JP2019189417A - Transfer device for stacked container array and method for transferring stacked container array - Google Patents

Abstract

To provide a transfer device of a stacked container array and a transfer method of a stacked container array capable of sucking and removing a stacked container array of one stage from a box and transferring it even when unevenness due to a gap between containers is present on the outer peripheral surface of the stacked container array.SOLUTION: The transfer device includes a plurality of suction heads 60 (an example of a suction part) for sucking a stacked container array 17 from a box 15 by one stage, a suction part 52 for generating suction air flow for giving negative pressure for suction to the suction head 60, and a robot (an example of a transfer mechanism) for transferring a plurality of stacked container arrays 17 by moving a plurality of suction heads 60. The suction head 60 has a concave suction surface 61 for sucking the stacked container array 17 and a suction port 62 opened to the suction surface 61. A gap CL (an example of a communicating portion), which serves as an intake port for air of the suction air flow to be communicated with the upper and lower sides and to flow into the suction port 62, is provided in a portion between the plurality of suction heads 60 at the time when the stacked container array 17 of one stage is sucked.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transfer device for a stacked container row for transferring a stacked container row in which a plurality of cup-shaped containers are stacked, and a transfer method for the stacked container row.

  For example, Patent Document 1 discloses a supply device that supplies a substantially columnar container group (an example of a stacked container row) in which a plurality of cup-shaped containers are stacked to a vertical fixing guide of a container supply magazine. This type of supply device is provided in an injection device or the like that injects a predetermined content into a container, and supplies the containers from the supplied stacked container row to the injection device in order from the lower side.

  Further, the stacked container row supplied to the supply device is delivered in a state of being accommodated in a box (for example, a cardboard box). In the box, a plurality of stacked container rows are stored together in one bag (for example, a plastic bag), or are stored individually in a bag (for example, a plastic bag) one by one. For example, in the former case, after opening the box and opening the bag, the stacked container row is taken out and transferred to the transfer destination.

Japanese Utility Model Publication No. 4-100129

  However, the operator takes out the stacked container row from the box manually. The operator takes out the stacked container row from the box, carries it to the supply device, and supplies it to the supply guide. Since the injection device is operated at a relatively high speed, the operator needs to supply the stacking container row to the supply device at a relatively high frequency. Therefore, there is a need to automate at least the operation of taking out the stacked container row from the box among the series of operations.

  For example, as a method for taking out an article from a box, a method for sucking and taking out an article using a suction pad is known. However, in the case of a stacked container row, there are circumferential recesses (steps) at locations corresponding to the space between the outer peripheral surfaces, and the outer peripheral surface is uneven. For this reason, even if it is going to be adsorbed by an adsorption pad, there is a problem that air leaks due to the unevenness present on the outer peripheral surface of the laminated container row, making it difficult to adsorb the laminated vessel row. Note that this type of problem is not limited to the case where the stack container row is supplied to the supply device used in the injection device, but generally when the stack container row is taken out of the box and transferred to the target position of the transfer destination. Common.

  An object of the present invention is to provide a transfer apparatus for a stacking container row that can pick up and transfer a stacking container row for one stage from a box even if there are irregularities due to gaps between the containers on the outer peripheral surface of the stacking container row, and An object of the present invention is to provide a method for transferring a stacked container row.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A transfer device for a stacked container row that solves the above problem is a transfer device for a stacked container row that sucks and transfers a stacked container row formed by stacking a plurality of containers, and a plurality of stacked container rows per stage. A plurality of adsorbing portions for adsorbing the stacking container row for one stage from the opening of the box in which the container is accommodated, a suction portion for generating a suction air flow that applies a negative pressure to the adsorbing portion, and a plurality of the adsorbing portions A transfer mechanism for transferring a plurality of the stacked container rows by moving the suction container, and the suction portion includes a concave suction surface that sucks the stacked container rows and a suction port that opens to the suction surface. And a portion between the plurality of adsorbing portions when adsorbing the stacked container row for one stage is provided with a communicating portion that communicates vertically and serves as an intake port for suction airflow flowing into the suction port. It has been.

  According to this configuration, when the stacked container row for one stage is taken out from the box, the air of the suction airflow flowing into the suction port is taken in through the communication portion. For this reason, the suction airflow which flows into the suction port through the gaps between the plurality of stacked container rows and the boxes hardly occurs. As a result, it is possible to avoid an adsorption mistake that the inner bag is adsorbed by the suction force or lifted up together with the box when a plurality of adsorbing portions take out the stacked container row from the box. Therefore, even if there are irregularities due to the gaps between the containers on the outer peripheral surface of the stacked container row, the stacked container row for one stage can be sucked out from the box and transferred.

  In the stacked container row transfer device, in the state in which the suction unit sucks a plurality of stacked container rows, the suction unit exhausts the sucked air from a portion facing the side where the communication unit is located. preferable.

  According to this configuration, since the air exhausted by the suction part is taken in through the communication part between the plurality of adsorption parts, a suction airflow reaching the suction port is formed, and thus the suction airflow easily flows. High suction power can be obtained. For example, the suction resistance of the suction portion can be reduced and the exhaust resistance can be reduced.

  In the stacked container row transfer apparatus, it is preferable that the suction port is located at a central portion in a width direction intersecting with a longitudinal direction of the stacked container row sucked and held by the suction surface on the suction surface.

  According to this configuration, the suction airflow flows between the suction surface and the outer peripheral surface of the stacked container row to reach the suction port located at the central portion in the width direction of the suction surface. A wide area on which negative pressure acts can be secured. Therefore, it is possible to secure a high suction force of the stacked container row by the suction portion.

  In the stacked container row transfer apparatus, the adsorbing portion includes a flexible member having a length that partially enters a recess between the containers arranged in the stacking direction on the outer peripheral surface of the stacked container row that is sucked and held. Is preferably provided along the longitudinal direction of the stacked container row.

  According to this configuration, since the flexible member partially enters the concave portion of the stacked container row sucked and held by the suction portion, the opening area of the gap between the stacked container row and the suction surface can be suppressed to be small. Compared with the configuration without the adhesive member, the sealing property between the suction surface and the outer peripheral surface of the stacked container row can be increased, and the negative pressure of the suction portion can be increased. Therefore, it is possible to secure a high suction force for the suction part to suck and hold the stacked container row. At this time, the ratio of the sum of the opening area of the suction port to the sum of the opening area of the gap between the suction surface of the suction part and the stacked container row can be increased by the flexible member, so that the negative pressure of the suction part can be increased. A high suction holding force can be ensured when the suction part sucks the stacked container row.

  In the transfer apparatus for the stacked container row, a plurality of the suction portions are configured to be relatively movable in a direction intersecting with a longitudinal direction of the stacked container row sucked and held by the plurality of the suction portions, and the plurality of the suction portions An interval changing mechanism for changing the interval between the adsorbing portions when the plurality of adsorbing portions are at an interval when adsorbing the stacked container row in the box. It is preferable that a gap is formed.

  According to this configuration, when the plurality of suction portions are at intervals when sucking and holding the stacked container row in the box, a gap is formed as a communication portion between the suction portions. When a plurality of adsorbing parts are inserted into the box in order to adsorb the stacked container row for one stage, a portion between the plural adsorbing parts communicates vertically between the inside and outside of the box by a gap. The air of the suction airflow that flows into the suction port via the gaps between the plurality of suction portions is taken in. Therefore, without sucking the entire box, the stacked container row for one stage can be simultaneously adsorbed and taken out from the box. Further, by changing the intervals between the plurality of suction portions by the interval changing mechanism, it is possible to transfer a plurality of stacked container rows at appropriate intervals required by the transfer destination. That is, it is necessary to narrow the interval between the plurality of suction portions and insert them into a box to suck and take out a plurality of stacking container rows for one stage at the transfer destination. Can be placed at appropriate intervals.

  In the stacked container row transfer apparatus, the interval changing mechanism is an expansion / contraction mechanism that expands and contracts in the width direction in which the interval is changed, and when the plurality of suction units suck one layer of stacked container rows from the box It is preferable that at least a part of the lower side of the interval changing mechanism contracts to a size less than the width of the opening of the box.

  According to this configuration, when the plurality of adsorbing portions are at an interval when adsorbing the stacked container row for one stage, the interval changing mechanism can accommodate at least a part of the lower side in the box. The interval changing mechanism does not get in the way when adsorbing a plurality of stacked container rows in the stage (first stage). Therefore, the depth of the box which can adsorb and take out the stacked container row for one stage can be increased.

  A method for transferring a stacked container row that solves the above-described problem is a method for transferring a stacked container row that sucks and transfers a stacked container row formed by stacking a plurality of containers. A plurality of adsorbing portions for individually adsorbing the stacked container rows are provided, and the adsorbing portion has a suction surface made of a concave surface that opens the suction port, and a plurality of the adsorbing portions are placed in a box containing a plurality of stacked container rows per stage. An adsorption step for adsorbing the stacking container row for one stage with the adsorbing portion, and a transfer step for transferring the stacking container row for the one stage adsorbed by the adsorption unit all at once from the box In the portion between the plurality of suction portions, a communication portion that communicates the inside and the outside of the box up and down in a state where the plurality of suction portions are inserted into the box is formed. And the suction flow into the suction port through the gap between the stacked container rows Airflow is generated takes in air through the communicating portion from the outside to the inside of the box. According to this method for transferring a stacked container row, it is possible to obtain the same effects as those of the transfer device for the stacked container row.

  According to the present invention, even if there are irregularities due to the gaps between the containers on the outer peripheral surface of the stacked container row, it is possible to pick up and transfer the stacked container row for one stage from the box.

The schematic front view which shows the transfer system containing the transfer apparatus of the laminated container row | line | column in 1st Embodiment. The model front view of a hand unit which shows a mode that a laminated container row | line is taken out from a box. The model side view of a hand unit similarly. The schematic plan view which shows the state which opened the box in which the lamination | stacking container row | line was accommodated. The schematic plan view which shows a hand unit when taking out a laminated container row | line | column. The schematic front view which shows a mode that a laminated container row | line is mounted in a transfer destination. The schematic plan view which shows the space | interval change mechanism at the time of taking out a laminated container row | line from a box. The schematic plan view which shows the space | interval change mechanism at the time of mounting a laminated container row | line | column to a transfer destination. The model perspective view which shows a suction head. The schematic side view which fractured | ruptured a part of adsorption head. 11 is a cross-sectional view taken along a line 11-11 in FIG. 10 of the suction head that sucks the stacked container row. FIG. 12 is a sectional view taken along line 12-12 of FIG. The block diagram which shows the electric constitution of a transfer apparatus. The schematic plan view which shows the space | interval change mechanism in 2nd Embodiment.

(First embodiment)
Hereinafter, the transfer apparatus for the stacked container row will be described with reference to the drawings. In FIG. 1, the arrangement direction of a later-described suction unit 50 that adsorbs a plurality of stacked container rows 17 to be transferred by the transfer device 11 is the X direction, and the direction intersecting (for example, orthogonal) to the X direction is the Y direction. A direction that intersects the X direction and the Y direction and is parallel to the gravity direction is defined as a height direction Z. Further, since the X direction corresponds to the width direction of the stacked container row 17 sucked by the suction head 60 by the suction unit 60, it is also referred to as the width direction X when used for the stacked container row 17. Further, since the Y direction corresponds to the longitudinal direction of the stacked container row 17 that the suction unit 50 sucks with the suction head 60, it is also referred to as the longitudinal direction Y when used for the stacked container row 17.

  In the container transfer system 10 shown in FIG. 1, a substantially columnar stacked container row 17 formed by stacking a plurality of containers 18 is taken out from the box 15 one by one and transferred to a transfer destination. The container 18 has a cup shape, and is made of, for example, paper or synthetic resin. The container transfer system 10 adsorbs (suctions and holds) a plurality of stacked container rows 17 one by one from the carry-in conveyor 12 that conveys the boxes 15 to the take-out position and the boxes 15 that are arranged at the take-out positions on the carry-in conveyor 12. The transfer apparatus 11 which picks up and transfers, and the carrying-out conveyor 13 used as the transfer destination which mounts the stacking container row | line | column 17 for one step which the transfer apparatus 11 transferred are provided. That is, the transfer device 11 picks up and removes the stacking container rows 17 from the boxes 15 on the carry-in conveyor 12 one by one (in this example, six), and transfers the picked-up stacking container row 17 for one stage to the destination. The transfer work to be placed on the carry-out conveyor 13 is performed.

  Here, with reference to FIG. 1, FIG. 4, the accommodation aspect of the laminated container row | line | column 17 in the box 15 is demonstrated. As shown in FIGS. 1 and 4, the box 15 accommodates M × N (where M and N are natural numbers of 2 or more) stacked container rows 17. Specifically, the box 15 accommodates N stages of M stacked container rows 17 per stage. A plurality (M × N) of stacked container rows 17 are collectively accommodated in a single synthetic resin bag 16 (for example, a plastic bag) in a box 15. The box 15 is made of, for example, corrugated cardboard, and has a rectangular parallelepiped box main body 15A having an opening 15K opened upward, and a plurality of flaps 15B that can be folded at the periphery of the opening 15K of the box main body 15A to open and close the opening 15K. (Lid part).

  An unillustrated unsealing device for unsealing the box 15 that has been transported on the carry-in conveyor 12 is provided at an intermediate position in the carry-in route of the carry-in conveyor 12. When the box 15 is arranged at an opening position on the carry-in conveyor 12, the box 15 is opened by cutting the tape sealing the flap 15B on the upper surface side of the box 15. At the location corresponding to the take-out position of the carry-in conveyor 12, the mouth of the bag 16 (plastic bag) that wraps the plurality of upper flaps 15B in the opened box 15 and all the stacked container rows 17 in the box 15 is widened. Four pressing levers 19 (two are shown in FIG. 1) are provided to fold the peripheral edge portion 16A back to the outer side of the box 15 and press it to the outer surface. Note that the box 15 may be opened at the same position as the take-out position.

  When the box 15 is placed at the take-out position on the carry-in conveyor 12, the flap 15B of the box 15 is folded outward and the mouth of the bag 16 that accommodates all the stacked container rows 17 in the box 15 is opened. Then, the peripheral edge portion 16 </ b> A is folded back to the outside of the box 15. The four holding levers 19 hold down the folded flap 15B and the peripheral edge portion 16A of the bag 16 so that the transfer device 11 can be taken out from the box 15 at the take-out position from the opening 15K of the box 15 to the uppermost stage. Assume that all the stacked container rows 17 are exposed. Thereby, the transfer operation | work which adsorb | sucks and transfers the stacking container row | line | column 17 for one step by the transfer apparatus 11 shown in FIG. 1 is attained. The box 15 is made of paper made of cardboard, for example, but may be made of synthetic resin, metal, or wood.

  As shown in FIG. 1, the transfer device 11 is suspended from an articulated robot 20 (hereinafter also simply referred to as “robot 20”) as an example of a transfer mechanism and a tip of an arm 23 of the robot 20. And a hand unit 30 supported by the robot. As shown in FIG. 1, the robot 20 includes a base 21 installed on the floor, a turntable 22 that can rotate about the vertical axis with respect to the stand 21, and a multi-joint supported by the turntable 22. This is an articulated industrial robot including an arm 23 and a hand unit 30 supported at the tip of the arm 23. The robot 20 sucks and holds the stacking container row 17 in the box 15 by the hand unit 30, and transfers the sucked and held one layer stacking container row 17 at a predetermined position on the carry-out conveyor 13 at a predetermined interval. Do work.

  The arm 23 is rotated together with the turntable 22 by the power of the power source 25 disposed on the base portion 21. The arm 23 includes a plurality of arm portions 23A to 23C that are coupled so as to be capable of changing the angle. The drive mechanism 26 includes a power source (not shown) such as an electric motor or an electric cylinder. The angles of the arm portions 23A to 23C are changed via the drive links 26A to 26C when the drive mechanism 26 is driven. The hand unit 30 is supported in a suspended state at a distal end portion of the arm 23 through a rotating portion 28 having a motor 27 as a power source.

  As shown in FIG. 1, electric power is supplied to the hand unit 30 through an electric wire (not shown) routed through a route passing through the inside or the outside of the arm 23 via the base portion 21 and the turntable 22. The transfer device 11 includes a control unit 80 (controller) that controls the robot 20 and the hand unit 30. The control unit 80 drives and controls the power source 25, the drive mechanism 26, and the electric motor 27 of the robot 20 to perform transfer control of the hand unit 30 by the robot 20, and also includes a fan unit 53 and the like that the hand unit 30 has, which will be described later. Control is performed to perform switching control between adsorption and release of the stacked container row 17 by the hand unit 30. The control unit 80 controls the robot 20 and the hand unit 30 to cause the transfer device 11 to perform a transfer operation of taking out the stack container row 17 for one stage from the box 15 and transferring it onto the carry-out conveyor 13. The control unit 80 may be configured by two controllers that control the robot 20 and the hand unit 30 separately.

  As shown in FIG. 1, the hand unit 30 includes an interval changing mechanism 40 supported by the rotating unit 28 and a plurality of suction units 50 that simultaneously adsorb six columnar stacked container rows 17 corresponding to one stage. Prepare. The number of suction units 50 is the same as the number of stacked container rows 17 that the hand unit 30 can suck at a time. The suction unit 50 includes a suction head 60 as an example of a suction unit for sucking one stacked container row 17 at the lower end. The interval changing mechanism 40 has a function of changing the intervals in the X direction of the six suction units 50, that is, the six suction heads 60 included in the lower portion of the six suction units 50.

  The interval changing mechanism 40 supports the plurality of suction units 50 so as to be relatively movable in the X direction intersecting the Y direction which is the longitudinal direction of the stacked container row 17 sucked by the plurality of suction heads 60. The interval in the X direction is changed. The X direction is equal to the width direction X of the stacked container row 17 sucked by the suction head 60.

  The interval changing mechanism 40 adjusts the plurality of suction heads 60 so that the plurality of suction heads 60 can be inserted into the box 15 when the hand unit 30 takes out the stacked container row 17 for one stage from the box 15. In addition, when placing the stack container row 17 for one stage on the carry-out conveyor 13 of the transfer destination, the interval changing mechanism 40 places the stack container row 17 for one stage on the carry-out conveyor 13 with the six suction heads 60. It adjusts to the space | interval which can be mounted in the mounting part 13A provided in the fixed space | interval. That is, the interval changing mechanism 40 adjusts the interval between the six suction heads 60 to the interval between the placing portions 13 </ b> A on the carry-out conveyor 13. In FIG. 1, the number of stacked container rows 17 for one stage is six, but the number may be any number as long as it is one, two, three, four, eight or more. But you can.

  Next, the detailed configuration of the hand unit 30 will be described with reference to FIGS. 2 and 3. As shown in FIGS. 2 and 3, the hand unit 30 is supported in a suspended state so as to be axially rotatable with respect to a rotating portion 28 provided at the distal end portion of the arm 23 of the robot 20. The hand unit 30 is individually suspended on an interval changing mechanism 40 supported by the rotating unit 28 and a plurality of (for example, six) support plates 42 to 44 supported by the interval changing mechanism 40 so that the interval can be changed. A plurality of (for example, six) suction units 50 supported in the lower state are provided. The six suction units 50 are arranged side by side in the X direction when the hand unit 30 is inserted into the box 15. Each suction unit 50 has a suction head 60 at the bottom.

  The interval changing mechanism 40 shown in FIGS. 2 and 3 changes the intervals in the X direction of the six suction units 50. The interval changing mechanism 40 includes a pair of cylinders 41 and a plurality of support plates 42 to 44 including a support plate 42 to which a tip end portion of a piston rod 41A of each cylinder 41 is fixed by a support portion 42A. The interval changing mechanism 40 includes six rails 45A to 45C that support the plurality of support plates 42 to 44 so as to be relatively movable in the X direction.

  As shown in FIG. 7, the interval changing mechanism 40 includes two types (four in total) of connecting members 46 that connect the six support plates 42 to 44 adjacent to each other in the X direction so as to be relatively movable in the X direction. , 47 and one type (two in total) of connecting members 48 for connecting the support plate 44 to a support portion (not shown) disposed above so as to be relatively movable in the X direction. The connecting members 46 to 48 have guide holes 46 </ b> A to 48 </ b> A made of long holes extending in the respective longitudinal directions. One end of the first connecting member 46 is fixed to the second support plate 43, and a pin 49 protruding from the first support plate 42 is inserted into the guide hole 46A at the other end. One end of the second connecting member 47 is fixed to the second support plate 43, and a pin 49 protruding from the third support plate 44 is inserted into the guide hole 47A at the other end. The third connecting member 48 has one end fixed to the lower surface of the upper support (not shown) and a pin 49 projecting from the third support plate 44 inserted into the guide hole 48A at the other end. Has been.

  For this reason, when the pair of cylinders 41 are driven to extend from the contracted state shown in FIG. 7 to the extended state shown in FIG. 8, the interval between the six support plates 42 to 44 is widened as shown in FIG. That is, in the process in which the pair of cylinders 41 are driven to extend from the contracted state shown in FIG. 7, the pins 49 protruding from the support plates 42 and 44 are sequentially passed through the guide holes 46 </ b> A to 48 </ b> A of the connecting members 46 to 48. Move to. Accordingly, the first support plate 42, the second support plate 43, and the third support plate 44 move in this order toward the outside in the X direction, and the support plates 42 to 44 are arranged in a state where the intervals shown in FIG. Is done. As a result, the interval between the six suction units 50 supported by the six support plates 42 to 44 is increased (see FIG. 6).

  Further, in the process in which the pair of cylinders 41 are driven to contract from the extended state shown in FIG. 8, the pins 49 protruding from the support plates 42 and 44 pass through the guide holes 46 </ b> A to 48 </ b> A of the connecting members 46 to 48. , The first support plate 42, the second support plate 43, and the third support plate 44 move inward in the X direction in this order. Thereby, each support plate 42-44 is arrange | positioned in the state which narrowed the space | interval shown in FIG. As a result, the interval between the six suction units 50 supported by the six support plates 42 to 44 is reduced (see FIGS. 2 and 5).

  As shown in FIGS. 2, 3, and 6, the suction unit 50 includes a cylinder 51, a suction part 52 fixed to the tip of the piston rod 51 </ b> A of the cylinder 51, and an adsorption supported by the lower part of the suction part 52. A head 60. The suction unit 52 includes a fan unit 53, a suction duct 54 provided on the lower side of the fan unit 53, and an exhaust duct 55 provided on the upper side of the fan unit 53. The suction head 60 includes a suction chamber 63 communicating with the suction duct 54, and a concave suction surface 61 for sucking and holding one stacked container row 17 is formed by the lower surface of the plate member forming the suction chamber 63. ing. The suction surface 61 has a pair of oblique surfaces positioned upward in the center in the width direction X, and has a suction port 62 in the center in the width direction X. 2 and 6, the suction duct 54 and the suction head 60 are drawn in cross section, and in FIG. 3, a part of the suction head 60 is drawn in cross section.

  The cylinder 51 shown in FIG. 2 is driven to extend with the suction head 60 approaching a predetermined position at a predetermined distance above the stacking container row 17, and the suction unit 52 and the suction head 60 move downward. Thus, the suction surface 61 is lightly pressed against the upper surface of the stacked container row 17. Driving of the fan unit 53 is started at a timing before the pressing, and the stacking container row 17 is sucked by the suction head 60 by pressing the suction surface 61. As shown in FIGS. 2 and 3, the suction chamber 63 is provided with a pair of cylinders 64, and a pressing member 65 is connected to the tip of a piston rod that extends downward through the suction port 62. ing. When adsorbing the stacked container row 17, the cylinder 64 is in a contracted state so that the pressing member 65 is retracted to the back side (upper side) of the adsorption surface 61, and the cylinder 64 is driven to extend so that the pressing member 65 moves downward. By moving, the stacked container row 17 sucked by the suction head 60 is pushed out and released. The cylinder 64 may also serve as a valve drive system that opens and closes the suction port 62. The valve opens the suction port 62 when the cylinder 64 is contracted and the valve closes the suction port 62 when the cylinder 64 is driven to extend. It may be configured.

  When the fan unit 53 shown in FIG. 2 is driven, a suction air flow SF (see FIGS. 10 and 11) that flows into the suction port 62 that opens at the center of the suction surface 61 of the suction head 60 in the width direction X is generated. To do. The fan unit 53 shown in FIG. 2 sucks the air sucked from the suction port 62 of the suction head 60 through the suction chamber 63 and the suction duct 54 by sending air in the direction indicated by the white arrow in FIG. Discharge to the upper exhaust duct 55. The exhaust duct 55 has an exhaust hole (not shown) on the surface portion facing in the X direction, and the air taken in by the fan unit 53 from the suction port 62 of the suction head 60 and the adjacent suction unit 50 through the exhaust hole. Exhaust toward the gap CL. For this reason, as shown in FIG. 2, an inflow air flow F that flows downward through the gap CL is generated so that the air exhausted from the exhaust hole of the exhaust duct 55 is taken into the adsorption head 60.

  FIG. 5 shows a plan view of the hand unit 30 when the stack container row 17 for one stage is sucked from the box 15. As shown in FIG. 5, the plurality of suction heads 60 inserted from the opening 15 </ b> K of the box 15 are arranged at intervals at the time of suction. The upper part of the suction part 52 disposed on the upper side of the six suction heads 60 has a substantially cylindrical shape having a diameter larger than the width of the suction head 60. As shown in FIG. 5, the six suction parts 52 are arranged adjacent to each other in the longitudinal direction of the suction head 60, and are arranged in a staggered manner in a plan view shown in FIG. 5. For this reason, even when the six suction heads 60 are close to each other when they are inserted into the box 15, the suction parts 52 having a diameter larger than the width do not interfere with each other above the suction head 60.

  As shown in FIGS. 2 and 5, the hand unit 30 picks up the stack container row 17 for one stage (for example, six) by suction with respect to the box 15 in a state where the intervals between the plurality of suction units 50 are narrowed. At this time, as shown in FIG. 2, when adsorbing the stacked container row 17 other than the uppermost stage, such as when adsorbing the first stacked container row 17 in the box 15, a part of the suction unit 50 (adsorption The portion 60) or most of the portion 60 is inserted into the box 15. In a state where a part or most of the six suction units 50 are inserted into the box 15, a gap CL as an example of a communicating portion is formed between the six suction units 50 as shown in FIGS. 2 and 5. Is done. These gaps CL communicate vertically between the plurality of suction heads 60 in the state where the lower part of the hand unit 30 is inserted into the box 15, and communicate with the inside and outside of the box 15. Therefore, the gap CL serves as an air intake port in a portion between the plurality of suction heads 60 that are spaced when the stacking container row 17 for one stage is sucked, and the suction heads from the side of the exhaust duct 55. An inflow air flow F that flows downward is formed in a range reaching the lower end outside of 60.

  The plurality of suction units 50 shown in FIG. 2 are connected via an interval changing mechanism 40 (see FIG. 2) so as to be relatively movable in the X direction so that the interval can be changed. The interval changing mechanism 40 that supports the plurality of suction units 50 in a suspended state has an expansion / contraction mechanism that changes its own dimension in the X direction. When the interval changing mechanism 40 is in the contracted first position, the plurality of suction heads 60 are arranged at a first interval that matches the interval of the stacked container row 17 accommodated in the box 15. That is, when the interval changing mechanism 40 is in the first position, the pitch in the X direction (head pitch) of the plurality of suction heads 60 is the pitch in the width direction X of the stacked container row 17 accommodated in the box 15 (container pitch). Are equal within a tolerance.

  In addition, when the interval changing mechanism 40 is at the extended second position, the plurality of suction heads 60 are arranged at a second interval wider than the first interval. For this reason, the interval changing mechanism 40 is in the first position in the transfer period until the stack container row 17 for one stage taken out from the box 15 by the plurality of suction heads 60 is placed on the placement portion 13A of the carry-out conveyor 13 as the transfer destination. To the second position, the plurality of stacked container rows 17 can be placed on the placement portion 13A with a second interval required at the transfer destination.

  As shown in FIGS. 9 and 11, the suction head 61 of the suction head 60 has a concave shape having a pair of inclined surfaces that become narrower toward the back side. There are a plurality of types of containers 18 with different diameters handled by the transfer device 11, and the containers 18 can be inscribed in the suction surface 61 even if the diameters are different. The suction surface 61 of the suction head 60 can be used in common for any size stack container row 17 from the minimum diameter stack container row 17S to the maximum diameter (see FIG. 11).

  As shown in FIG. 9, the suction head 60 has a suction port 62 that opens at the center of the width of the suction surface 61. The suction port 62 is a long hole extending in the longitudinal direction Y of the suction head 60. A pair of flexible members 66 that can come into contact with the outer peripheral surface of the stacked container row 17 adsorbed on the adsorption surface 61 are provided on both sides of the adsorption head 60 with the adsorption surface 61 interposed therebetween. The suction port 62 is not limited to one extending in the longitudinal direction Y of the suction head 60, and may be configured by a plurality of long holes that open intermittently in the longitudinal direction Y of the suction head 60.

  As shown in FIG. 9, the flexible member 66 is provided at both end portions in the width direction X of the suction head 60 with a length that covers almost the entire region in the longitudinal direction Y. The flexible member 66 is a long elastic member having a length slightly shorter than the length of the suction head 60 in the longitudinal direction Y. The flexible member 66 has, for example, a large number of strip-shaped elastic pieces 66A by making a number of cuts in a direction perpendicular to the longitudinal direction Y of a long thin rubber piece. The width of the elastic piece 66A is shorter than the pitch of the containers 18 in the stacked container row 17, that is, the dimension in the longitudinal direction Y of the gap C1 between the containers 18 (see FIG. 10). The width of the elastic piece 66A of the flexible member 66 is set to a value in the range of 1 to 10 mm, for example. For example, the width of the elastic piece 66 </ b> A is preferably a width enough to enter a plurality of gaps C <b> 1 between the containers 18. In the size of the container 18 of this example, the width of the elastic piece 66A is set to a value within a range of 2 to 5 mm, for example. The attachment position of the flexible member 66 is appropriately adjusted to a position where the flexible member 66 can be inserted into the recess on the outer peripheral surface of the stacked container row 17 according to the outer diameter of the stacked container row 17.

  As shown in FIG. 10, (J−1) gaps C <b> 1 formed by gaps between the containers 18 exist on the outer peripheral surface of the stacked container row 17. The containers 18 constituting the stacked container row 17 shown in FIG. 10 have a shape that expands toward the opening side. For this reason, there are gaps C1 between the containers 18 on the outer peripheral surface of the stacked container row 17 at a substantially constant pitch in the stacking direction. The gap C <b> 1 extends over the entire circumference of the container 18. The suction head 60 of the present embodiment uses the fan unit 53 to absorb a suction air flow SF that flows through the flow path of the gap C1 (also referred to as the gap flow path C1), and can absorb the stacked container row 17 to the suction surface 61. Increase the flow rate to generate pressure. When the number of containers 18 constituting the stacked container row 17 is J, (J−1) gaps C1 exist on the outer peripheral surface of the stacked container row 17.

  As shown in FIG. 10, the suction head 60 sucks the stacked container row 17 in a state where a part thereof enters the concave suction surface 61. When the fan unit 53 (see FIG. 2) is driven, a suction air flow SF flowing into the suction port 62 is generated between the suction surface 61 and the outer peripheral surface of the stacked container row 17. In the state shown in FIG. 10 in which the outer peripheral surface of the stacked container row 17 is in contact with the inner peripheral surface of the suction surface 61, a gap flow extending in the circumferential direction of the container 18 between the outer peripheral surface of the stacked container row 17 and the suction surface 61. The paths C1 are formed at a substantially constant pitch in the stacking direction of the containers 18.

  As air flows into the suction port 62 through the gap channel C1 extending in the circumferential direction along the outer peripheral surface of the stacked container row 17, a suction air flow SF indicated by an arrow in FIGS. 10 and 11 is generated. The stacked container row 17 is adsorbed to the suction head 60 by the negative pressure exerted on the outer peripheral surface of the stacked container row 17 by the suction airflow SF flowing through the gap channel C1. In particular, in this example, since the suction port 62 is located in the center of the suction surface 61 in the width direction X, the area in which the suction air flow SF flows through the (J-1) gap channels C1, that is, the outer peripheral surface of the stacked container row 17 Can secure a wide pressure receiving area for receiving a negative pressure from the suction air flow SF.

12 shows a cross section taken along line 12-12 in FIG. As shown in FIG. 12, between the opening area S1 of the suction port 62 and the total S2 of the opening area ΔS2 of the gap channel C1 between the suction surface 61 and the outer peripheral surface of the stacked container row 17, S1 The relationship> S2 holds. In the stacked container row 17 in which J containers 18 are stacked, there are (J-1) gap channels C1, and there are two openings on both sides that serve as intake ports for the suction airflow SF per gap channel C1. Therefore, the sum S2 of the opening area ΔS2 of the gap channel C1 is represented by S2 = 2 (J−1) · ΔS2. In this embodiment, the opening area S1 of the suction port 62 is set so as to satisfy the following expression.
S1> 2 (J-1) · ΔS2 (1)
Here, the opening area ΔS2 of the gap flow path C1 refers to the opening area of the portion where the area of the opening cross section becomes the minimum when cut in the direction orthogonal to the gap flow path C1. By satisfying the above expression (1), a flow velocity capable of generating a negative pressure capable of attracting the stacked container row 17 to the suction surface 61 of the suction head 60 is secured in the suction airflow SF flowing through the gap channel C1. Furthermore, in this embodiment, the area ΔS2 of the opening of the gap channel C1 is suppressed to be small because a part of the flexible member 66 enters the gap channel C1. For this reason, the difference (= S1−S2) between the opening area S1 of the suction port 62 and the sum S2 of the opening area ΔS2 of the gap channel C1 is further increased, and the flow velocity of the suction airflow SF is further increased, thereby The adsorption force when the head 60 adsorbs the stacked container row 17 can be further increased.

  Next, the electrical configuration of the transfer apparatus 11 will be described with reference to FIG. As shown in FIG. 13, the transfer device 11 includes a control unit 80 that controls the transfer device 11 in an integrated manner. The controller 80 is electrically connected to the robot 20, the interval changing mechanism 40 constituting the hand unit 30, and the suction unit 50. The control unit 80 controls the robot 20 and the hand unit 30 to cause the transfer device 11 to perform a transfer operation of sucking and transferring the stacked container row 17 from the box 15 one by one. The transfer operation performed by the control unit 80 by controlling the transfer device 11 includes an adsorption process and a transfer process.

  Next, the operation of the transfer device 11 will be described with reference to FIGS. After the operation of the transfer system 10 is started, the box 15 carried into the carry-in conveyor 12 is opened, and the holding lever 19 holds the flap 15B and the peripheral edge portion 16A of the bag 16. Then, the controller 80 starts the transfer operation of driving the transfer device 11 to take out the stacked container row 17 from the box 15 one by one and place it on the carry-out conveyor 13.

  The controller 80 performs an adsorption process. The control unit 80 controls the robot 20 to move the hand unit 30 in a horizontal posture above the box 15. The control unit 80 grasps the position of the work target box 15 and the height position indicating the position of the stacking container row 17 to be sucked in the box 15. The control unit 80 drives the fan unit 53 to generate a suction airflow SF that flows into the suction port 62 on the suction surface 61 of the suction head 60 and causes the hand unit 30 to be a suction target in the box 15 with the horizontal posture. The stacked container row 17 is lowered to a predetermined height with a predetermined distance above it. Next, the control unit 80 drives the plurality of cylinders 51 to lower the plurality of suction units 50 all at once, and arranges the plurality of suction heads 60 at the suction position, so that the plurality of suction heads 60 can provide one stage. Lightly press the stacked container row 17 from above. In this way, the hand unit 30 sucks the stack container row 17 for one stage with the plurality of suction heads 60. At this time, as shown in FIGS. 2 and 5, the clearance CL is taken in by the inflow airflow F in which the air partially including the air exhausted from the exhaust duct 55 through the clearances CL between the plurality of suction heads 60 flows downward. As the air is taken in from the outside of the box 15 and the taken-in air flows into the suction port 62 of the suction head 60, a suction airflow SF (see FIG. 11) is formed. The drive start timing of the fan unit 53 may be any time until the suction head 60 is disposed at the suction position.

  Next, the control unit 80 performs a transfer process. While continuing to drive the fan unit 53, the control unit 80 drives the cylinder 51 to contract and moves the plurality of suction units 50 upward to slightly raise the stacking container row 17 for one stage. Next, the control unit 80 controls the arm 23 of the robot 20 to move the hand unit 30 upward to take out the one-layer stacked container row 17 adsorbed by the plurality of adsorption heads 60 from the box 15.

  The controller 80 drives the arm 23 of the robot 20 to move the hand unit 30 to a predetermined height above the carry-out conveyor 13. The control unit 80 drives the interval changing mechanism 40 to extend and moves the plurality of suction units until the stack container row 17 for one stage where the suction unit 50 is taken out of the box 15 is moved to the upper position of the carry-out conveyor 13. The interval of 50 is expanded from the first interval to a second interval corresponding to the interval of the placing portions 13A on the carry-out conveyor 13 of the transfer destination. Next, the control unit 80 stops driving the fan unit 53 and drives the cylinder 64 to extend to lower the pressing member 65 to push the stacked container row 17 downward. As a result, the stack container row 17 for one stage released from the plurality of suction heads 60 is placed on the placement portion 13 </ b> A on the carry-out conveyor 13. Thereafter, the control unit 80 controls the arm 23 of the robot 20 to move the hand unit 30 to an upper position of the box 15 in order to take out the next stacked container row 17 from the box 15. In the process of returning the hand unit 30 for the next suction, the interval changing mechanism 40 is driven to contract, and the intervals between the plurality of suction heads 60 are reduced. As the robot 20 repeats the transfer operation in this manner, the stacked container row 17 accommodated in the box 15 is transferred to the placement portion 13A on the carry-out conveyor 13 one by one.

As described above in detail, according to this embodiment, the following effects can be obtained.
(1) The transfer device 11 sucks and transfers a stacked container row 17 in which a plurality of containers 18 are stacked. The transfer device 11 includes a plurality of suction heads 60 (an example of a suction unit) that sucks the stacked container rows 17 from the openings 15K of the boxes 15 in which the plurality of stacked container rows 17 are accommodated per stage, and the suction heads 60. And a suction part 52 that generates a suction air flow SF that gives a negative pressure for adsorption. Furthermore, the transfer device 11 includes a robot 20 (an example of a transfer mechanism) that transfers a plurality of stacked container rows 17 by moving a plurality of suction heads 60. The suction head 60 has a concave suction surface 61 that sucks the stacked container row 17 and a suction port 62 that opens to the suction surface 61. In the portion between the plurality of suction heads 60 when sucking the stacked container row 17 for one stage, a gap CL (a communication portion of the communication portion) serving as an intake port for the suction airflow SF that communicates vertically and flows into the suction port 62. An example) is provided.

  Accordingly, when the stacked container row 17 for one stage is taken out from the box 15, the air for forming the suction air flow SF flowing into the suction port 62 passes through the gap CL, and the external space above the suction head 60 (in the box 15. It is taken in from the outer space on the opening 15K side. For this reason, the suction airflow SF flowing into the suction port 62 through the gaps between the plurality of stacked container rows 17 and the boxes 15 is unlikely to be generated. As a result, when the stacking container row 17 for one stage is taken out from the box 15 by the suction head 60, it is possible to avoid suction mistakes in which the bag 16 is sucked by the suction force or lifted together with the box 15. Therefore, even if there are irregularities due to the gaps between the containers 18 on the outer peripheral surface of the stacked container row 17, the stacked container row 17 for one stage can be adsorbed from the box 15 and transferred.

  (2) In a state where the suction head 60 sucks the plurality of stacked container rows 17, the suction unit 52 exhausts the sucked air from a portion facing the side with the gap CL. Therefore, since the suction airflow SF that the air exhausted by the suction part 52 passes through the gaps CL of the plurality of suction heads 60 to the suction port 62 is formed, the suction airflow SF easily flows and a high suction force can be secured. . For example, the suction resistance of the suction part 52 can be reduced and the exhaust resistance can be reduced.

  (3) The suction port 62 is located at the center of the suction surface 61 in the width direction X intersecting the longitudinal direction Y of the stacked container row 17 sucked and held by the suction surface 61. Therefore, the suction air flow SF flows between the suction surface 61 and the outer peripheral surface of the stacking container row 17 to reach the suction port 62 located at the center of the suction surface 61 in the width direction X. A wide area where negative pressure acts on the outer peripheral surface can be secured. Therefore, the stacking container row 17 can be sucked and held by the suction head 60 with a high suction force.

  (4) The suction head 60 is provided with a flexible member 66 having a length that partially enters a recess between containers arranged in the stacking direction on the outer peripheral surface of the stacked container array 17 sucked and held. Are provided along the longitudinal direction Y. Therefore, a part of the flexible member 66 enters the concave portion of the stacked container row 17 sucked and held by the suction head 60, so that the opening area of the gap between the stacked container row 17 and the suction surface 61 can be reduced. For this reason, in the suction head 60 having the flexible member 66, the sealing property between the suction surface 61 and the outer peripheral surface of the stacked container row 17 can be improved as compared with the configuration without the flexible member 66, and suction The negative pressure of the head 60 can be increased. Therefore, the suction force with which the suction head 60 sucks and holds the stacked container row 17 can be increased. At this time, the ratio of the sum of the opening area of the suction port 62 to the sum of the opening area of the gap between the suction surface 61 of the suction head 60 and the stacked container row 17 is increased by the flexible member 66, and the negative pressure of the suction head 60 is increased. Since it can be enlarged, a high suction holding force can be secured when the suction head 60 sucks the stacked container row 17.

  (5) The plurality of suction heads 60 are configured to be relatively movable in the width direction X intersecting the longitudinal direction Y of the stacked container row 17 sucked and held by the plurality of suction heads 60, and the intervals between the plurality of suction heads 60 are changed. An interval changing mechanism 40 is further provided. When the plurality of suction heads 60 are spaced by the interval changing mechanism 40 when sucking the stacked container row 17 having the smallest diameter, a gap CL is formed as a communicating portion between the suction heads 60.

  Therefore, when the plurality of suction heads 60 are at intervals when sucking and holding the stacked container row 17 having the smallest diameter, a gap is formed as a gap CL between the suction heads 60. A portion between the plurality of suction heads 60 communicates with the inside and outside of the box 15 by the gap. A suction airflow SF that flows into the suction port 62 is formed through a path that passes through the gaps between the plurality of suction heads 60. Therefore, the single stacked container row 17 can be adsorbed at a time and taken out from the box 15 without sucking the entire box 15. Further, by changing the interval between the suction heads 60 by the interval changing mechanism 40, the plurality of stacked container rows 17 can be transferred at an appropriate interval required by the transfer destination. In other words, the plurality of suction heads 60 are narrowed and inserted into the box 15 to suck and take out a plurality of stacking container rows 17 corresponding to one stage, and the plurality of picked up stacking container rows 17 are necessary at the transfer destination. Can be placed at appropriate intervals.

  (6) The interval changing mechanism 40 is an expansion / contraction mechanism that expands / contracts in the width direction in which the interval is changed, and when the plurality of adsorption heads 60 are at intervals when adsorbing the stacked container row 17 from the box 15, At least a part of the lower side of the interval changing mechanism 40 contracts to a size less than the width of the opening 15K of the box 15. Therefore, when the plurality of suction heads 60 are at an interval when the stack container row 17 for one stage is attracted, at least a part of the lower side of the interval changing mechanism 40 can be accommodated in the box 15. The gap changing mechanism 40 does not get in the way when adsorbing the plurality of stacked container rows 17 in the stage (first stage) located at the position. Therefore, compared to the configuration in which the interval changing mechanism 40 for sucking the stack container row 17 for one stage is larger than the width of the opening 15K of the box 15, the stack container row 17 for one stage can be sucked and taken out. The depth of the box 15 can be made deeper.

  (7) In the transfer method of the stacking container row 17 for sucking and transferring the stacking container row 17 formed by stacking a plurality of containers 18, the plurality of stacking vessel rows 17 corresponding to one stage are individually sucked. A plurality of suction heads 60 are provided, and the suction head 60 has a suction surface 61 formed of a concave surface in which a suction port 62 is opened. The transfer method includes an adsorption process in which a plurality of suction heads 60 are put into a box 15 in which a plurality of stacking container rows 17 are accommodated in one stage, and the stacking container rows 17 for one stage are sucked, and the first stage in which the suction heads 60 are sucked. And a transfer step of transferring the stacked container rows 17 from the box 15 together. In a portion between the plurality of suction heads 60, a gap CL (an example of a communication portion) is formed which communicates the inside and the outside of the box 15 up and down in a state where the plurality of suction heads 60 are inserted into the box 15. In the adsorption process, the suction air flow SF flowing through the gap between the adsorption surface 61 and the stacked container row 17 and flowing into the suction port 62 is generated by taking in air from the outside of the box 15 through the gap CL. According to the transfer method of the stacked container row 17, it is possible to obtain the same operational effects as the transfer device 11 of the stacked container row 17.

(Second Embodiment)
Next, a second embodiment will be described with reference to the drawings. In 2nd Embodiment, the structure of the space | interval change mechanism 40 in the transfer apparatus 11 differs from 1st Embodiment. The interval changing mechanism 40 of the present embodiment does not include an expansion / contraction mechanism that can expand and contract in the width direction X. That is, the dimension in the width direction X of the interval changing mechanism 40 does not change even if the interval between the plurality of suction units 50 is changed. Since the configuration other than the interval changing mechanism 40 is the same as that of the first embodiment except that the number of suction heads 60 is different, only the configuration of the interval changing mechanism 40 will be described below.

  The interval changing mechanism 40 shown in FIG. 14 is an example in which the number of suction heads 60 (see FIG. 2 and the like) is five. When the number of suction heads 60 is an odd number, the central suction head 60 does not move. Therefore, the two suction heads 60 on both sides of the central suction head 60 can be moved relative to each other. As shown in FIG. 14, there are five support plates for supporting the suction unit 50 having the suction head 60 at the bottom.

  A pair of support frames 92 are arranged on both sides sandwiching the five support plates 94 to 96 in the X direction. Both ends of two rails 93 extending in the X direction are fixed to the pair of support frames 92. The five support plates 94 to 96 support the five suction units 50 having the suction head 60 at the bottom. Of the five support plates 94 to 96, the center support plate 94 is fixed to the two rails 93 at the center position in the X direction. The two support plates 95 and 96 arranged on both sides of the central support plate 94 are attached to the two rails 93 so as to be movable in the X direction, which is the direction of changing the interval.

  The pair of cylinders 91 are fixed to the corresponding support frames 92 in a state where the cylinders 91 face each other at positions outside the pair of support frames 92 in the X direction. The tip ends of the piston rods 91 </ b> A of the pair of cylinders 91 are respectively fixed to the support plates 96 positioned on the outermost side in the X direction among the five support plates 94 to 96.

  Here, among the five support plates 94 to 96, one located in the center is the first support plate 94, and two located next to both sides of the first support plate 94 are the second support plate 95 and the second support. The two adjacent to the outside of the plate 95 are also referred to as third support plates 96. The first support plate 94 and the second support plate 95 are connected via a first connecting member 97 that limits the relative movement distance in the interval changing direction (X direction) to a predetermined range. The first connecting member 97 is a plate member having a predetermined length. One end of the first connecting member 97 is fixed to the first support plate 94, and the other end has a guide hole 97A composed of a long hole extending in the X direction. A pin 99 protruding from the upper surface of the second support plate 95 is inserted into the hole 97A. For this reason, the second support plate 95 can move relative to the first support plate 94 in the interval changing direction X within the predetermined distance range via the first connecting member 97.

  In addition, the second support plate 95 and the third support plate 96 are connected via a second connecting member 98 that limits the relative movement distance in the interval changing direction (X direction) of the second support plate 95 and the third support plate 96 within a predetermined range. The second connecting member 98 is a plate member having a predetermined length. One end of the second connecting member 98 is fixed to the third support plate 96, and the other end has a guide hole 98A composed of a long hole extending in the X direction. A pin 99 protruding from the upper surface of the second support plate 95 is inserted into the hole 98A. For this reason, the third support plate 96 can be moved relative to the second support plate 95 in the interval changing direction X within the predetermined distance range via the second connecting member 98.

  The state shown in FIG. 14 is an approaching state when the five support plates 94 to 96, that is, the five suction units 50 including the suction head 60 take out one layer (five) of stacked container rows 17 from the box 15. . In this state, the pair of cylinders 91 are in an extended state in which the piston rod 91A is extended. A gap CL is formed as an example of a communicating portion that communicates vertically in the height direction Z perpendicular to the paper surface in the plan view shown in FIG. 14 in which the suction head 60 is in the approaching state. Therefore, for example, in a state where a plurality of suction heads 60 are inserted into the box 15 in order to suck the stack container row 17 of the first stage located at the bottom of the box 15, a portion between the suction heads 60. As a result, a suction air flow SF (see FIGS. 2 and 11) that flows into the suction port 62 of the suction head 60 is generated using the gap CL communicating vertically as an air intake port. After the plurality of suction heads 60 suck the single stack container row 17 and remove it from the box 15, the pair of cylinders 91 are driven to contract from the extended state shown in FIG. Change widely.

According to the second embodiment, the following effects can be obtained.
(8) Similarly to the first embodiment, the stack unit row 17 for one stage taken out from the box 15 by the hand unit 30 is moved by changing the interval of the plurality (five) of suction heads 60 by the interval changing mechanism 40. It can be placed on the placement portion 13A on the carry-out conveyor 13 of the loading destination.

Embodiment is not limited above, You may change to the following aspects.
The bag 16 may not be in the box 15. For example, the box 15 itself may be flexible, and the box 15 may be deformed inward by a suction force and may be lifted together with the box. A plurality of suction heads 60 can be provided for one stage by securing a gap CL of a predetermined size or more that communicates vertically between the plurality of suction units 50 inserted into the box 15 and communicates the inside and outside of the box 15. It is possible to avoid a situation where the box 15 is sucked together when the stacked container row 17 is sucked.

  An integrated suction unit in which a plurality of suction heads 60 (an example of a suction unit) are integrally formed so that the interval cannot be changed may be used. In this case, it is only necessary to provide a communicating portion that communicates in the vertical direction at a position corresponding to the space between the plurality of suction heads 60 in the suction unit.

The concave suction surface 61 of the suction head 60 may be an arc surface.
-The container may have a quadrangular shape when viewed from the axial direction. In this case, the shape of the concave surface of the suction surface 61 may be changed to a shape that matches the outer peripheral surface of the substantially square columnar stacked container row.

  -The transfer mechanism is not limited to articulated robots. For example, a transfer mechanism may be provided that includes a rail installed on the ceiling and a carriage that moves on the rail and supports the hand unit 30 so as to be lifted and lowered. Even in this transfer mechanism, the stacking container row 17 can be sucked out from the box 15 one by one and transferred.

  The suction unit 52 may be a blower instead of the fan unit 53. Here, a fan refers to a machine that gives energy to gas by the rotational movement of an impeller and has an energy per unit mass of less than 25 kNm / kg (about 30 kPa). The blower refers to a compressor that pumps gas by the rotational motion of an impeller or a rotor and that has an effective discharge pressure of 200 kPa or less. The blower or fan may be any of centrifugal, mixed flow, and axial flow methods.

  A plurality of suction ports 62 may be provided. The suction port 62 may be located at other positions in addition to the center position of the width of the suction surface 61. Further, the suction port 62 may be formed at a position away from the central portion of the suction surface 61 in the width direction X as long as the suction air flow SF capable of sucking the stacked container row 17 can be secured.

  -The material of the flexible member 66 is not limited to rubber or a synthetic resin having elasticity, but may be a brush or a fiber. Further, the flexible member 66 may be a long, thin plate material without any break as long as the material is very flexible and can be elastically deformed so as to enter the gap C1. Further, the flexible member 66 may be a bellows-like member. In short, the flexible member 66 only needs to be able to enter the gap C <b> 1 between the containers 18 constituting the stacked container row 17.

  DESCRIPTION OF SYMBOLS 10 ... Transfer system, 11 ... Transfer apparatus, 12 ... Loading conveyor, 13 ... Unloading conveyor, 13A ... Loading part, 15 ... Box, 15A ... Box body, 15B ... Flap, 15K ... Opening, 16 ... Bag, 17 , 17S ... stacked container row, 18 ... container, 20 ... articulated robot as an example of moving mechanism, 30 ... hand unit, 40 ... interval changing mechanism, 50 ... suction unit, 51 ... cylinder, 52 ... suction part, 53 ... Fan unit, 54 ... suction duct, 55 ... exhaust duct, 60 ... suction head as an example of suction part, 61 ... suction surface, 62 ... suction port, 63 ... negative pressure chamber, 64 ... cylinder, 65 ... pressing member, 66 DESCRIPTION OF SYMBOLS ... Flexible member, 80 ... Control part, CL ... Gap as an example of communication part, C1 ... Gap (gap channel), F ... Inflow air flow, SF ... Suction air flow, S1 ... Opening area of suction port, [Delta] S2 ... Opening the clearance channel Area, X ... width direction (X direction), Y ... longitudinal direction (Y direction), Z ... height direction (Z-direction).

Claims (7)

A transfer device for a stacking container row that sucks and transfers a stacking container row in which a plurality of containers are stacked,
A plurality of adsorbing portions for adsorbing one layer of the stacked container rows from an opening of a box in which a plurality of stacked container rows are accommodated per stage;
A suction unit that generates a suction air flow that applies a negative pressure for suction to the suction unit;
A transfer mechanism for transferring a plurality of the stacked container rows by moving a plurality of the adsorption units;
The suction portion has a concave suction surface that sucks the stacked container row, and a suction port that opens to the suction surface.
The portion between the plurality of adsorbing portions when adsorbing the stacked container row for one stage is provided with a communicating portion that communicates vertically and serves as an intake port for air flowing into the suction port. And a transfer device for the stacked container row.   2. The stacked container row according to claim 1, wherein the suction unit exhausts the sucked air from a surface on the side where the communication unit is present in a state where the suction unit sucks a plurality of stacked container rows. Transfer equipment.   3. The stack according to claim 1, wherein the suction port is located at a central portion in a width direction intersecting a longitudinal direction of the stacked container row sucked and held by the suction surface on the suction surface. Container row transfer equipment.   In the suction portion, a flexible member having a length that partially enters a concave portion between containers arranged in the stacking direction on the outer peripheral surface of the stacked container row sucked and held is provided in the longitudinal direction of the stack container row. It is provided along, The transfer apparatus of the laminated container row | line | column as described in any one of Claims 1-3 characterized by the above-mentioned. An interval changing mechanism further configured to relatively move the plurality of suction units in a direction intersecting with a longitudinal direction of the stacked container row sucked and held by the plurality of suction units, and to change an interval between the plurality of suction units. Prepared,
The gap is formed as the communication portion between the suction portions when the plurality of suction portions are spaced by the gap changing mechanism when sucking the stacked container row in the box. Item 5. The apparatus for transferring a stacked container row according to any one of Items 1 to 4.   The interval changing mechanism is an expansion / contraction mechanism that expands and contracts in the width direction in which the interval is changed, and when the plurality of adsorbing portions are at the interval when adsorbing the stacked container row for one stage from the box, the interval is changed. The transfer device for a stacked container row according to claim 5, wherein at least a part of the lower side of the changing mechanism contracts to a size less than the width of the opening of the box. It is a transfer method of a stacked container row that adsorbs and transfers a stacked container row formed by stacking a plurality of containers,
A plurality of adsorbing parts for individually adsorbing a plurality of the stacked container rows corresponding to one stage, the adsorbing part has an adsorption surface made of a concave surface in which a suction port opens;
An adsorption step of adsorbing one layer of stacked container rows by placing a plurality of the adsorption portions in a box containing a plurality of stacked container rows per stage,
A transfer step in which the stacking container row for one stage adsorbed by the adsorbing unit is removed from the box and transferred; and
With
In the portion between the plurality of suction portions, in a state where the plurality of suction portions are inserted into the box, a communication portion that communicates the inside and outside of the box up and down is formed,
In the adsorption step, the suction airflow flowing through the gap between the adsorption surface and the stacked container row and flowing into the suction port is generated by taking in air from the outside of the box through the communication portion, A method for transferring a stacked container row.