JP2019089137A - Article transfer device and article transfer method - Google Patents

Abstract

To provide an article transfer device and an article transfer method capable of transferring quantitatively an article group which is an aggregate of articles, even if the articles having a powdery shape, a chipped shape or the like contain an oil portion, moisture or the like.SOLUTION: An article transfer device 1 includes a nozzle 2 having a first opening 21 and a second opening 22, and having a storage space 23 formed therein, a filter 3 for blocking the second opening 22, and a head 4 to which the nozzle 2 and the filter 3 are attached detachably, and in which a main passage 43 for generating a suction air flow from the first opening 21 to the second opening 22 through the storage space 23, and a first branch passage 44 are formed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article transfer device and an article transfer method.

  There is a case where a robot hand is used as an article transfer apparatus for transferring a certain amount of articles, which is a collection of articles such as powdery and chip-like articles, by a fixed amount (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2017-047481

  However, when an article such as powdery or chip-like contains oil, water and the like like chopped green onion, it may be difficult to transfer the article group by a fixed amount.

  The present invention relates to an article transfer apparatus and an article transfer method capable of transferring a group of articles, which are a collection of such articles, quantitatively, even if an article such as powder or chip contains oil, moisture and the like. Intended to be provided.

  The article transfer device according to the present invention has a first opening and a second opening, and a nozzle in which a storage space is formed, a filter for closing the second opening, and a nozzle and a filter are detachably attached. And a head formed with a first flow path for generating a first air flow from the first opening to the second opening via the storage space.

  In this article transfer device, by causing the first opening to contact the article group while generating the first air flow, the storage space of the nozzle is filled with the article group, and the article group is held in the storage space of the nozzle . Since the amount of articles to be held is determined by the volume of the storage space, for example, by replacing the nozzle and the filter, the desired quantity of articles can be held. Therefore, according to this article transfer device, even if an article such as powder or chip contains oil, moisture and the like, it is possible to quantitatively transfer an article group which is a collection of such articles.

  The article transfer device according to the present invention may further include a first flow rate adjustment unit connected to the first flow path and adjusting the flow rate of the first air flow. Thereby, the flow rate of the first air flow can be set to an appropriate flow rate according to the type of the article, the amount of the article group to be transferred, and the like.

  The article transfer apparatus according to the present invention may further include a control unit that controls the operation of the head and the first flow rate adjusting unit such that the flow rate of the first air flow changes in conjunction with the movement of the head. As a result, for example, when the nozzle is moved to the transfer destination by movement of the head, the flow rate of the first air flow can be increased, whereby the drop of the group of articles held in the storage space can be suppressed.

  In the article transfer apparatus according to the present invention, the control unit is configured such that the first opening contacts the article group while the flow rate of the first air flow is maintained in the predetermined range, and the storage space is filled with the article group. The operation of the head and the first flow rate adjusting unit may be controlled such that the first opening is separated from the group of articles while the flow rate of the air flow is maintained in a predetermined range. Thereby, it is possible to suppress the falling of the group of articles held in the storage space.

  In the article transfer apparatus according to the present invention, the control unit causes the first opening to contact the group of articles while the flow rate of the first air flow is maintained in the first range, and the flow rate of the first air flow is higher than the first range The operation of the head and the first flow rate adjuster may be controlled such that the first opening contacts the group of articles again while being maintained in the small second range. Thereby, the storage space of the nozzle is completely filled with the group of articles.

  In the article transfer apparatus according to the present invention, the control unit causes the first opening to be separated from the article group while the flow rate of the first air flow is maintained in the second range in a state where the storage space is filled with the article group. The operation of the head and the first flow rate adjusting unit may be controlled such that the nozzle moves to the transfer destination while the flow rate of the first air flow is maintained in the third range that is larger than the second range. Thereby, when the nozzle moves to the transfer destination, it is possible to suppress that the group of articles held in the storage space falls.

  In the article transfer device according to the present invention, the head may be formed with a second flow path for generating a second air flow from the second opening to the first opening through the storage space. Thus, for example, by generating the second air flow at the transfer destination, the group of articles can be reliably discharged from the storage space.

  The article transfer device according to the present invention may further include a second flow rate adjustment unit connected to the second flow path and adjusting the flow rate of the second air flow. Thereby, the flow rate of the second air flow can be set to an appropriate flow rate according to the type of the article, the amount of the article group to be transferred, and the like.

  In the article transfer apparatus according to the present invention, the nozzle is a cylinder having a first opening and a second opening, the filter is a plate in which a plurality of holes are formed, and the filter is a second opening. You may arrange | position to the level | step-difference part provided in the inner side. Thereby, various types of nozzles and filters can be easily prepared according to the type of articles, the amount of articles to be transferred, and the like.

  The article transfer device of the present invention may further include a drain hose connected to the first flow path. Thereby, when the article contains oil, water and the like, oil, water and the like which have passed through the filter can be collected in the drain hose.

  An article transfer method according to the present invention is the article transfer method using the above-described article transfer apparatus, wherein the first opening is brought into contact with the group of articles while maintaining the flow rate of the first air flow within a predetermined range. And a second step of separating the first opening from the group of articles while maintaining the flow rate of the first air flow within a predetermined range in a state where the storage space is filled with the group of articles.

  According to the article transfer method, the articles held in the storage space can be suppressed from falling.

  In the article transfer method according to the present invention, the first step includes the steps of bringing the first opening into contact with the articles while maintaining the flow rate of the first air flow in the first range; Re-contacting the first opening with the group of articles while maintaining the second range less than the range. Thereby, the storage space of the nozzle is completely filled with the group of articles.

  In the article transfer method according to the present invention, in the second step, with the storage space being filled with the group of articles, the first opening is separated from the group of articles while maintaining the flow rate of the first air flow in the second range. The method may include the steps of moving the nozzle to the transfer destination while maintaining the flow rate of the first air flow in a third range that is greater than the second range. Thereby, when the nozzle moves to the transfer destination, it is possible to suppress that the group of articles held in the storage space falls.

  According to the present invention, even if an article such as a powdery or chip-like article contains oil, moisture and the like, it is possible to quantitatively transfer an article group which is a collection of such articles.

It is a block diagram of the article transfer device of one embodiment. It is a perspective view of the head part shown by FIG. It is a bottom view of the head part shown by FIG. It is sectional drawing of the head part shown by FIG. It is sectional drawing of the head part shown by FIG. FIG. 6 is a cross-sectional view of a head unit with another combination of nozzles and filter attached. FIG. 6 is a cross-sectional view of a head unit with another combination of nozzles and filter attached. FIG. 6 is a cross-sectional view of a head unit with another combination of nozzles and filter attached. It is a top view of a plurality of different filters. FIG. 6 is a cross-sectional view of a head unit with another combination of nozzles and filter attached. It is a timing chart which shows operation of an article transfer device of one embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and redundant description will be omitted.

  As shown in FIGS. 1, 2 and 3, the article transfer device 1 includes a nozzle 2, a filter 3, a head 4 and a drain hose 9. In the article transfer device 1, a head unit 10 is configured by the nozzle 2, the filter 3 and the head 4. The head unit 10 is movable in the vertical direction and in the horizontal direction. The article transfer apparatus 1 is an apparatus for transferring a fixed amount of an article group S (see FIGS. 4 and 5), which is a collection of articles such as powdery and chip-like articles. In FIG. 1, the head unit 10 is shown as a cross-sectional view, and the other configuration is shown as a block diagram.

  The nozzle 2 is a cylinder having a first opening 21 and a second opening 22. In the nozzle 2, a storage space 23 communicating with the first opening 21 and the second opening 22 is formed. A step 24 and an internal thread 25 are provided inside the second opening 22. In the present embodiment, the external shape of the nozzle 2 and the storage space 23 is cylindrical, and the shape of the first opening 21 and the second opening 22 is circular. The storage space 23 has the same diameter as the first opening 21, and the second opening 22 has a diameter larger than that of the first opening 21 and the storage space 23. The stepped portion 24 is formed by enlarging the diameter of the second opening 22 with respect to the storage space 23.

  The filter 3 closes the second opening 22 and defines a storage space 23. The filter 3 is a plate in which a plurality of holes 3a are formed. Each hole 3a has a size which can not pass through the articles constituting the group of articles S to be transferred. That is, the filter 3 allows the air flow to pass and does not allow the article group S to be transferred to pass. In the present embodiment, the external shape of the filter 3 is a circular flat plate, and the cross-sectional shape of each hole 3a is a circular shape. The plurality of holes 3 a are uniformly distributed (at equal pitches) in at least a region of the filter 3 facing the storage space 23. The filter 3 has substantially the same diameter as the second opening 22, and the filter 3 is disposed at the step 24.

  The head 4 is movable vertically and horizontally. The nozzle 2 and the filter 3 are detachably attached to the head 4. In this embodiment, the female screw 25 of the nozzle 2 is screwed into the male screw 42 provided outside the lower end 41 of the head 4 so that the first opening 21 faces downward. The nozzle 2 and the filter 3 are attached to the head 4. At this time, the lower end portion 41 of the head 4 presses the outer edge portion of the filter 3 against the step portion 24 through the spacer 5, whereby the filter 3 is positioned on the step portion 24. The spacer 5 is a circular annular member. The outer diameter of the spacer 5 is substantially the same as that of the second opening 22, and the inner diameter of the spacer 5 is larger than that of the first opening 21 and the storage space 23. Note that an O-ring may be disposed on the step portion 24 together with the spacer 5 or in place of the spacer 5. Alternatively, the lower end portion 41 of the head 4 may directly press the outer edge portion of the filter 3 without using the spacer 5 and the O-ring.

  In the head 4, a main flow path 43, a first branch flow path 44 and a second branch flow path 45 are formed. The main flow path 43 extends in the vertical direction. The main flow path 43 opens downward at the lower end portion 41 of the head 4 and is connected to the second opening 22 of the nozzle 2. The drain hose 9 is connected indirectly (that is, via another pipe) or directly to the end of the main flow passage 43 opposite to the second opening 22. The first branch flow channel 44 branches from the main flow channel 43 and opens to the side of the head 4. The second branch flow channel 45 branches from the main flow channel 43 below the first branch flow channel 44 and opens to the side of the head 4. In the present embodiment, the main flow path 43 and the first branch flow path 44 constitute a first flow path for causing the nozzle 2 to generate a suction air flow, and the main flow path 43 and the second branch flow path 45 And a second flow path for generating a discharge air flow. The suctioned air flow is a first air flow from the first opening 21 to the second opening 22 via the storage space 23. The discharge air flow is a second air flow from the second opening 22 to the first opening 21 via the storage space 23.

  The article transfer device 1 further includes a first flow rate adjusting unit 6 and a second flow rate adjusting unit 7. The first flow rate adjusting unit 6 is connected to the first branch flow path 44 (that is, connected to the first flow path), and adjusts the flow rate (flow rate per unit time) of the suctioned air flow. The second flow rate adjusting unit 7 is connected to the second branch flow path 45 (that is, connected to the second flow path), and adjusts the flow rate (flow rate per unit time) of the discharge air flow. In the present embodiment, the first flow rate adjusting unit 6 and the second flow rate adjusting unit 7 are configured as follows.

  The first flow rate adjusting unit 6 includes flow paths 61, 62, 63, a speed controller 64, and solenoid valves 65, 66. The flow path 61 is connected to the first branch flow path 44, and the flow path 62 and the flow path 63 merge with the flow path 61. The speed controller 64 and the solenoid valve 65 are provided in the flow passage 62, and the solenoid valve 66 is provided in the flow passage 63. The first flow rate adjusting unit 6 does not generate the suctioned air flow in the nozzle 2 by closing both of the solenoid valves 65 and 66. The first flow rate adjusting unit 6 causes the nozzle 2 to generate a suction air flow by opening at least one of the solenoid valves 65 and 66. When only the solenoid valve 65 is opened, when only the solenoid valve 66 is opened, the flow rate of the suction air flow generated in the nozzle 2 is gradually increased in the order of opening both of the solenoid valves 65, 66.

  The second flow rate adjusting unit 7 is configured of a flow path 71 and a solenoid valve 72. The flow path 71 is connected to the second branch flow path 45. The solenoid valve 72 is provided with a flow path 71. The second flow rate adjusting unit 7 does not generate the discharge air flow in the nozzle 2 by closing the solenoid valve 72. The second flow rate adjusting unit 7 causes the nozzle 2 to generate a discharge air flow by opening the solenoid valve 72.

  The article transfer device 1 further includes a control unit 8. The control unit 8 controls the operation of the head 4, the first flow control unit 6, and the second flow control unit 7 so that the flow rate of the suction air flow and the flow rate of the discharge air flow change in conjunction with the movement of the head 4. Do. By this control, as one example, the article group S is transferred by a fixed amount as follows. First, as shown in FIG. 4, a suction air flow is generated in the nozzle 2, and the nozzle 2 is lowered with respect to the group of articles S stored in the transfer source tray or the like. Then, the first opening 21 of the nozzle 2 is brought into contact with the article group S in a state where the suction air flow is generated in the nozzle 2. Thereby, the storage space 23 of the nozzle 2 is filled with the article group S. Subsequently, in a state in which the suction air flow is generated in the nozzle 2, the nozzle 2 holding the article group S is moved above the transfer destination tray or the like. Then, as shown in FIG. 5, the discharge air flow is generated in the nozzle 2, and the group of articles S is discharged from the storage space 23 to the transfer destination tray or the like.

  FIG. 6, FIG. 7 and FIG. 8 are cross-sectional views of the head unit 10 to which the nozzle 2 and the filter 3 of other combinations are attached. As shown in FIG. 6, the volume of the storage space 23 can be increased by increasing the diameter of the first opening 21. Further, as shown in FIG. 7, the volume of the storage space 23 can be increased by increasing the height (length in the vertical direction) of the storage space 23. In addition, as shown in FIG. 8, the volume of the storage space 23 can be reduced by reducing the height of the storage space 23. The volume of the article group S held by the nozzle 2 is determined by the volume of the storage space 23. Therefore, by selecting the type of the nozzle 2 in accordance with the amount of the article group S to be transferred, the desired quantity of the article group S can be transferred. Furthermore, the shape of the first opening 21 may be matched to the shape of the transfer destination (not limited to the circular shape, and may be triangular, square, or the like). Thus, the shape of the nozzle 2 can be various shapes. The shape of the storage space 23 is not limited to a cylindrical shape, and can be various shapes such as a truncated cone.

  FIG. 9 is a plan view of a plurality of filters 3 of different types. As shown in FIG. 9, the diameter of each hole 3a, the pitch between adjacent holes 3a, etc. can be changed for each filter 3. By selecting the type of the filter 3 in accordance with the size of the articles constituting the article group S to be transferred, the suction air flow can be appropriately generated in the nozzle 2 while preventing the article group S from passing. FIG. 10 is a cross-sectional view of the head unit 10 to which another combination of the nozzle 2 and the filter 3 is attached. When it is desired to uniformly disperse the group of articles S (for example, sesame and the like) in a predetermined area of the transfer destination, at least the area facing the storage space 23 is curved upward as shown in FIG. Filter 3 is effective.

  Next, an article transfer method using the article transfer apparatus 1 will be described with reference to FIG. The article transfer method described below is implemented by the control unit 8 controlling the operation of the head 4, the first flow rate adjusting unit 6, and the second flow rate adjusting unit 7.

  First of all. By opening both of the solenoid valves 65 and 66, the suction air flow is generated at the nozzle 2 at the maximum flow rate, and the nozzle 2 is lowered with respect to the group of articles S stored in the transfer source tray or the like. . Then, the first opening 21 of the nozzle 2 is brought into contact with the article group S while maintaining the flow rate of the suctioned air flow at the maximum flow rate (predetermined range, first range) (first step, contacting step). Thereby, the article group S is accommodated in the accommodation space 23 of the nozzle 2 to a certain extent.

  Subsequently, only the solenoid valve 66 is closed, so that the suction air flow is generated in the nozzle 2 at an intermediate flow rate, and the nozzle 2 ascends and returns to the article group S stored in the transfer source tray or the like. It is lowered. Then, the first opening 21 of the nozzle 2 is again brought into contact with the group of articles S while the flow rate of the suction air flow is maintained at an intermediate flow rate (a predetermined range, a second range lower than the first range) (first step , Again contacting). Thereby, the storage space 23 of the nozzle 2 is filled with the article group S without excess or deficiency.

  As described above, raising and lowering the nozzle 2 with respect to the group of articles S may cause the density of the group of articles S in the vicinity of the first opening 21 to be lowered by suction at the time of first lowering. It is from. By raising and lowering the nozzle 2, the density of the group of articles S near the first opening 21 returns to a state sufficient for suctioning the group of articles S. At this time, the storage space 23 of the nozzle 2 is completely filled with the article group S by lowering the nozzle 2 again while reducing the flow rate of the suctioned air flow. When the group of articles S accommodated in the transfer source tray or the like has a sufficient depth, the nozzle 2 is further reduced at the same location while reducing the flow rate of the suction air flow without raising the nozzle 2. It may be lowered. Alternatively, the nozzle 2 may be raised and horizontally moved, and the nozzle 2 may be lowered again at different locations while reducing the flow rate of the suction air flow.

  Subsequently, in a state where the storage space 23 is filled with the article group S, the nozzle 2 is raised while the flow rate of the suctioned air flow is maintained at an intermediate flow rate, and the first opening 21 of the nozzle 2 is from the article group S Being separated (second step, separating step). At this time, by raising the nozzle 2 stepwise, the excess item group S is dropped to the transfer source tray or the like.

  Subsequently, by opening the solenoid valve 66 again, the suction air flow is generated at the nozzle 2 at the maximum flow rate, and the nozzle 2 holding the article group S is moved horizontally. Then, the nozzle 2 holding the group of articles S is moved to the transfer destination tray or the like while the flow rate of the suctioned air flow is maintained at the maximum flow rate (the predetermined range, the third range larger than the second range) 2 steps, moving step). Subsequently, after the nozzle 2 is lowered above the transfer destination tray or the like, the solenoid valve 72 is opened and the solenoid valves 65 and 66 are closed, thereby generating a discharge air flow in the nozzle 2. The group of articles S is discharged from the storage space 23 to a transfer destination tray or the like. Thereafter, the nozzle 2 is moved to the transfer source tray or the like, and the above-described operation is repeated.

  As described above, in the article transfer device 1, the storage space 23 of the nozzle 2 is filled with the article group S by causing the first opening 21 of the nozzle 2 to contact the article group S while generating the suction air flow. Thus, the group of articles S is held in the storage space 23 of the nozzle 2. Since the amount of the group of articles S to be held is determined by the volume of the storage space 23, the desired number of articles S can be held by exchanging the nozzle 2 and the filter 3. Therefore, according to the article transfer device 1, even if an article such as powder or chip contains oil, moisture and the like, the article group S which is a collection of such articles can be transferred by a fixed amount.

  In the article transfer device 1, the first flow rate adjusting unit 6 adjusts the flow rate of the suctioned air flow generated in the nozzle 2. Thereby, the flow rate of the suction air flow can be set to an appropriate flow rate according to the type of the article, the amount of the article group S to be transferred, and the like.

  Further, in the article transfer device 1, the control unit 8 controls the operation of the head 4 and the first flow rate adjusting unit 6 so that the flow rate of the suctioned air flow changes in conjunction with the movement of the head 4. Thereby, for example, when moving the nozzle 2 to the transfer destination by the movement of the head 4, the flow rate of the suction air flow can be increased, and the drop of the group of articles S held in the storage space 23 can be suppressed.

  Further, in the article transfer device 1, the first opening 21 of the nozzle 2 is in contact with the article group S while the flow rate of the suctioned air flow is maintained in the predetermined range, and the storage space 23 is filled with the article group S The control unit 8 controls the operation of the head 4 and the first flow rate adjusting unit 6 so that the first opening 21 of the nozzle 2 is separated from the group of articles S while the flow rate of the suctioned air flow is maintained in a predetermined range. As a result, the falling of the group of articles S held in the storage space 23 can be suppressed.

  Further, in the article transfer device 1, the first opening 21 of the nozzle 2 contacts the article group S while the flow rate of the suctioned air flow is maintained in the first range, and the flow rate of the suctioned air flow is smaller than the first range. The controller 8 controls the operation of the head 4 and the first flow rate adjuster 6 so that the first opening 21 of the nozzle 2 comes into contact with the group of articles S again while being maintained in the second range. Thereby, the storage space 23 of the nozzle 2 is filled with the article group S without excess or deficiency.

  Further, in the article transfer device 1, in a state where the storage space 23 of the nozzle 2 is filled with the article group S, the first opening 21 of the nozzle 2 is the article group while the flow rate of the suction air flow is maintained in the second range. The control unit 8 controls the head 4 and the first flow control unit 6 so that the nozzle 2 moves to the transfer destination while being separated from the S and being maintained in the third range where the flow rate of the suctioned air flow is maintained in the third range larger than the second range. Control the operation. Thereby, when the nozzle 2 moves to the transfer destination, it is possible to suppress the drop of the group of articles S held in the storage space 23.

  Further, in the article transfer device 1, the main flow path 43 and the second branch flow path 45 for causing the nozzle 2 to generate the discharge air flow are formed in the head 4. As a result, by generating the discharge air flow at the transfer destination, the group of articles S can be reliably discharged from the storage space 23.

  Further, in the article transfer device 1, the second flow rate adjusting unit 7 adjusts the flow rate of the discharge air flow generated in the nozzle 2. Accordingly, the flow rate of the discharge air flow can be set to an appropriate flow rate according to the type of the article, the amount of the article group S to be transferred, and the like.

  Further, in the article transfer device 1, the nozzle 2 is a cylindrical body having the first opening 21 and the second opening 22 and the filter 3 is a plate material in which the plurality of holes 3a are formed. It is disposed at a step 24 provided inside the opening 22. Thereby, various types of nozzles 2 and filters 3 can be easily prepared according to the type of articles, the amount of article group S to be transferred, and the like.

  Further, in the article transfer device 1, the drain hose 9 is an end of the main flow passage 43 opposite to the second opening 22 (a downstream of the first flow passage when the suctioned air flow is generated in the first flow passage). Connected to the side end). Thereby, when the article contains oil, water and the like, oil, water and the like which have passed through the filter 3 can be recovered to the drain hose 9. That is, it is possible to prevent scattering of oil, moisture and the like which has passed through the filter 3.

  As mentioned above, although one embodiment of the present invention was described, the present invention is not limited to the embodiment mentioned above. For example, the attachment / detachment mechanism for the nozzle 2 and the filter 3 with respect to the head 4 is not limited to that described above, and may have another configuration (for example, a configuration such as a magnet or a press-fit method). In addition, the first flow rate adjusting unit 6 may have another configuration as long as it can adjust the flow rate (flow rate per unit time) of the suctioned air flow. Similarly, the second flow rate adjusting unit 7 may have another configuration as long as it can adjust the flow rate of the discharge air flow (flow rate per unit time).

  DESCRIPTION OF SYMBOLS 1 ... article transfer device, 2 ... nozzle, 3 ... filter, 3 a ... hole, 4 ... head, 6 ... 1st flow rate adjustment part, 7 ... 2nd flow rate adjustment part, 8 ... control part, 21 ... 1st opening part , 22: second opening, 23: storage space, 24: step portion, S: article group.

Claims (13)

A nozzle having a first opening and a second opening and having a storage space formed therein;
A filter for closing the second opening;
A head on which the nozzle and the filter are detachably attached, and in which a first flow path for generating a first air flow from the first opening to the second opening through the storage space is formed; An article transfer apparatus comprising:   The article transfer device according to claim 1, further comprising: a first flow rate adjustment unit connected to the first flow path and adjusting a flow rate of the first air flow.   The article transfer device according to claim 2, further comprising: a control unit that controls the operation of the head and the first flow rate adjusting unit such that the flow rate of the first air flow changes in conjunction with the movement of the head. apparatus.   The control unit is configured to contact the first opening with an article group while the flow rate of the first air flow is maintained in a predetermined range, and the first air flow is filled with the storage space by the article group. 4. The article transfer apparatus according to claim 3, wherein the operation of the head and the first flow rate adjusting unit is controlled such that the first opening separates from the group of articles while the flow rate of flow is maintained within the predetermined range. .   The control unit is configured such that the first opening contacts the group of articles while the flow rate of the first air flow is maintained in a first range, and the flow rate of the first air flow is smaller than the first range. The article transfer device according to claim 4, wherein the operation of the head and the first flow rate adjusting unit is controlled such that the first opening contacts the group of articles again while being maintained in a range.   In the state where the storage space is filled with the group of articles, the control unit separates the first opening from the group of articles while the flow rate of the first air flow is maintained in the second range; The operation of the head and the first flow control unit is controlled such that the nozzle moves to the transfer destination while the flow rate of the air flow is maintained in a third range that is larger than the second range. The goods transfer apparatus as described in.   The head according to any one of claims 1 to 6, wherein a second flow path for generating a second air flow from the second opening to the first opening via the storage space is formed in the head. An article transfer device according to any one of the preceding claims.   The article transfer device according to claim 7, further comprising: a second flow rate adjustment unit connected to the second flow path and adjusting a flow rate of the second air flow. The nozzle is a cylinder having the first opening and the second opening,
The filter is a plate in which a plurality of holes are formed,
The article transfer device according to any one of claims 1 to 8, wherein the filter is disposed at a step portion provided inside the second opening.   The article transfer device according to any one of claims 1 to 9, further comprising a drain hose connected to the first flow path. An article transfer method using the article transfer apparatus according to any one of claims 1 to 10, wherein
A first step of bringing the first opening into contact with a group of articles while maintaining the flow rate of the first air flow within a predetermined range;
And a second step of separating the first opening from the group of articles while maintaining the flow rate of the first air flow in the predetermined range in a state where the storage space is filled with the group of articles. Transfer method. The first step is
Bringing the first opening into contact with the group of articles while maintaining the flow rate of the first air flow in a first range;
Re-contacting the first opening with the group of articles while maintaining the flow rate of the first air flow in a second range smaller than the first range. Method. The second step is
Separating the first opening from the group of articles while maintaining the flow rate of the first air flow in the second range in a state where the storage space is filled with the group of articles;
The article transfer method according to claim 12, comprising: moving the nozzle to a transfer destination while maintaining the flow rate of the first air flow in a third range larger than the second range.

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