JP2019150921A - Adsorption pickup and transfer method - Google Patents
Adsorption pickup and transfer method Download PDFInfo
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- JP2019150921A JP2019150921A JP2018038376A JP2018038376A JP2019150921A JP 2019150921 A JP2019150921 A JP 2019150921A JP 2018038376 A JP2018038376 A JP 2018038376A JP 2018038376 A JP2018038376 A JP 2018038376A JP 2019150921 A JP2019150921 A JP 2019150921A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims description 19
- 235000013305 food Nutrition 0.000 claims abstract description 83
- 229920005989 resin Polymers 0.000 claims abstract description 8
- 239000011347 resin Substances 0.000 claims abstract description 8
- 238000002360 preparation method Methods 0.000 claims description 10
- 238000002955 isolation Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 235000012046 side dish Nutrition 0.000 claims description 3
- 238000005192 partition Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 229920002050 silicone resin Polymers 0.000 description 1
Abstract
Description
本発明は、食品用プラスチックトレーを吸着する吸着ピックアップ及び該吸着ピックアップを用いた食品用プラスチックトレーの移載方法に関するものである。 The present invention relates to an adsorption pickup for adsorbing a food plastic tray and a method for transferring a food plastic tray using the adsorption pickup.
従来食品用プラスチックトレーには、サイズ、外形の違いや仕切り付のものなど様々な形状のものが存在し、そのプラスチックトレーに嵌合して使用される蓋もトレーに合わせて仕切り付のものなど多種多様なものが存在している。また食品用プラスチックトレーに食品が収容された後に、商品名などが表示された帯シュリンクが巻かれたものが特許文献１に開示されている。このような食品用プラスチックトレーは、様々な形状や大きさのものが存在することから、食品工場において食品を収容した後に、作業員が手作業で番重に詰め、スーパーマーケットやコンビニエンスストアに搬送している。 Conventional food plastic trays come in a variety of shapes, such as different sizes and shapes, and with partitions. The lids that are fitted to the plastic trays are also fitted with partitions according to the tray. There are many different things. Patent Document 1 discloses a product in which a band shrink with a trade name or the like is wound after food is stored in a food plastic tray. Since such food plastic trays come in various shapes and sizes, after food is stored in a food factory, workers manually pack it into a heavy weight and transport it to a supermarket or convenience store. ing.
なお弾性材料をもって略傘形状に形成されたパッドと、パッドの外方に同芯に配置された支持枠とを有する吸着保持具が特許文献２に開示されている。 Note that Patent Document 2 discloses a suction holder having a pad formed of an elastic material in a substantially umbrella shape and a support frame disposed concentrically on the outer side of the pad.
ここで特許文献２に開示されている吸着保持具を用いてシュリンクにより覆われた食品用プラスチックトレーを吸着した場合、シュリンクに吸着痕が形成され美観を損ねていた。またシュリンクが延伸することから食品用プラスチックトレーを安定して吸着することが出来ず食品用プラスチックトレーの移載を良好に行うことができない。更に現在、食品工場で働く作業員の確保が困難になっていることから、食品用プラスチックトレーの番重詰めの自動化や食品用プラスチックトレーの番重への移載方法の開発が望まれていた。 Here, when the food plastic tray covered with the shrink using the suction holding tool disclosed in Patent Document 2 is sucked, suction marks are formed on the shrink and the aesthetic appearance is impaired. In addition, since the shrinkage of the shrinkage, the food plastic tray cannot be stably adsorbed, and the food plastic tray cannot be transferred well. Furthermore, since it is now difficult to secure workers working in food factories, it has been desired to automate the packing of food plastic trays and to develop a method for transferring food trays to food plastic trays. .
本発明の目的は、少なくともトレー上面の平面部の一部を覆うシュリンクを有する食品用プラスチックトレーを吸着痕を発生させずに良好に吸着する吸着ピックアップ、及び該吸着ピックアップを用いて食品用プラスチックトレーを安定して移載する移載方法を提供することである。 An object of the present invention is to provide an adsorption pickup for adsorbing a food plastic tray having a shrink covering at least a part of a flat portion of the upper surface of the tray without causing adsorption marks, and a food plastic tray using the adsorption pickup. It is providing the transfer method which transfers stably.
本発明の吸着ピックアップは、食品が封入され、少なくともトレー上面の平面部の一部を覆うシュリンクを有する食品用プラスチックトレーを吸着する吸着ピックアップであって、内部に空洞を有し、全長が収縮可能で前記トレー上面の平面部に吸着する吸着部の吸着面が軟質の樹脂で形成された吸着パッドと、多数の貫通孔を有し前記吸着部の前記吸着面の内側に配置され、前記トレーを吸着したときに前記トレー上面の平面部に接する板状部材と、を備えることを特徴とする。 The adsorption pickup of the present invention is an adsorption pickup that adsorbs a plastic tray for food that contains food and has a shrink covering at least a part of the flat surface of the upper surface of the tray, and has a hollow inside, and the entire length can be contracted. The suction surface of the suction portion that is sucked to the flat portion of the upper surface of the tray is disposed on the inside of the suction surface of the suction portion having a suction pad formed of a soft resin and a plurality of through holes, and the tray And a plate-like member that comes into contact with the flat portion of the upper surface of the tray when adsorbed.
また本発明の吸着ピックアップは、前記板状部材が前記吸着部内に前記吸着面の縁部と略平行になるように配置されていることを特徴とする。 The suction pickup according to the present invention is characterized in that the plate-like member is disposed in the suction portion so as to be substantially parallel to an edge portion of the suction surface.
また本発明の吸着ピックアップは、前記貫通孔が前記板状部材の全面に形成されていることを特徴とする。 The suction pickup according to the present invention is characterized in that the through hole is formed on the entire surface of the plate member.
またまた本発明の吸着ピックアップは、前記吸着パッドが楕円形吸着パッドまたは円形吸着パッドであることを特徴とする。 The suction pickup according to the present invention is characterized in that the suction pad is an elliptical suction pad or a circular suction pad.
また本発明の吸着ピックアップは、前記トレー上面の平面部に接触する少なくとも２つの接触面を有し、前記接触面の間に前記吸着パッドを配置する吸着パッド配置部が設けられた防振用部材を備え、前記吸着パッドの前記吸着面は、非吸着時に前記防振用部材の前記接触面よりも予め定められた長さだけ下部に位置し、吸着時に前記防振用部材の前記接触面よりも予め定められた長さだけ上部に位置することを特徴とする。 Further, the suction pickup of the present invention has at least two contact surfaces that come into contact with the flat portion of the upper surface of the tray, and the vibration-proof member provided with the suction pad placement portion that places the suction pad between the contact surfaces The suction surface of the suction pad is positioned lower than the contact surface of the vibration isolation member by a predetermined length when non-adsorption, and from the contact surface of the vibration isolation member during suction Is also located at the top by a predetermined length.
また本発明の吸着ピックアップは、前記シュリンクが前記トレーの全体を覆う全シュリンクまたは少なくとも前記トレー上面の平面部の一部を覆う帯シュリンクであることを特徴とする。 Further, the suction pickup according to the present invention is characterized in that the shrink is a full shrink covering the entire tray or a band shrink covering at least a part of a flat portion of the upper surface of the tray.
また本発明の吸着ピックアップは、前記食品が惣菜または弁当であることを特徴とする。 In the adsorption pickup of the present invention, the food is a side dish or a lunch box.
本発明の移載方法は、食品が封入され、少なくともトレー上面の平面部の一部を覆うシュリンクを有する食品用プラスチックトレーを移載する移載方法であって、内部に空洞を有し、全長が収縮可能で前記トレー上面の平面部に吸着する吸着部の吸着面が軟質の樹脂で形成された吸着パッドと、多数の貫通孔を有し前記吸着部の前記吸着面の内側に配置され、前記トレーを吸着したときに前記トレー上面の平面部に接する板状部材とを備える吸着ピックアップを前記トレーの上方で前記シュリンクが接触しない位置に移動させる移送準備工程と、前記吸着ピックアップの前記吸着パッドの前記吸着面を前記トレーを覆う前記シュリンクに接触させる吸引準備工程と、前記吸着パッド内部を陰圧にして吸引力を発生させ前記吸着パッドに前記シュリンクを吸着させる吸着工程と、前記吸着パッドに前記シュリンクを吸着させた状態で前記吸着ピックアップを移動させることにより前記トレーを予め決められた位置まで移動させる移動工程と、前記吸着パッド内を大気圧または陽圧にして吸着破壊することにより前記トレーを開放する開放工程と含むことを特徴とする。 The transfer method of the present invention is a transfer method for transferring a plastic tray for food having food contained therein and having a shrink covering at least a part of the flat portion of the upper surface of the tray, having a cavity inside, and having a full length The suction surface of the suction part that can be contracted and sucked to the flat part of the upper surface of the tray is disposed inside the suction surface of the suction part having a suction pad formed of a soft resin and a plurality of through holes, A transfer preparation step of moving a suction pickup provided with a plate-like member in contact with the flat portion of the upper surface of the tray when the tray is sucked to a position where the shrink does not contact above the tray; and the suction pad of the suction pickup A suction preparation step of bringing the suction surface of the suction pad into contact with the shrink covering the tray, and generating a suction force by applying a negative pressure to the inside of the suction pad. An adsorption step for adsorbing the link; a moving step for moving the tray to a predetermined position by moving the adsorption pickup in a state where the shrink is adsorbed to the adsorption pad; and an atmospheric pressure in the adsorption pad. Alternatively, the method includes an opening step of opening the tray by adsorption breakage with positive pressure.
また本発明の移載方法は、前記吸着ピックアップが前記トレー上面の平面部に接触する少なくとも２つの接触面を有し、前記接触面の間に前記吸着パッドを配置する吸着パッド配置部が設けられた防振用部材を有し、前記吸着工程において発生させた吸引力によって前記吸着パッドの全長を短縮させて前記トレーと前記防振用部材とを当接させることを特徴とする。 In the transfer method of the present invention, the suction pickup has at least two contact surfaces that contact the flat portion of the upper surface of the tray, and a suction pad placement portion that places the suction pad between the contact surfaces is provided. The vibration isolating member is provided, and the entire length of the suction pad is shortened by the suction force generated in the suction step so that the tray and the vibration isolating member are brought into contact with each other.
また本発明の移載方法は、前記吸引準備工程において、前記吸着パッドの前記吸着面は前記防振用部材の前記接触面よりも予め定められた長さだけ下部に位置し、前記吸着工程において、前記吸着パッドの前記吸着面は前記防振用部材の前記接触面よりも予め定められた長さだけ上部に位置することを特徴とする。 The transfer method of the present invention may be configured such that, in the suction preparation step, the suction surface of the suction pad is positioned lower than the contact surface of the vibration isolating member by a predetermined length, and in the suction step, The suction surface of the suction pad is located above the contact surface of the vibration isolating member by a predetermined length.
また本発明の移載方法は、前記移動工程においては、前記トレー内の前記食品が偏ることのない加速度以下で前記トレーを移動させることを特徴とする。 Moreover, the transfer method of the present invention is characterized in that, in the moving step, the tray is moved at an acceleration that does not bias the food in the tray.
本発明によれば、少なくともトレー上面の平面部の一部を覆うシュリンクを有する食品用プラスチックトレーを吸着痕を発生させずに良好に吸着する吸着ピックアップ、及び該吸着ピックアップを用いて食品用プラスチックトレーを安定して移載する移載方法を提供することができる。 ADVANTAGE OF THE INVENTION According to this invention, the adsorption pickup which adsorb | sucks well the plastic tray for foodstuffs which has a shrink which covers at least one part of the plane part of an upper surface of a tray, without generating an adsorption trace, and a plastic tray for foodstuffs using this adsorption pickup It is possible to provide a transfer method for stably transferring.
以下、図面を参照して実施の形態に係る吸着ピックアップ及び該吸着ピックアップを用いた食品用プラスチックトレーの移載方法について説明する。図１は実施の形態に係る吸着ピックアップ及び該吸着ピックアップにより吸着される食品用プラスチックトレーの正面図である。 Hereinafter, an adsorption pickup according to an embodiment and a method for transferring a food plastic tray using the adsorption pickup will be described with reference to the drawings. FIG. 1 is a front view of an adsorption pickup according to an embodiment and a plastic tray for food adsorbed by the adsorption pickup.
吸着ピックアップ２は、惣菜または弁当などの食品が封入され、全体がシュリンク（全シュリンク）４ａにより覆われた食品用プラスチックトレー４を楕円形吸着パッド６により吸着し、食品用プラスチックトレー４の移載に用いるものである。 The pick-up pickup 2 encloses food plastic trays 4 filled with food such as side dishes or lunch boxes, and entirely covered with shrink (all shrink) 4a, by means of an elliptical suction pad 6, and transfers the plastic trays for food 4 It is used for.
図２は楕円形吸着パッド６の形状を示す斜視図である。楕円形吸着パッド６は、平面視において楕円形状を有している。楕円形吸着パッド６は、シリコン樹脂などの軟質の樹脂で内部に空洞を有するように形成され、蛇腹構造により全長が収縮可能な吸着部６ａを有している。吸着部６ａの上部には吸着部６ａ内を陰圧、陽圧または大気圧に制御するために吸着部６ａ内の空気を吸引し、または吸着部６ａ内に空気を導入する空気圧制御部（図示せず）に接続される中空管６ｂが取り付けられている。また吸着部６ａの下部には食品用プラスチックトレー４の上面の平面部に吸着するリップ部６ｃが形成されている。リップ部６ｃは楕円錐状に広がった形状を有し、吸着部６ａの他の部分に比較して薄く形成されている。 FIG. 2 is a perspective view showing the shape of the elliptical suction pad 6. The elliptical suction pad 6 has an elliptical shape in plan view. The elliptical suction pad 6 is formed of a soft resin such as silicon resin so as to have a cavity therein, and has a suction portion 6a whose overall length can be contracted by a bellows structure. An air pressure control unit that sucks air in the adsorbing unit 6a in order to control the inside of the adsorbing unit 6a to negative pressure, positive pressure, or atmospheric pressure, or introduces air into the adsorbing unit 6a (see FIG. A hollow tube 6b connected to (not shown) is attached. Further, a lip portion 6c is formed at the lower portion of the adsorbing portion 6a to adsorb to the flat portion on the upper surface of the food plastic tray 4. The lip portion 6c has a shape that expands in an elliptical cone shape, and is formed thinner than other portions of the suction portion 6a.
図３は楕円形吸着パッド６の底面図である。楕円形吸着パッド６のリップ部６ｃの内壁は、吸着面６ｄとして機能する。吸着面６ｄの内側には、多数の貫通孔７ａが全面に形成され、平面形状を有する板状部材７が吸着面６ｄの縁部と略平行になるように配置されている。即ち板状部材７は、吸着面６ｄの内側に嵌め込まれており、食品用プラスチックトレー４を吸着したときに食品用プラスチックトレー４の上面の平面部に接する。なお板状部材７は、パンチングメタルを用いて形成されたものであってもよい。 FIG. 3 is a bottom view of the elliptical suction pad 6. The inner wall of the lip portion 6c of the elliptical suction pad 6 functions as a suction surface 6d. Inside the suction surface 6d, a large number of through holes 7a are formed on the entire surface, and the planar plate-like member 7 is disposed so as to be substantially parallel to the edge of the suction surface 6d. That is, the plate-like member 7 is fitted inside the suction surface 6 d and comes into contact with the flat portion on the upper surface of the food plastic tray 4 when the food plastic tray 4 is sucked. The plate-like member 7 may be formed using a punching metal.
図４は楕円形吸着パッド６を備えた吸着ピックアップ２の底面図である。図４に示すように吸着ピックアップ２は３つの楕円形吸着パッド６を備えている。図１及び図４に示すように、吸着ピックアップ２は、３つの楕円形吸着パッド６を配置する吸着パッド配置部８ａが設けられた防振用部材８を備えている。防振用部材８の３つの楕円形吸着パッド６を挟んだ位置には、食品用プラスチックトレー４の上面の平面部に接触する２つの接触面８ｂが設けられている。ここで２つの接触面８ｂはそれぞれ矩形形状の平面部を有し、食品用プラスチックトレー４の上面の平面部に対向するように形成されている。 FIG. 4 is a bottom view of the suction pickup 2 having the elliptical suction pad 6. As shown in FIG. 4, the suction pickup 2 includes three elliptical suction pads 6. As shown in FIGS. 1 and 4, the suction pickup 2 includes a vibration isolating member 8 provided with a suction pad placement portion 8 a for placing three elliptical suction pads 6. Two contact surfaces 8b that contact the flat portion of the upper surface of the food plastic tray 4 are provided at positions where the three oval suction pads 6 of the vibration isolating member 8 are sandwiched. Here, the two contact surfaces 8b each have a rectangular planar portion and are formed so as to face the planar portion of the upper surface of the food plastic tray 4.
次に実施の形態に係る吸着ピックアップ２を用いた食品用プラスチックトレーの移載方法について説明する。図５に示すように、まず吸着ピックアップ２を食品用プラスチックトレー４の上方であって防振用部材８にシュリンク４ａが接触しない位置に移動させる（移送準備工程：ステップＳ１０）。次に吸着ピックアップ２の楕円形吸着パッド６の吸着面６ｄを食品用プラスチックトレー４を覆っているシュリンク４ａに接触させる（吸引準備工程：ステップＳ１１）。なお吸引準備工程においては、図１に示すように楕円形吸着パッド６の吸着面６ｄは防振用部材８の接触面８ｂよりも予め定められた長さｘだけ下部に位置している。 Next, a method for transferring a plastic tray for food using the suction pickup 2 according to the embodiment will be described. As shown in FIG. 5, first, the suction pickup 2 is moved to a position above the food plastic tray 4 so that the shrink 4a does not contact the vibration isolating member 8 (transfer preparation step: step S10). Next, the suction surface 6d of the elliptical suction pad 6 of the suction pickup 2 is brought into contact with the shrink 4a covering the food plastic tray 4 (suction preparation step: step S11). In the suction preparation step, the suction surface 6d of the elliptical suction pad 6 is positioned below the contact surface 8b of the vibration isolating member 8 by a predetermined length x as shown in FIG.
次に楕円形吸着パッド６の内部を陰圧にして吸引力を発生させる（吸引力発生工程：ステップＳ１２）。そして吸引力発生工程において発生させた吸引力によって楕円形吸着パッド６にシュリンク４ａを吸着させると共に楕円形吸着パッド６の全長を短縮させて食品用プラスチックトレー４と防振用部材８の接触面８ｂとを当接させる（吸着工程：ステップＳ１３）。従って、図６に示すように３つの楕円形吸着パッド６の吸着部６ａは、食品用プラスチックトレー４の上面の平面部４ｂに吸着する。この場合に板状部材７は、食品用プラスチックトレー４の上面の平面部４ｂが押し付けられ、平面部４ｂに接した状態になる。これによりシュリンク４ａの垂直方向への巻き上げが防止され、吸着痕の形成を防止する。なお吸着工程においては、図７に示すように楕円形吸着パッド６の吸着面６ｄは、防振用部材８の接触面８ｂよりも予め定められた長さｙだけ上部に位置している。 Next, a suction force is generated by applying a negative pressure to the inside of the elliptical suction pad 6 (suction force generation step: step S12). Then, the shrinking force is generated in the suction force generation step so that the shrinkable suction pad 6 is attracted to the elliptical suction pad 6 and the entire length of the elliptical suction pad 6 is shortened to contact the contact surface 8b between the food plastic tray 4 and the vibration isolating member 8. (Suction process: Step S13). Therefore, as shown in FIG. 6, the adsorbing portions 6 a of the three elliptical adsorbing pads 6 adsorb to the flat portion 4 b on the upper surface of the food plastic tray 4. In this case, the flat member 4b on the upper surface of the food plastic tray 4 is pressed against the plate member 7 and is in contact with the flat portion 4b. This prevents the shrink 4a from being rolled up in the vertical direction and prevents the formation of suction marks. In the suction step, as shown in FIG. 7, the suction surface 6d of the elliptical suction pad 6 is positioned above the contact surface 8b of the vibration isolating member 8 by a predetermined length y.
吸着ピックアップ２は、楕円形吸着パッド６の吸着面６ｄで食品用プラスチックトレー４を覆っているシュリンク４ａを吸着するだけでなく、防振用部材８の接触面８ｂにより楕円形吸着パッド６を挟んだ両側の位置で食品用プラスチックトレー４を押え付ける。 The suction pickup 2 not only sucks the shrink 4a covering the food plastic tray 4 with the suction surface 6d of the elliptical suction pad 6, but also sandwiches the elliptical suction pad 6 with the contact surface 8b of the vibration isolating member 8. Press the plastic tray 4 for food at the positions on both sides.
次に楕円形吸着パッド６にシュリンク４ａを吸着させた状態で吸着ピックアップ２を移動させることにより食品用プラスチックトレー４を予め決められた位置、例えば番重の位置まで移動させる（移動工程：ステップＳ１４）。ここで食品用プラスチックトレー４の移動は、食品用プラスチックトレー４内の食品が偏ることのない加速度以下で行う。また防振用部材８の接触面８ｂにより楕円形吸着パッド６を挟んだ両側の位置で食品用プラスチックトレー４を押え付けているため、吸着ピックアップ２に吸着された食品用プラスチックトレー４の姿勢を安定させた状態で食品用プラスチックトレー４を予め決められた位置まで移動させることができる。 Next, the plastic pick-up 4 for food is moved to a predetermined position, for example, a weight position by moving the suction pickup 2 with the shrink 4a being sucked by the elliptical suction pad 6 (moving step: step S14). ). Here, the movement of the food plastic tray 4 is performed at an acceleration that does not bias the food in the food plastic tray 4. In addition, since the food plastic tray 4 is pressed at the positions on both sides of the elliptical suction pad 6 by the contact surface 8b of the vibration isolating member 8, the posture of the food plastic tray 4 adsorbed by the suction pickup 2 is changed. The food plastic tray 4 can be moved to a predetermined position in a stable state.
そして楕円形吸着パッド６内を大気圧または陽圧にして吸着破壊することにより食品用プラスチックトレー４を開放し、食品用プラスチックトレー４を例えば番重内に移載する（開放工程：ステップＳ１５）。 Then, the food plastic tray 4 is opened by adsorbing and destroying the inside of the elliptical suction pad 6 at atmospheric pressure or positive pressure, and the food plastic tray 4 is transferred into, for example, a weight (opening step: step S15). .
図８（ａ）は、実施の形態に係る吸着ピックアップ２により食品用プラスチックトレー４を吸着した際の楕円形吸着パッド６内の圧力の時間変化を示すグラフである。ここで食品用プラスチックトレー４を吸着した際の楕円形吸着パッド６内の圧力は、シュリンク４ａに吸着痕が付かない条件で、最大の吸引力が発生する圧力としている。このグラフに示すように楕円形吸着パッド６により食品用プラスチックトレー４を吸着し、開放するまでの間、楕円形吸着パッド６内の真空状態を維持することができる。即ち楕円形吸着パッド６によりシュリンク４ａを吸着するとシュリンク４ａに多少の延伸が生じるため、楕円形吸着パッド６の吸着面６ｄで食品用プラスチックトレー４のシュリンク４ａを吸着するだけでなく、防振用部材８の接触面８ｂにより楕円形吸着パッド６を挟んだ両側の位置で食品用プラスチックトレー４を押え付けている。従って移載時に食品用プラスチックトレー４の揺れを防止でき食品用プラスチックトレー４の姿勢を安定させることができるため、効果的に楕円形吸着パッド６内の真空状態を維持することができ、食品用プラスチックトレー４の移載を精度よく行うことができる。また食品用プラスチックトレー４の移載の際に、食品用プラスチックトレー４内の食品が偏るのを防止することができる。 FIG. 8A is a graph showing the time change of the pressure in the elliptical suction pad 6 when the food plastic tray 4 is sucked by the suction pickup 2 according to the embodiment. Here, the pressure in the elliptical suction pad 6 when the food plastic tray 4 is sucked is a pressure at which the maximum suction force is generated under the condition that the suction mark is not attached to the shrink 4a. As shown in the graph, the vacuum state in the elliptical suction pad 6 can be maintained until the food plastic tray 4 is sucked by the elliptical suction pad 6 and opened. That is, when the shrink 4a is sucked by the elliptical suction pad 6, the shrinkage 4a is slightly stretched. Therefore, not only the shrink 4a of the food plastic tray 4 is sucked by the suction surface 6d of the elliptical suction pad 6, but also for vibration isolation. The food plastic tray 4 is pressed at positions on both sides of the elliptical suction pad 6 sandwiched by the contact surface 8b of the member 8. Therefore, the food plastic tray 4 can be prevented from shaking at the time of transfer, and the posture of the food plastic tray 4 can be stabilized. Therefore, the vacuum state in the elliptical suction pad 6 can be effectively maintained, and the food The plastic tray 4 can be transferred with high accuracy. Further, when the food plastic tray 4 is transferred, it is possible to prevent the food in the food plastic tray 4 from being biased.
なお図８（ｂ）は、板状部材7を有さない楕円形吸着パッドを備えた吸着ピックアップ２により食品用プラスチックトレー４を吸着した際の楕円形吸着パッド内の圧力の時間変化のグラフである。ここで食品用プラスチックトレー４を吸着した際の楕円形吸着パッド内の圧力は、シュリンク４ａに吸着痕が付かない条件で最大の吸引力が発生する圧力としている。図８（ａ）に示す楕円形吸着パッド６内の圧力と図８（ｂ）に示す楕円形吸着パッド内の圧力には、両方とも吸着痕がつかない条件であるにもかかわらず、差があることが分かる。吸引力は、大気圧との差が大きくなるほど大きくなるので、楕円形吸着パッド６を用いる場合には、板状部材７を有する楕円吸着パットは、板状部際７を有さない楕円形吸着パッドに比較して大きな吸引力で吸引することが可能となり、シュリンク４ａに吸着痕を発生させずに良好に食品用プラスチックトレー４を吸着することができる。 FIG. 8B is a graph of the change over time of the pressure in the elliptical suction pad when the food plastic tray 4 is sucked by the suction pickup 2 provided with the elliptical suction pad not having the plate-like member 7. is there. Here, the pressure in the elliptical suction pad when the food plastic tray 4 is sucked is a pressure at which the maximum suction force is generated under the condition that the suction marks are not formed on the shrink 4a. Although there is a difference between the pressure in the elliptical suction pad 6 shown in FIG. 8A and the pressure in the elliptical suction pad shown in FIG. I understand that there is. Since the suction force increases as the difference from the atmospheric pressure increases, when the elliptical suction pad 6 is used, the elliptical suction pad having the plate-like member 7 does not have the plate-like portion 7. As compared with the pad, suction can be performed with a larger suction force, and the food plastic tray 4 can be satisfactorily adsorbed without generating an adsorption mark on the shrink 4a.
また上述の実施の形態の吸着ピックアップ２においては、３つの楕円形吸着パッド６を備えているため平面部４ｂの領域が限られている食品用プラスチックトレー４であっても楕円形吸着パッド６の吸着面６ｄが平面部４ｂからはみ出すことがなく確実に吸着することができる。即ち楕円形吸着パッド６を用いる場合には、円形吸着パッドを用いる場合に比較して、領域が限られている食品用プラスチックトレー４の平面部４ｂを有効に活用することができる。また多種多様な食品用プラスチックトレー４の吸着に汎用的に用いることができる。 Moreover, in the suction pickup 2 of the above-described embodiment, since the three elliptical suction pads 6 are provided, even the food plastic tray 4 in which the area of the flat portion 4b is limited, The adsorption surface 6d can be reliably adsorbed without protruding from the flat portion 4b. That is, when the elliptical suction pad 6 is used, the flat portion 4b of the food plastic tray 4 having a limited area can be effectively used as compared with the case of using the circular suction pad. Moreover, it can be used universally for adsorption of a wide variety of food plastic trays 4.
なお上述の実施の形態の吸着ピックアップ２においては、図２〜３に示す楕円形吸着パッド６を用いているが、楕円形吸着パッド６に代えて図９に示す他の実施の形態である円形吸着パッド２０を用いてもよい。円形吸着パッド２０は、シリコン樹脂などの軟質の樹脂で筒状に形成され、蛇腹構造により全長が収縮可能な吸着部２０ａを有している。吸着部２０ａの上部には吸着部２０ａ内を陰圧、陽圧または大気圧に制御するために吸着部２０ａ内の空気を吸引し、または吸着部２０ａ内に空気を導入する空気圧制御部（図示せず）に接続される中空管２０ｂが取り付けられている。また吸着部２０ａの先端には食品用プラスチックトレー４の上面の平面部４ｂに吸着するリップ部２０ｃが形成されている。リップ部２０ｃは円錐状に広がった形状を有し、吸着部２０ａの他の部分に比較して薄く形成されている。ここでリップ部２０ｃの内壁は、吸着面２０ｄとして機能する。 In the suction pickup 2 of the above-described embodiment, the elliptical suction pad 6 shown in FIGS. 2 to 3 is used. However, instead of the elliptical suction pad 6, a circular shape that is another embodiment shown in FIG. The suction pad 20 may be used. The circular suction pad 20 is formed in a cylindrical shape with a soft resin such as a silicone resin, and has a suction portion 20a whose overall length can be contracted by a bellows structure. An air pressure control unit that draws air in the adsorption unit 20a in order to control the inside of the adsorption unit 20a to negative pressure, positive pressure, or atmospheric pressure, or introduces air into the adsorption unit 20a (see FIG. A hollow tube 20b connected to (not shown) is attached. Further, a lip portion 20c that adsorbs to the flat portion 4b on the upper surface of the food plastic tray 4 is formed at the tip of the adsorption portion 20a. The lip portion 20c has a conical shape and is formed thinner than the other portions of the suction portion 20a. Here, the inner wall of the lip portion 20c functions as the suction surface 20d.
吸着面２０ｄの内側には、多数の貫通孔２２ａが全面に形成され、平面形状を有する板状部材２２が吸着面２０ｄの縁部と略平行になるように配置されている。即ち板状部材２２は、吸着面２０ｄの内側に嵌め込まれており、食品用プラスチックトレー４を吸着したときに食品用プラスチックトレー４の上面の平面部４ｂに接する。 A large number of through-holes 22a are formed on the entire surface of the suction surface 20d, and the planar member 22 having a planar shape is disposed so as to be substantially parallel to the edge of the suction surface 20d. That is, the plate-like member 22 is fitted inside the suction surface 20 d and contacts the flat portion 4 b on the upper surface of the food plastic tray 4 when the food plastic tray 4 is sucked.
また上述の実施の形態の吸着ピックアップ２は、３つの楕円形吸着パッド６を備えているが、楕円形吸着パッド６を１つ、または２つ、更に４つ以上備えるようにしてもよい。 Further, the suction pickup 2 of the above-described embodiment includes the three elliptical suction pads 6. However, one, two, or four or more elliptical suction pads 6 may be provided.
また上述の実施の形態においてシュリンクは、トレーの全体を覆う全シュリンクに限らず、トレー上面の平面部の一部を覆う帯シュリンクであってもよい。 Further, in the above-described embodiment, the shrink is not limited to the entire shrink that covers the entire tray, and may be a band shrink that covers a part of the flat portion on the upper surface of the tray.
さらに上述の実施の形態では、吸引準備工程（ステップＳ１１）を行った後、吸引力発生工程（ステップＳ１２）を設けているが、１サイクルにかかる時間の短縮等のために、吸引準備工程（ステップＳ１１）の前に吸引力発生工程（ステップＳ１２）を設けて、予め吸着部６ａに吸引力を発生させるなど、本願の目的の範囲内で工程の順番を入れ替えてもよい。 Further, in the above-described embodiment, after the suction preparation step (step S11) is performed, the suction force generation step (step S12) is provided. However, in order to reduce the time required for one cycle, the suction preparation step ( The order of the steps may be changed within the range of the purpose of the present application, such as providing a suction force generation step (step S12) before step S11) and causing the suction portion 6a to generate a suction force in advance.
２…吸着ピックアップ、４…食品用プラスチックトレー、４ａ…シュリンク、６…楕円形吸着パッド、６ａ…吸着部、６ｃ…リップ部、６ｄ…吸着面、７…板状部材、８…防振用部材、８ａ…吸着パッド配置部、８ｂ…接触面、２０…円形吸着パッド、２０ａ…吸着部、２０ｃ…リップ部、２０ｄ…吸着面、２２…板状部材 2 ... pickup pickup, 4 ... plastic tray for food, 4a ... shrink, 6 ... elliptical suction pad, 6a ... suction portion, 6c ... lip portion, 6d ... suction surface, 7 ... plate-like member, 8 ... vibration-proof member , 8a ... suction pad arrangement part, 8b ... contact surface, 20 ... circular suction pad, 20a ... suction part, 20c ... lip part, 20d ... suction face, 22 ... plate-like member
Claims (11)
内部に空洞を有し、全長が収縮可能で前記トレー上面の平面部に吸着する吸着部の吸着面が軟質の樹脂で形成された吸着パッドと、
多数の貫通孔を有し前記吸着部の前記吸着面の内側に配置され、前記トレーを吸着したときに前記トレー上面の平面部に接する板状部材と、
を備えることを特徴とする吸着ピックアップ。 An adsorption pickup that adsorbs a plastic tray for food having food and having a shrink covering at least a part of a flat portion of the upper surface of the tray,
A suction pad in which the suction surface of the suction part that has a cavity inside and can be shrunk in its entire length and sucks on the flat part of the upper surface of the tray is formed of a soft resin;
A plate-like member that has a large number of through holes and is arranged inside the suction surface of the suction portion, and contacts the flat portion of the upper surface of the tray when the tray is sucked;
An adsorption pickup comprising:
前記吸着パッドの前記吸着面は、非吸着時に前記防振用部材の前記接触面よりも予め定められた長さだけ下部に位置し、吸着時に前記防振用部材の前記接触面よりも予め定められた長さだけ上部に位置することを特徴とする請求項１〜４の何れか一項に記載の吸着ピックアップ。 A vibration isolating member having at least two contact surfaces in contact with the flat surface portion of the tray upper surface, and provided with a suction pad placement portion for placing the suction pad between the contact surfaces;
The suction surface of the suction pad is positioned lower than the contact surface of the vibration isolation member by a predetermined length when not attracted, and is determined in advance from the contact surface of the vibration isolation member during suction. The suction pickup according to any one of claims 1 to 4, wherein the suction pickup is located at an upper portion by a predetermined length.
内部に空洞を有し、全長が収縮可能で前記トレー上面の平面部に吸着する吸着部の吸着面が軟質の樹脂で形成された吸着パッドと、多数の貫通孔を有し前記吸着部の前記吸着面の内側に配置され、前記トレーを吸着したときに前記トレー上面の平面部に接する板状部材とを備える吸着ピックアップを前記トレーの上方で前記シュリンクが接触しない位置に移動させる移送準備工程と、
前記吸着ピックアップの前記吸着パッドの前記吸着面を前記トレーを覆う前記シュリンクに接触させる吸引準備工程と、
前記吸着パッド内部を陰圧にして吸引力を発生させ前記吸着パッドに前記シュリンクを吸着させる吸着工程と、
前記吸着パッドに前記シュリンクを吸着させた状態で前記吸着ピックアップを移動させることにより前記トレーを予め決められた位置まで移動させる移動工程と、
前記吸着パッド内を大気圧または陽圧にして吸着破壊することにより前記トレーを開放する開放工程と
含むことを特徴とする移載方法。 A transfer method for transferring a food plastic tray having a shrink in which food is enclosed and covering at least a part of a flat portion of the upper surface of the tray,
A suction pad that has a cavity inside, is capable of contracting the entire length, and is suctioned to a flat portion of the upper surface of the tray, and a suction pad formed of a soft resin, and a plurality of through holes, the suction portion of the suction portion A transfer preparing step of moving a suction pickup provided inside the suction surface and having a plate-like member that contacts a flat portion of the upper surface of the tray when the tray is sucked to a position where the shrink does not contact the tray; ,
A suction preparation step of bringing the suction surface of the suction pad of the suction pickup into contact with the shrink covering the tray;
A suction step of generating a suction force with negative pressure inside the suction pad and sucking the shrink to the suction pad;
A moving step of moving the tray to a predetermined position by moving the suction pickup in a state where the shrink is sucked to the suction pad;
An opening step of opening the tray by adsorbing and destroying the inside of the suction pad at atmospheric pressure or positive pressure.
前記吸着工程において発生させた吸引力によって前記吸着パッドの全長を短縮させて前記トレーと前記防振用部材とを当接させることを特徴とする請求項8記載の移載方法。 The suction pickup has a vibration isolating member having at least two contact surfaces that come into contact with the flat portion on the upper surface of the tray, and a suction pad placement portion that places the suction pad between the contact surfaces. ,
9. The transfer method according to claim 8, wherein the entire length of the suction pad is shortened by the suction force generated in the suction step and the tray and the vibration isolating member are brought into contact with each other.
前記吸着工程において、前記吸着パッドの前記吸着面は前記防振用部材の前記接触面よりも予め定められた長さだけ上部に位置することを特徴とする請求項９記載の移載方法。 In the suction preparation step, the suction surface of the suction pad is positioned below the contact surface of the vibration isolation member by a predetermined length,
The transfer method according to claim 9, wherein in the suction step, the suction surface of the suction pad is positioned above the contact surface of the vibration isolation member by a predetermined length.
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| JP2015112664A (en) * | 2013-12-10 | 2015-06-22 | 株式会社村上製作所 | Workpiece suction device including bellows pad |
| JP2015223716A (en) * | 2014-05-26 | 2015-12-14 | 株式会社スター精機 | Molding taking-out machine, and negative pressure generating means control method |
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