaped spacer 37 in a side view is disposed on the inner surface of the swash plate 34 over substantially the entire width direction of the row holder 35. As shown in FIG. 5 (b), the spacer 37 is used to release the wing portions 38 of the packaging film formed at the corners of each rice ball Q when the rice ball row L is accommodated in the transfer head H. It is a member for forming the escape space 39 and prevents the blade portion 38 from being crushed or disturbed.

  Further, as shown in FIG. 4, a top plate 40 extends substantially parallel to the bottom plate 33 on the upper side of the swash plate 34 of the row holder 35. A connecting body 32 that connects the rice ball receptor 30 and the arm 26 is provided.

  The opening / closing part 31 has a rotation shaft 41 extended from the connecting body 32 in the left-right width direction, and a wide-width connection provided to the rotation shaft 41 so as to swing around the rotation shaft 41. An opening / closing plate 42 is provided.

  Then, compressed air is supplied to or cut off from the left and right air cylinders 43 arranged on the top plate 40 from an air pipe (not shown), so that when the cylinder bar 43a is projected as shown in FIG. The front end of the cylinder bar 43a is brought into contact with the opening / closing plate 42 and pushed up to be rotated to be in an open state so that the rice ball row L can be received and placed in the arrangement region of the rice ball row L.

  Further, as shown in FIG. 5B, when the cylinder bar 43a is submerged, the opening / closing plate 42 rotates by its own weight about the rotation shaft 41, and the front opening of the rice ball receptor 30 is semi-closed. In this state, the rice ball row L is prevented from falling off from the front opening.

  The control unit that controls the arm 26 includes a computer system including a CPU, a ROM, a RAM, a large-capacity storage unit, and the like. Or the transfer head H can be arranged at a predetermined position.

  As a basic operation realized by the execution of the program, as shown by the solid line arm 26 in FIG. 6, the rice ball row L formed by the row forming mechanism B is received from the base 20, and FIG. As shown by the broken-line arm 26, the received rice ball row L is placed in the container 13 arranged by the container supply stacking mechanism D so that the inner bottom surface of the container 13 becomes the arrangement region.

  In the transfer mechanism C of the rice ball storage apparatus A according to the present embodiment, the control unit executes the above-described program to control the arm 26, and the transfer mechanism C holds the transfer head H on the rice ball array L. The juxtaposition execution means for juxtaposing the other rice ball row L and the n-th rice ball row (the last rice ball row L arranged in the present embodiment, the fifth rice ball row L5 in this embodiment) that is full of containers. The last arrangement executing means arranged between L4 and L4, and the first rice ball row L1 to the fourth rice ball row L4 (n-1th rice ball row) placed first in the empty container are transferred to each target position. In this case, the rice ball rows are temporarily placed in a temporary placement region that is temporarily placed on the placement region, and the contact portion of the transfer head H is pressed against the slope of the rice ball row L to integrally move to each target position. Moving It is configured to function as a unit.

  In addition, in a predetermined storage unit such as a ROM, a RAM, a large-capacity storage means, etc., a target position that defines a target position or area where each rice ball row L from the first rice ball row L1 to the fifth rice ball row L5 should be arranged. A regulation table is stored. In the present embodiment, the arrangement region is a region in which the target positions (regions) of all rice ball rows L from the first rice ball row L1 to the fifth rice ball row L5 are combined. The target positions of the rice ball rows L are stored as positions where the rice ball rows L are juxtaposed, and the target positions of the fifth rice ball row L5 are those of the first rice ball row L1 to the fourth rice ball row L4. It is stored so as to be located between any two.

  Similarly, in a predetermined storage unit, temporary placement area coordinates for temporarily arranging the rice ball rows L on the placement area, and standby position coordinates for receiving the rice ball rows L formed by the row forming mechanism B Etc. are stored.

  Next, the operation of the arm 26 of the transfer mechanism C and the transfer head H will be described with reference to the operation flow of FIG. When the control unit starts the transfer operation, first, the transfer head H is moved to the standby position, and the cylinder bar 43a is protruded to open the open / close unit 31 (step S10).

  Next, when the rice ball row L is received in the transfer head H, the cylinder bar 43a is retracted to close the open / close portion 31 (step S11).

  Next, it is determined whether the received rice ball row L is the fifth rice ball row L5 corresponding to the nth rice ball row full of containers (step S12). If it is determined that the received rice ball row L is not the fifth rice ball row L5 (step S12: No), the temporary storage area coordinates are read with reference to the storage unit, as shown in FIG. Thus, the transfer head H is moved to the temporary placement area (step S13). Here, it is assumed that the rice ball row L received by the transfer head H is the second rice ball row L2.

  Next, as shown in FIGS. 8B and 8C, the control unit projects the cylinder bar 43 a of the transfer head H to open the opening / closing unit 31, and the second rice ball row L <b> 2 from the transfer head H is opened. A placement operation for temporary placement in the temporary placement area is executed (step S14).

  Next, the control unit pulls in the cylinder bar 43a and reads the target position where the second rice ball row L2 should be arranged with reference to the storage unit (step S15).

  Next, as shown in FIGS. 8D and 8E, the control unit forms the contact portion 44 of the transfer head H on the slope of the second rice ball row L2, here the outer surface of the swash plate 34. The abutting portion 44 is brought into contact with the left shoulder slope of the second rice ball row L2 (step S16), and the second rice ball row L2 is moved to the target position as shown in FIG. 8 (f) (step S17).

  At this time, the folding angle of the row holding body 35 is substantially the same as the shape of each corner of the triangular rice ball Q, that is, an acute angle, so the temporarily placed rice ball row L is formed on the contact portion 44 of the bottom plate 33 or the swash plate 34. Any of 44 can be easily moved in a desired direction.

  In particular, in the present embodiment, the folding angle of the row holding body 35 is set to approximately 60 degrees (for example, 50 degrees to 80 degrees), so that the temporarily placed rice ball rows L can be moved more firmly.

  Thus, by executing Step S12 to Step S17, the control unit transfers the first rice ball row L1 to each of the target positions on the arrangement area where each rice ball row L is to be arranged. To n-1 onigiri row Ln-1 (here, fourth onigiri row L4) are to be temporarily placed in the temporary placement area where the rice ball row L is temporarily placed on the placement region. Then, the arm 26 is controlled so that the contact portion 44 of the transfer head H is pressed against the slope of the rice ball row and moved integrally to each target position, so that the transfer mechanism C functions as a rice ball row movement executing means. I have to.

  Further, in order to move the transfer head H to the target position with reference to the storage unit that stores the target positions of the rice ball rows L as the positions where the rice ball rows L are juxtaposed, steps S15 to S17 are executed. Thus, the control unit is configured such that the rice ball row L sequentially formed by the row forming mechanism B is changed from the first rice ball row L1 first placed on the empty container 13 to the n-th rice ball row Ln (full of containers 13). Here, the arm 26 is controlled so as to be juxtaposed in the container 13 until the fifth rice ball row L5), and the transfer mechanism C is caused to function as a juxtaposition execution means.

  And a control part returns a process to step S10, and will accept the rice ball row | line | column L in a standby position again.

  On the other hand, in step S12, when it is determined that the rice ball row L held by the transfer head H is the fifth rice ball row L5 (step S12: Yes), the control unit refers to the storage unit and performs the fifth operation. The transfer head H is moved to the target position where the rice ball row L5 should be placed (step S18), the cylinder bar 43a is protruded and the opening / closing portion 31 is opened (step S19), and the cylinder bar 43a is retracted. Go (step S20) and return the process to step S10.

  In this way, the transfer head H is moved to the target position with reference to the storage unit stored so that the target position of the fifth rice ball row L5 is positioned between any two of the first rice ball row L1 to the fourth rice ball row L4. In order to move, the control unit performs any of the rice balls from the first rice ball row L1 to the (n-1) -th rice ball row Ln-1 (the fourth rice ball row L4 in the present embodiment) by executing steps S18 to S20. The arm 26 is controlled so as to arrange the n-th rice ball row Ln (the fifth rice ball row L5 in this embodiment) between the rows, so that the transfer mechanism C functions as the last placement execution means.

  Next, the container supply stacking mechanism D will be described with reference to FIG. In FIG. 9, a schematic diagram in a plan view of the container supply stacking mechanism D is shown in the middle stage, and the state of the container 13 in a side view until the empty container 13a taken out from the empty container group 15 is arranged in the arrangement area. A schematic diagram showing the state of the container 13 in a side view until a full load container group 17 b is stacked and a full load container group 17 is constructed is shown in the upper stage. Show.

  As shown in the middle diagram, the container supply stacking mechanism D includes an empty container group arrangement unit 50, a rice ball storage unit 51, a displacement unit 52, and a full container group arrangement unit 53. A carrying-in port 60 for carrying the empty container group 15 into the container group arranging unit 50 and a carrying-out port 61 for carrying out the full container group 17 from the full container group arranging unit 53 are formed.

  The empty container group arrangement unit 50 is a part where the stacked empty containers 13a, that is, the empty container group 15 are arranged. In particular, in this embodiment, a so-called color container is adopted as the container 13, and therefore, As shown, each empty container 13a is stacked in a nesting state.

  That is, the arbitrary empty containers 13a constituting the empty container group 15 are in an inverted state with respect to the upper or lower empty containers 13a to be stacked.

  In this empty container group arrangement unit 50, the empty container group 15 is lifted by a lift device (not shown) arranged on the inner wall of the container supply stacking mechanism D, and the lowest empty container 13a is moved to the rice ball storage unit 51. It is configured to operate. The empty container group 15 is carried into the empty container group arrangement unit 50 through the carry-in entrance 60, as the operator P1 performs in FIG.

  The rice ball storage unit 51 is a part where the transfer mechanism C arranges the rice ball row L in the empty container 13a, and the empty container 13a fed from the empty container group arrangement unit 50 has the above-described arrangement region as the empty container 13a. It arrange | positions so that it may become the inner bottom surface of.

  In this rice ball storage unit 51, the full container 13 b that is full in the rice ball row L by the transfer mechanism C is moved to the displacement unit 52 by the feed conveyor 14.

  The displacement unit 52 includes an identification sensor 55 disposed on the wall surface of the container supply stacking mechanism D and a displacement table 56 disposed on the bottom surface of the container supply stacking mechanism D.

  The identification sensor 55 is a sensor for discriminating whether the full load container group 17 constructed by the full load container group arrangement portion 53 of the full load container 13b reaching the displacement portion 52 is the normal position or the reverse position.

  In addition, based on the information obtained by the identification sensor 55, the displacement base 56 reverses the full load container 13b by 180 degrees when the full load container 13b disposed on the displacement base 56 is upside down. The operation is performed. The displacement table 56 does not perform the reversing operation when the full container 13b is in the normal position.

  Then, the full load container 13b on the displacement table 56 is moved to the full load container group placement section 53 by the lift device disposed on the side wall of the container supply stacking mechanism D, and as shown in the upper drawing, all the full load containers 13b are moved. The full-packed container group 17 is constructed with the container 13b in the correct position. That is, the containers 13 in which the rice balls Q are stored are stacked in a stacking state. The full container group 17 is unloaded in a state where it is placed on the carriage 16 via the unloading port 61 as the worker P2 in FIG.

  Thus, by providing the container supply stacking mechanism D, it is not necessary to return the nesting empty container group 15 to the stacking state and set it in the empty container group arrangement portion 50, and the rice balls Q are fully loaded. The full-packed containers 13b can be stacked in a stacking state to construct the full-packed container group 17, and the labor of the operator can be greatly reduced.

  As described above, according to the transfer head H according to the present embodiment, the transfer head H of the rice ball Q attached to the transfer mechanism C that receives the supplied rice ball Q and transfers it to a predetermined arrangement area. The triangle having a bottom plate 33 that supports the bottom surface of the rice ball row L in which a plurality of triangular rice balls are closely aligned in a standing posture in a standing posture, and a swash plate 34 along one side slope of the rice ball row L. A row holding body 35 bent into a corner shape of a rice ball is provided, and the outer surface of the bottom plate 33 or the swash plate 34 of the row holding body 35 is arranged on the rice ball row when the rice ball row L temporarily placed in the arrangement area is replaced. Since the contact portion 44 for integrally moving the rice ball row L on the arrangement area by being pressed against the slope of L is used, even if the friction on the inner bottom surface of the container 13 is somewhat large, the contact portion 44 makes the rice ball row L Smooth Can be moved, the rice ball Q may be stored consistently neatly by the container 13.

  Finally, the description of each embodiment described above is an example of the present invention, and the present invention is not limited to the above-described embodiment. For this reason, it is a matter of course that various modifications can be made in accordance with the design and the like as long as they do not depart from the technical idea according to the present invention other than the embodiments described above.

DESCRIPTION OF SYMBOLS 13 Container 13a Empty container 13b Packed container 15 Empty container group 17 Packed container group 21 Alignment part 22 Sending part 26 Arm 30 Rice ball receiving body 33 Bottom plate 34 Swash plate 35 Row holding body 44 Contact part 52 Displacement part 55 Identification sensor 56 Displacement stand A Onigiri storage device B Row forming mechanism C Transfer mechanism D Container supply stacking mechanism H Transfer head L Onigiri row L1 First onigiri row L2 Second onigiri row L3 Third onigiri row L4 Fourth onigiri row L5 Fifth onigiri row

Claims (6)

A rice ball transfer head mounted on a transfer mechanism for receiving a supplied rice ball and transferring it to a predetermined arrangement area;
A corner shape of the triangular onigiri having a bottom plate that supports the bottom surface of the rice ball row in which a plurality of triangular rice balls are closely aligned in a standing posture in a standing posture, and a swash plate along one side slope of the rice ball row. The outer surface of the bottom plate or the swash plate of the row holder is pressed against the slope of the rice ball row when the rice ball row temporarily placed in the placement region is changed over the placement region. A rice ball transfer head characterized in that it is a contact portion for integrally moving the rice ball rows. A row forming mechanism for forming a rice ball row by closely aligning a plurality of triangular rice balls supplied intermittently in a standing posture in the abdominal back direction;
A rice ball storage apparatus, comprising: a transfer mechanism that receives the rice ball rows formed by the row forming mechanism with the transfer head according to claim 1 and transfers them to the arrangement area in the container. The transfer mechanism includes an arm body that moves the transfer head, and a control unit that controls the arm body,
The control unit is configured so that the rice ball rows sequentially formed by the row forming mechanism are arranged in the container from the first rice ball row that is initially placed in the empty container to the nth rice ball row that is full of containers. The rice ball storage device according to claim 2, wherein the arm bodies are controlled so as to be juxtaposed.   The said control part controls the said arm body so that the said nth rice ball row | line | column may be arrange | positioned among any rice ball row | line | column from a 1st rice ball row | line | column to the n-1st rice ball row | line | column. The onigiri storage device described.   When transferring the rice ball rows to the respective target positions on the arrangement area where each rice ball row is to be arranged, the control unit transfers the n-1 rice ball rows from the first rice ball row to each target position. The arm body temporarily places the rice ball row in a temporary placement area where the rice ball row is temporarily placed on the placement region, and presses the contact portion of the transfer head against the slope of the rice ball row so as to move integrally to each target position. The rice ball storage device according to claim 3 or 4, wherein the rice ball storage device is controlled. A container supply stacking mechanism is further provided that stacks containers packed in a rice ball row with other full-packed containers while acquiring containers from containers stacked in an empty state and placing them in the arrangement area.
The container is displaceable into a normal position that can be stacked in a stacked manner with respect to another container, and an inverted position that can be stacked in a nested manner,
The container supply stacking mechanism includes a displacement unit that displaces a container acquired in an inverted state with respect to other full-packed containers from a group of empty containers stacked in a nested manner. The rice ball storage device according to any one of claims 2 to 5.

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