JP2019189237A - Goods transfer device and goods transfer system - Google Patents

Abstract

To provide a goods transfer device and a goods transfer system capable of surely transferring a part of goods from a group of goods to a container irrespective of whether being typical or atypical.SOLUTION: A goods transfer device 10 transfers a part of goods in a group of goods S to a container C to be transferred along a transfer line 2. The goods transfer device 10 consists of: a placement part 60 where the group of goods S is placed; a first drive mechanism 30 which moves the placement part 60 at least between the above of the transfer line 2 and the side of the transfer line 2; a holding part 70 for holding a part of goods from the group of goods S; a second drive mechanism 40 which moves the holding part 70 at least vertically at least above the transfer line 2; and a control part 90 for controlling the first drive mechanism 30 and the second drive mechanism 40.SELECTED DRAWING: Figure 1

Description

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

  As a conventional article transfer device, Patent Document 1 discloses a conveyor that transports food, a slide plate on which food is placed above the plate, and a stopper that stops food above the plate when the slide plate slides. And a holding plate for pressing food against the dish.

Japanese Utility Model Publication No. 7-9835

  Although the above-described slide-type serving device is considered to be able to serve regular foods on a plate one by one, a certain amount of products from a non-standard product group such as sesame seeds, chopped leek, pasta, etc. can be placed on a plate. I can't serve it.

  It is an object of the present invention to provide an article transfer apparatus and an article transfer system that can reliably transfer a part of an article from an article group to a container regardless of whether it is a fixed shape or an irregular shape.

  An article transfer device of the present invention is an article transfer device that transfers a part of an article from an article group to a container that is conveyed along a conveyance line, and a placement unit on which the article group is placed; A first drive mechanism that moves the placement unit at least between the upper side of the transport line and the side of the transport line, a holding unit that holds a part of the article from the group of articles, and at least vertical at least above the transport line A second drive mechanism that moves the holding unit in the direction, and a control unit that controls the first drive mechanism and the second drive mechanism.

  In this article transfer device, the holding unit holds a part of the article from the group of articles in a state where the placement unit is located above the conveyance line, and the side of the conveyance line in a state where the holding unit is located directly above the container. Thus, the operation that the placement unit moves and the holding unit transfers a part of the article to the container can be performed. In particular, it is possible to suppress the article from dropping to an area outside the container in the transport line by moving the placement unit to the side of the transport line in a state where the holding unit is located immediately above the container. Therefore, according to the article transfer device, it is possible to reliably transfer a part of the article from the article group to the container regardless of whether it is a fixed shape or an irregular shape.

  In the article transfer device of the present invention, the control unit is configured such that the holding unit holds a part of the article from the article group in a state where the mounting unit is positioned above the transport line, and the holding unit is positioned immediately above the container. Thus, the first drive mechanism and the second drive mechanism may be controlled so that the placement unit moves to the side of the transport line and the holding unit transfers a part of the article to the container. By controlling in this way, as described above, it is possible to reliably transfer a part of the article from the article group to the container regardless of whether it is regular or non-standard.

  The article transfer apparatus of the present invention may further include an adjustment unit that adjusts the state of the article group placed on the placement unit. In particular, when the article group is non-standard, the holding unit can reliably hold a part of the article by a certain amount by adjusting the state of the article group placed on the placement unit.

  The article transfer apparatus of the present invention further includes a third drive mechanism that operates the adjustment unit, and the control unit adjusts the placement unit when the placement unit moves between the upper side of the transfer line and the side of the transfer line. May control the third drive mechanism so as to adjust the state of the article group. By controlling in this way, the state of the article group placed on the placement unit can be adjusted efficiently.

  In the article transfer device of the present invention, the adjustment unit has a plate-like member, and the control unit controls the third drive mechanism so that the plate-like member brings the article group to the end of the placement unit. Good. For example, when the article group is a collection of granular materials, the holding member can reliably hold a part of the article by a certain amount by bringing the article group to the end of the placement section.

  In the article transfer device of the present invention, the adjustment unit has a plurality of rod-like members, and the control unit controls the third drive mechanism so that the plurality of rod-like members move in a state of being inserted into the article group. May be. For example, when the article group is a collection of noodles, the holding unit can reliably hold a part of the article by a certain amount by moving a plurality of rod-shaped members inserted in the article group.

  In the article transfer device of the present invention, the adjustment unit is fixed between the upper side of the transport line and the side of the transport line, and moves the placement unit between the upper side of the transport line and the side of the transport line. The state of the article group may be adjusted in conjunction. Thereby, the state of the article group placed on the placement unit can be adjusted with a simple configuration.

  In the article transfer apparatus of the present invention, the adjustment unit may include at least one of a plate-like member and a plurality of rod-like members. For example, when the article group is a collection of granular materials, the holding member can reliably hold a part of the article by a certain amount by bringing the article group to the end of the placement section. Further, for example, when the group of articles is a collection of noodles, the holding unit can reliably hold a part of the article by a certain amount by inserting a plurality of rod-shaped members into the group of articles.

  The article transfer device of the present invention further includes a detection unit that detects the state of the article group placed on the placement unit, and the control unit determines that the state of the article group is a predetermined state based on the detection result of the detection unit. The first drive mechanism may be controlled so that Thereby, the state of the article group placed on the placement unit can be maintained in a state in which the holding unit can easily hold a part of the article.

  In the article transfer device of the present invention, the detection unit detects the height of the article group as the state of the article group placed on the placement unit, and the control unit detects the article based on the detection result of the detection unit. You may control a 1st drive mechanism so that the height of a group may become more than predetermined height. Thereby, the height of the article group placed on the placement section can be maintained at a height at which the holding section can easily hold a part of the article.

  The article transfer device of the present invention further includes a detection unit that detects the state of the article group placed on the placement unit, and the control unit is placed on the placement unit based on the detection result of the detection unit. A holding area in the article group to be determined may be determined, and at least one of the first drive mechanism and the second drive mechanism may be controlled so that the holding unit holds a part of the article in the holding area. Thereby, a holding | maintenance part can hold | maintain some articles | goods reliably.

  In the article transfer device of the present invention, the detection unit detects the height of the article group as the state of the article group placed on the placement unit, and the control unit places the placement based on the detection result of the detection unit. At least one of the first drive mechanism and the second drive mechanism is determined such that a region having a predetermined height or more in the group of articles placed on the placement unit is determined as a holding region, and the holding unit holds a part of the article in the holding region. One may be controlled. Thereby, a holding | maintenance part can hold | maintain some articles | goods reliably.

  In the article transfer device of the present invention, the second drive mechanism moves the holding unit in the vertical direction above the conveyance line and moves the holding unit along the conveyance line. The second drive mechanism may be controlled so that the holding unit continues to be positioned immediately above the conveyed container when a part of the container is transferred to the container. In this case, it is possible to reliably transfer a part of the article to the container while suppressing the article from falling to an area outside the container in the conveyance line without stopping the conveyance of the container.

  The article transfer system of the present invention is an article transfer system that transfers a part of an article from an article group to a container that is conveyed along a conveyance line, and a conveyance unit that conveys the container along the conveyance line A placement unit on which the article group is placed, a first drive mechanism that moves the placement unit at least between the upper side of the conveyance line and the side of the conveyance line, and a part of the article from the article group is held And a control unit that controls the first drive mechanism and the second drive mechanism, and a second drive mechanism that moves the holder at least in the vertical direction at least above the transport line.

  According to this article transfer system, as described above, a part of an article can be reliably transferred from a group of articles to a container regardless of whether it is a fixed shape or an irregular shape.

  According to the present invention, a part of an article can be reliably transferred from a group of articles to a container regardless of whether it is a regular shape or an irregular shape.

It is a side view of the article transfer device of one embodiment. It is a top view of the article transfer apparatus shown by FIG. It is a one part perspective view of the article transfer apparatus shown by FIG. It is a perspective view of the holding | maintenance part of the article transfer apparatus shown by FIG. It is sectional drawing of the holding | maintenance part shown by FIG. It is a side view of the goods transfer apparatus for demonstrating operation | movement. It is a top view of the article transfer apparatus for demonstrating operation | movement. It is a side view of the goods transfer apparatus for demonstrating operation | movement. It is a side view of the goods transfer apparatus for demonstrating operation | movement. It is a side view of the goods transfer apparatus for demonstrating operation | movement. It is a side view of the goods transfer apparatus for demonstrating operation | movement. It is a top view of the article transfer system of one embodiment. It is a top view of the article transfer system of other embodiments. It is a figure for demonstrating tracking control.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.
[Configuration of article transfer device]

  As shown in FIGS. 1 and 2, the article transfer device 10 transfers a part of the article from the article group S to the container C that is transported along the transport line 2. More specifically, the article transfer device 10 quantifies a part of the articles from the article group S, which is a collection of articles (for example, powdery substances), to each container C sequentially transported by the transport unit 3. Transfer. In the present embodiment, the transport surface 4 a of the transport conveyor 4 included in the transport unit 3 corresponds to the transport line 2.

  The article transfer device 10 includes a frame 20, a first drive mechanism 30, a second drive mechanism 40, a third drive mechanism 50, a placement unit 60, a holding unit 70, an adjustment unit 80, and a control unit 90. Hereinafter, each configuration will be described in detail, with the direction parallel to the transport line 2 in the horizontal direction as the X-axis direction, the direction perpendicular to the transport line 2 in the horizontal direction as the Y-axis direction, and the vertical direction as the Z-axis direction.

  The frame 20 is installed at a predetermined position with respect to the conveyor 4. The frame 20 supports the first drive mechanism 30, the second drive mechanism 40, and the third drive mechanism 50. In the frame 20, the positions of the first drive mechanism 30, the second drive mechanism 40, and the third drive mechanism 50 can be adjusted in the X axis direction, the Y axis direction, and the Z axis direction.

  The first drive mechanism 30 moves the placement unit 60 between the upper side of the transport line 2 and the side of the transport line 2. That is, the first drive mechanism 30 moves the placement unit 60 in the Y-axis direction at a position higher than the transport surface 4a of the transport conveyor 4. The first drive mechanism 30 includes a linear guide 31 and an electric actuator 32. The linear guide 31 includes a rail and a slider. The rail of the linear guide 31 is attached to the frame 20 and guides the slider of the linear guide 31 in the Y-axis direction. The electric actuator 32 is attached to the frame 20 and moves the slider of the linear guide 31 in the Y-axis direction.

  The placement unit 60 is attached to the slider of the linear guide 31. The article group S is placed on the placement unit 60. In the present embodiment, the tray T in which the article group S is accommodated is placed on the placement unit 60. However, the placement unit 60 itself may have a tray shape, and the article group S may be placed directly on the placement unit 60.

  The second drive mechanism 40 moves the holding unit 70 in the Z-axis direction above the transport line 2. The second drive mechanism 40 includes a linear guide 41 and an electric actuator 42. The linear guide 41 includes a rail and a slider. The rail of the linear guide 41 is attached to the frame 20 and guides the slider of the linear guide 41 in the Z-axis direction. The electric actuator 42 is attached to the frame 20 and moves the slider of the linear guide 41 in the Z-axis direction.

  The holding unit 70 is attached to the slider of the linear guide 41. The holding unit 70 holds a part of the article from the article group S. More specifically, the holding unit 70 holds a fixed amount of articles that are a part of the articles from the article group S that is a collection of articles (for example, powders).

  The third drive mechanism 50 moves the plate member 81 included in the adjustment unit 80 in the Y-axis direction. The 3rd drive mechanism 50 has the linear guide 51 and the electric actuator 52 as a structure for moving the plate-shaped member 81 to a Y-axis direction. The linear guide 51 includes a rail and a slider. The rail of the linear guide 51 is attached to the slider of the linear guide 31, and guides the slider of the linear guide 51 in the Y-axis direction. The electric actuator 52 is attached to the slider of the linear guide 31 and moves the slider of the linear guide 51 in the Y-axis direction.

  The third drive mechanism 50 moves the plurality of rod members 82 included in the adjustment unit 80 in the X-axis direction and the Z-axis direction. The 3rd drive mechanism 50 has the linear guide 53 and the electric actuator 54 as a structure for moving the some rod-shaped member 82 to a X-axis direction. The linear guide 53 includes a rail and a slider. The rail of the linear guide 53 is attached to the frame 20 and guides the slider of the linear guide 53 in the X-axis direction. The electric actuator 54 is attached to the frame 20 and moves the slider of the linear guide 53 in the X-axis direction.

  The 3rd drive mechanism 50 has the linear guide 55 and the electric actuator 56 as a structure for moving the some rod-shaped member 82 to a Z-axis direction. The linear guide 55 includes a rail and a slider. The rail of the linear guide 55 is attached to the slider of the linear guide 53, and guides the slider of the linear guide 55 in the Z-axis direction. The electric actuator 56 is attached to the slider of the linear guide 53 and moves the slider of the linear guide 55 in the Z-axis direction.

  The control unit 90 controls the first drive mechanism 30, the second drive mechanism 40, and the third drive mechanism 50. More specifically, the control unit 90 controls each electric actuator 32, 42, 52, 54, 56. As an example, the control unit 90 is configured as a computer apparatus including a processor, a memory, a storage, and a communication device, for example. In that case, in the control unit 90, the processor executes predetermined software (program) read into the memory or the like, and controls reading and writing of data in the memory and storage, and communication between the control devices by the communication device. Thus, the function of the control unit 90 is realized.

As shown in FIG. 3, the plate-like member 81 included in the adjustment unit 80 is attached to the slider of the linear guide 51. The plate-like member 81 is moved in the Y-axis direction together with the slider of the linear guide 51 by the electric actuator 52 (see FIG. 2), and brings the article group S closer to the end in the tray T (end of the placement portion 60). The plurality of rod-shaped members 82 included in the adjustment unit 80 are attached to the slider of the linear guide 55. The plurality of rod-shaped members 82 are moved in the Z-axis direction together with the slider of the linear guide 55 by the electric actuator 56 and inserted into the article group S. In this state, the plurality of rod-shaped members 82 are moved in the X-axis direction together with the slider of the linear guide 53 by the electric actuator 54 to loosen or smooth the article group S. As described above, the adjusting unit 80 is operated by the third drive mechanism 50 and adjusts the state of the article group S accommodated in the tray T. In addition, the distance between the adjacent rod-shaped members 82 can be adjusted.
[Configuration of holding unit]

  The configuration of the holding unit 70 will be described. As shown in FIGS. 4 and 5, the holding unit 70 includes a nozzle 71, a filter 72, and a head 73. The nozzle 71 is a cylinder having a first opening 71a and a second opening 71b. The nozzle 71 is formed with a storage space 74 that communicates with the first opening 71a and the second opening 71b. A stepped portion 71c and a female screw portion 71d are provided inside the second opening 71b. The storage space 74 has the same diameter as the first opening 71 a, and the second opening 71 b has a larger diameter than the first opening 71 a and the storage space 74. The stepped portion 71 c is formed by expanding the diameter of the second opening 71 b with respect to the storage space 74.

  The filter 72 closes the second opening 71 b and defines a storage space 74. The filter 72 is a plate material in which a plurality of holes 72a are formed. Each hole 72a has a size that does not allow the articles constituting the article group to be transferred to pass through. That is, the filter 72 allows the air flow to pass and does not allow the article group to be transferred to pass. The plurality of holes 72 a are uniformly distributed (at an equal pitch) in at least a region of the filter 72 that faces the storage space 74. The filter 72 has substantially the same diameter as the second opening 71b and is disposed in the stepped portion 71c.

  The head 73 is detachably attached to the slider of the linear guide 41 (see FIG. 2). The nozzle 71 and the filter 72 are detachably attached to the head 73. In the present embodiment, the first threaded portion 71a of the nozzle 71 is directed downward by screwing the female threaded portion 71d of the nozzle 71 into the male threaded portion 73a provided outside the lower end portion of the head 73. In the state, the nozzle 71 and the filter 72 are attached to the head 73. At this time, the lower end portion of the head 73 presses the outer edge portion of the filter 72 against the stepped portion 71c of the nozzle 71 via the spacer 75, whereby the filter 72 is positioned at the stepped portion 71c.

  The spacer 75 is a circular annular member. The outer diameter of the spacer 75 is substantially the same as that of the second opening 71 b, and the inner diameter of the spacer 75 is larger than that of the first opening 71 a and the storage space 74. An O-ring may be disposed in the step portion 71 c of the nozzle 71 together with the spacer 75 or instead of the spacer 75. Further, a configuration in which the lower end portion of the head 73 directly presses the outer edge portion of the filter 72 without using the spacer 75, the O-ring, or the like may be employed.

  In the head 73, a main channel 76, a first branch channel 77, and a second branch channel 78 are formed. The main flow path 76 extends in the Z-axis direction. The main channel 76 opens downward at the lower end of the head 73 and is connected to the second opening 71 b of the nozzle 71. A drain hose (not shown) is connected indirectly (that is, via another pipe) or directly to the end of the main channel 76 opposite to the second opening 71b. The first branch channel 77 branches from the main channel 76 and opens to the side of the head 73. The second branch channel 78 branches from the main channel 76 below the first branch channel 77 and opens to the side of the head 73.

  In the holding unit 70, a suction air flow is generated in the nozzle 71 by the main flow path 76 and the first branch flow path 77, and a discharge air flow is generated in the nozzle 71 by the main flow path 76 and the second branch flow path 78. The suction air flow is an air flow from the first opening 71a to the second opening 71b through the storage space 74. The discharge airflow is an airflow from the second opening 71b to the first opening 71a through the storage space 74.

  The generation timing and the like of these airflows are controlled by a control unit 90 (see FIG. 1) by a flow rate adjusting unit (not shown) connected to each of the first branch channel 77 and the second branch channel 78. It will be adjusted. As an example, when the holding unit 70 holds an article, a suction air flow is generated in the nozzle 71, and in this state, the first opening 71 a of the nozzle 71 is brought into contact with the article group S, and the nozzle 71. The storage space 74 is filled with articles. Accordingly, a fixed amount of articles corresponding to the volume of the storage space 74 is held by the holding unit 70. When the holding unit 70 discharges the article, the first opening 71a of the nozzle 71 is moved to a position in the vicinity immediately above the transfer destination, and a discharge air flow is generated in the nozzle 71 at that position. The article is discharged from the storage space 74 of the nozzle 71.

In addition, since the nozzle 71 is detachable with respect to the head 73, the nozzle 71 which exhibits an appropriate shape can be selected according to the amount of articles to be held, the shape of the transfer destination, and the like. Similarly, since the filter 72 is also detachable from the head 73, the filter 72 having an appropriate shape can be selected according to the size of the article to be held.
[Control by control unit]

  Control by the control unit 90 will be described. First, as shown in FIGS. 6 and 7, the control unit 90 performs the first drive so that the tray T (mounting unit 60) is positioned above the transport surface 4 a (transport line 2) of the transport conveyor 4. The mechanism 30 is controlled. Subsequently, as illustrated in FIGS. 8 and 9, the control unit 90 causes the holding unit 70 to hold a part of the article from the article group S in a state where the tray T is positioned above the conveyance surface 4 a. The second drive mechanism 40 is controlled. More specifically, the control unit 90 controls the flow rate adjustment unit so that a suction air flow is generated in the holding unit 70. Then, the control unit 90 is configured so that the holding unit 70 is in contact with the article group S in a state where the suction air flow is generated in the holding unit 70 and the holding unit 70 is separated from the article group S after contact for a predetermined time. 2 The drive mechanism 40 is controlled. Thereby, a fixed quantity of articles is held by the holding unit 70.

  Subsequently, the conveyance of the container C by the conveyance conveyor 4 is stopped, and the control unit 90 causes the conveyance surface 4a of the conveyance conveyor 4 to be in a state where the holding unit 70 is positioned immediately above the container C as shown in FIG. The first drive mechanism 30 is controlled so that the tray T moves to the side. At this time, the controller 90 controls the third drive mechanism 50 so that the plate-like member 81 brings the article group S toward the end in the tray T. For example, when the article group S has viscosity and it is necessary to loosen the article group S, the control unit 90 moves with the plurality of rod-shaped members 82 inserted into the article group S. For example, the third drive mechanism 50 is controlled so as to swing in the X-axis direction.

Subsequently, as illustrated in FIG. 11, the control unit 90 causes the holding unit 70 to transfer a part of the article to the container C in a state where the container C is stopped immediately below the holding unit 70. 2 The drive mechanism 40 is controlled. More specifically, the control unit 90 controls the second drive mechanism 40 so that the holding unit 70 is located at a position immediately above the container C in a state where a suction air flow is generated in the holding unit 70. And the control part 90 controls a flow volume adjustment part so that a discharge air flow may generate | occur | produce in the holding | maintenance part 70 in the state in which the holding | maintenance part 70 is located in the position immediately above the container C. FIG. Thereby, a fixed amount of articles is discharged from the holding unit 70 into the container C. Subsequently, the conveyance of the container C by the conveyance conveyor 4 is resumed, and the control unit 90 is configured so that the holding unit 70 is located above the conveyance surface 4a (conveyance line 2) of the conveyance conveyor 4 as illustrated in FIGS. The second drive mechanism 40 is controlled so as to be positioned. Thereafter, the above-described control is repeatedly performed on each container C sequentially transported by the transport conveyor 4.
[Configuration of article transfer system]

  As shown in FIG. 12, the article transfer system 1 includes a transport unit 3 and a plurality of article transfer apparatuses 10. The plurality of article transfer devices 10 are installed along the transport line 2 (that is, the transport surface 4a of the transport conveyor 4 included in the transport unit 3). As an example, the article transfer system 1 transfers a plurality of types of food as articles to each container C that is sequentially transported by the transport unit 3. The multiple types of foods are, for example, granular materials such as sesame, noodles such as pasta, and solid materials such as hamburger, and each is transferred to a predetermined region in the container C.

  The article transfer device 10 transfers a part of the article from the article group S in a fixed amount when the article group S is a set of non-standard items (for example, granular materials such as sesame and noodles such as pasta). When the transfer target is a collection of granular materials such as sesame, the above-described holding unit 70 is appropriate. When the object to be transferred is a collection of noodles such as pasta, for example, a tongue having a comb-shaped tip is suitable as the holding unit 70. Further, the article transfer device 10 transfers a part of the articles from the article group S by a constant number when the article group S is a set of fixed objects (for example, solids such as a hamburger). In that case, for example, a tongue is appropriate as the holding unit 70. As described above, each article transfer device 10 includes the holding unit 70 suitable for the characteristics of the article group S that is the transfer target of the own device.

  When the article group S is a set of non-standard objects, the article transfer apparatus 10 may include an imaging unit in order to detect the height of the article group S on the placement unit 60, for example. In that case, in addition to the Z-axis direction, for example, the second drive mechanism 40 that moves the holding unit 70 in the X-axis direction is used, and the control unit 90 determines that the article group S has an appropriate height based on the imaging result of the imaging unit. The second drive mechanism 40 may be controlled such that the holding unit 70 moves to a position having a height. When the article group S is a set of fixed objects, the article transfer device 10 may include an imaging unit in order to detect the position of each fixed object on the placement unit 60, for example. In that case, in addition to the Z-axis direction, for example, the second drive mechanism 40 that moves the holding unit 70 in the X-axis direction is used, and the control unit 90 has an article to be gripped based on the imaging result of the imaging unit. The second drive mechanism 40 may be controlled so that the holding unit 70 moves to the position.

The article transfer device 10 has a configuration in which the placement unit 60 moves between the upper side of the transport line 2 and the side of the transport line 2. Therefore, as shown in FIG. 13, together with the article transfer device 10, a work table D can be installed on the side of the transfer line 2, and a part of the transfer work can be performed by the worker W. As described above, the article transfer apparatus 10 is an apparatus that easily realizes coexistence with the worker W in the article transfer system 1.
[Action and effect]

  As described above, in the article transfer apparatus 10, the holding unit 70 holds a part of the article from the article group S and holds the part C directly above the container C in a state where the placement unit 60 is positioned above the transport line 2. An operation can be performed in which the placement unit 60 moves to the side of the conveyance line 2 in a state where the unit 70 is located, and the holding unit 70 transfers a part of the article to the container C. In particular, the placement unit 60 moves to the side of the transport line 2 in a state where the holding unit 70 is positioned directly above the container C, so that the articles can be prevented from falling to an area outside the container C in the transport line 2. . Therefore, according to the article transfer device 10, it is possible to reliably transfer a part of the article from the article group S to the container C regardless of whether the article is a fixed shape or an irregular shape.

  In the article transfer apparatus 10, the control unit 90 controls the first drive mechanism 30 and the second drive mechanism 40 so that the above-described operation is performed. By controlling in this way, as described above, a part of the article can be reliably transferred from the article group S to the container C regardless of whether it is a regular shape or an irregular shape.

  In the article transfer device 10, the adjustment unit 80 adjusts the state of the article group S placed on the placement unit 60. In particular, when the article group S is non-standard, the holding unit 70 can reliably hold a part of the article by a certain amount by adjusting the state of the article group S placed on the placement unit 60.

  Further, in the article transfer device 10, control is performed so that the adjustment unit 80 adjusts the state of the article group S when the placement unit 60 moves between the upper side of the transfer line 2 and the side of the transfer line 2. The unit 90 controls the third drive mechanism 50. By controlling in this way, the state of the article group S placed on the placement unit 60 can be adjusted efficiently.

  In the article transfer apparatus 10, the control unit 90 controls the third drive mechanism 50 so that the plate-like member 81 brings the article group S toward the end of the placement unit 60. For example, when the group of articles S is a collection of granular materials, the plate-like member 81 brings the group of articles S toward the end of the placement unit 60, so that the holding unit 70 can reliably hold a part of the articles in a fixed amount. .

  Further, in the article transfer apparatus 10, the control unit 90 controls the third drive mechanism 50 so that the plurality of rod-shaped members 82 move while being inserted into the article group S. For example, when the article group S is a collection of noodles, the holding unit 70 can reliably hold a part of the article by a certain amount by moving the plurality of rod-like members 82 inserted in the article group S.

Moreover, according to the article transfer system 1, since the article transfer device 10 described above is provided, a part of the article can be reliably transferred from the article group S to the container C regardless of whether it is a fixed shape or an irregular shape.
[Modification]

  The present invention is not limited to the embodiment described above. For example, the second drive mechanism 40 may move the holding unit 70 in the vertical direction above the transport line 2 and may move the holding unit 70 along the transport line 2. And the control part 90 is the container C conveyed, when the holding | maintenance part 70 transfers a part of article | item to the container C, as shown to (a), (b), and (c) of FIG. The second drive mechanism 40 may be controlled so that the holding unit 70 continues to be positioned immediately above the head. In this case, even if the conveyance of the container C is not stopped, a part of the article can be reliably transferred to the container C while suppressing the article from falling to an area outside the container C in the conveyance line 2.

  Further, the adjustment unit 80 is not limited to the plate-like member 81 or the plurality of rod-like members 82, and members having various shapes according to the article group S can be applied. Further, the article transfer device 10 may not include the third drive mechanism 50, and the adjustment unit 80 may be fixed to the frame 20. That is, the adjusting unit 80 is fixed between the upper side of the transport line 2 and the side of the transport line 2, and is interlocked with the movement of the mounting unit 60 between the upper side of the transport line 2 and the side of the transport line 2. Then, the state of the article group S may be adjusted. Also in this case, the placement unit 60 moves between the upper side of the transport line 2 and the side of the transport line 2, so that the adjustment unit 80 is moved with respect to the article group S placed on the placement unit 60. Move relatively. Thereby, the state of the article group S placed on the placement unit 60 can be adjusted with a simple configuration.

  In addition, the article transfer device 10 further includes a detection unit that detects the state of the article group S placed on the placement unit 60, and the control unit 90 determines the state of the article group S based on the detection result of the detection unit. The first drive mechanism 30 may be controlled so that the state becomes a predetermined state. Thereby, the state of the article group S placed on the placement unit 60 can be maintained in a state in which the holding unit 70 can easily hold a part of the article. In this case, the detection unit detects the height of the article group S as the state of the article group S placed on the placement unit 60, and the control unit 90 determines the article group S based on the detection result of the detection unit. The first drive mechanism 30 may be controlled such that the height of the first drive mechanism is not less than a predetermined height. Thereby, the height of the article group S placed on the placement unit 60 can be maintained at a height at which the holding unit 70 can easily hold a part of the article.

  The article transfer device 10 further includes a detection unit that detects the state of the article group S placed on the placement unit 60, and the control unit 90 places the placement unit 60 based on the detection result of the detection unit. A holding region in the article group S placed on the head is determined, and at least one of the first drive mechanism 30 and the second drive mechanism 40 is controlled so that the holding unit 70 holds a part of the article in the holding region. Also good. Thereby, the holding | maintenance part 70 can hold | maintain a part of articles | goods reliably. In this case, the detection unit detects the height of the article group S as the state of the article group S placed on the placement unit 60, and the control unit 90 determines the placement unit based on the detection result of the detection unit. The first drive mechanism 30 and the second drive mechanism are determined such that an area having a predetermined height or more in the article group S placed on the 60 is determined as a holding area, and the holding unit 70 holds a part of the article in the holding area. At least one of 40 may be controlled. Thereby, the holding | maintenance part 70 can hold | maintain a part of articles | goods reliably.

  Examples of the detection unit that detects the height (shape) of the article group S as the state of the article group S placed on the placement unit 60 include a camera, a line sensor, and a near infrared sensor. In this case, the control unit 90 determines coordinates that satisfy the insertion depth of the holding unit 70 (insertion depth with respect to the article group S) necessary for realizing holding of the target holding amount based on the detection result of the detection unit. Can be extracted. Further, as the height of the article group S is higher, the moving amount of the holding unit 70 can be shortened, and the transfer capability of the article transfer device 10 can be improved. Furthermore, the control unit 90 can also determine the insertion depth, angle, and open state of the holding unit 70 based on the detection result of the detection unit.

  Moreover, as an example of the detection unit that detects the density (mass) of the article group S as the state of the article group S placed on the placement unit 60, there is an X-ray sensor or the like. In this case, the control unit 90 can extract coordinates having a density suitable for realizing the retention of the target retention amount based on the detection result of the detection unit. For example, when the article group S is pasta, it is difficult to control the holding amount if the noodles are entangled with each other. Therefore, it is desirable to avoid a region where the density is too high. On the contrary, if holding by the holding unit 70 is performed in a region where the density is too low, the density does not increase in the holding state and there is a possibility that the holding may be missed. is there.

  An example of a detection unit that detects the color of the article group S as the state of the article group S placed on the placement unit 60 includes a camera. In the case of the article group S in which several kinds of articles are mixed, it is necessary to transfer the articles without being biased in type. Therefore, the control unit 90 determines the distribution of the articles from the colors based on the image captured by the camera, and extracts an appropriate holding area.

  The article transfer system 1 may include at least one article transfer device 10.

  DESCRIPTION OF SYMBOLS 1 ... Article transfer system, 2 ... Conveyance line, 3 ... Conveyance part, 10 ... Article transfer apparatus, 30 ... 1st drive mechanism, 40 ... 2nd drive mechanism, 50 ... 3rd drive mechanism, 60 ... Mounting part , 70 ... holding part, 80 ... adjustment part, 81 ... plate-like member, 82 ... rod-like member, 90 ... control part, C ... container, S ... article group.

Claims (14)

An article transfer device for transferring a part of an article from an article group to a container conveyed along a conveyance line,
A placement section on which the group of articles is placed;
A first drive mechanism for moving the placement unit at least between the upper side of the transfer line and the side of the transfer line;
A holding unit for holding a part of the article from the article group;
A second drive mechanism for moving the holding portion in at least the vertical direction above at least the transport line;
An article transfer apparatus comprising: a control unit that controls the first drive mechanism and the second drive mechanism.   The control unit is configured such that the holding unit holds a part of the article from the article group in a state where the placement unit is located above the conveyance line, and the holding unit is located immediately above the container. The first drive mechanism and the second drive mechanism are controlled so that the placement unit moves to the side of the transport line, and the holding unit transfers a part of the article to the container. Item transfer device of item 1.   The article transfer device according to claim 1, further comprising an adjustment unit that adjusts a state of the article group placed on the placement unit. A third drive mechanism for operating the adjusting unit;
The control unit is configured so that the adjustment unit adjusts the state of the article group when the placing unit moves between the upper side of the transfer line and the side of the transfer line. The article transfer apparatus according to claim 3, wherein the apparatus is controlled. The adjustment unit has a plate-like member,
The article transfer device according to claim 4, wherein the control unit controls the third drive mechanism so that the plate-shaped member brings the group of articles toward the end of the placement unit. The adjustment unit has a plurality of rod-shaped members,
The article transfer device according to claim 4 or 5, wherein the control unit controls the third drive mechanism so that the plurality of rod-shaped members move in a state of being inserted into the article group.   The adjustment unit is fixed between the upper side of the transfer line and the side of the transfer line, and is interlocked with the movement of the mounting unit between the upper side of the transfer line and the side of the transfer line. The article transfer device according to claim 3, wherein a state of the article group is adjusted.   The said transfer part is an article transfer apparatus of Claim 7 which has at least one of a plate-shaped member and a some rod-shaped member. A detection unit for detecting the state of the group of articles placed on the placement unit;
The article according to any one of claims 3 to 8, wherein the control unit controls the first drive mechanism based on a detection result of the detection unit so that the state of the article group is in a predetermined state. Transfer device. The detection unit detects the height of the article group as the state of the article group placed on the placement unit,
The article transfer device according to claim 9, wherein the control unit controls the first drive mechanism based on a detection result of the detection unit such that a height of the article group is equal to or higher than a predetermined height. A detection unit for detecting the state of the group of articles placed on the placement unit;
The control unit determines a holding region in the article group placed on the placement unit based on a detection result of the detection unit, and the holding unit holds a part of the article in the holding region. The article transfer apparatus according to claim 1, wherein at least one of the first drive mechanism and the second drive mechanism is controlled as described above. The detection unit detects the height of the article group as the state of the article group placed on the placement unit,
The control unit determines, as the holding region, an area having a predetermined height or more in the group of articles placed on the placing unit based on a detection result of the detecting unit, and the holding unit is configured to hold the holding area. The article transfer apparatus according to claim 11, wherein at least one of the first drive mechanism and the second drive mechanism is controlled so as to hold a part of the article. The second drive mechanism moves the holding unit in the vertical direction above the transport line, and moves the holding unit along the transport line,
The control unit controls the second drive mechanism so that the holding unit continues to be positioned immediately above the container to be transported when the holding unit transfers a part of the article to the container. The article transfer apparatus according to any one of claims 1 to 12. An article transfer system for transferring a part of an article from an article group to a container conveyed along a conveyance line,
A transport unit for transporting the container along the transport line;
A placement section on which the group of articles is placed;
A first drive mechanism for moving the placement unit at least between the upper side of the transfer line and the side of the transfer line;
A holding unit for holding a part of the article from the article group;
A second drive mechanism for moving the holding portion in at least the vertical direction above at least the transport line;
An article transfer system comprising: a control unit that controls the first drive mechanism and the second drive mechanism.

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