JP2021038098A - Transport device - Google Patents

Abstract

To provide a transport device capable of efficiently transporting a to-be-transported article.SOLUTION: A transport mechanism 91 comprises: a plurality of buckets 961A for storing a plurality of covers C in a stacked manner; pre-stage transport means 96 for transporting the buckets 961A to a work area 981; transporting transfer means 98 for holding and transferring the covers C stored in the plurality of buckets 961A, respectively, transported to the work area 981; working detection means 986 for detecting presence of the covers C stored in the plurality of buckets 961A, respectively, transported to the work area 981; and transporting control means for controlling the transport mechanism 91. The transporting control means comprises: a movement determination part for determining whether or not to move a transport path 961 on the basis of a detection result of the working detection means 986; and a transfer determination part for determining whether or not to transfer the covers C on the basis of the detection result of the working detection means 986.SELECTED DRAWING: Figure 26

Description

The present invention relates to a transport device that transports a transported object placed on a transport path.

Conventionally, a loading device for automatically loading the contents into a container such as a compact car to manufacture a final product has been known. For example, the automatic assembly device described in Patent Document 1 includes a container opening device that automatically opens a compact lid, a middle plate incorporating device that compactly incorporates a middle plate filled with cosmetics, and a middle plate. It is equipped with a film mounting device that mounts the film on the cosmetics filled in the lid, and a carting device that packs the compact. Then, the final product is manufactured by transporting the compact to these devices.
Further, in the cartening device, after closing the lid of the compact with the lid closing device, the compact is packed in a case.

By the way, as a method of packing such a compact, in order to expose the contents of the compact and pack it, for example, a flexible transparent cover such as plastic is covered with the compact in the opened state to make the compact. A packing method is conceivable. According to this, it is possible to enjoy the merit that the beautiful appearance of the compactly loaded cosmetics and the like can be exposed and packed. Further, such a loading device can be compactly and efficiently covered with a cover covering device by providing a cover covering device that automatically covers the cover compactly.

Japanese Unexamined Patent Publication No. 6-729

However, even when the cover is automatically covered compactly by the cover covering device, if the operator is relied on to transport the cover (conveyed object) to the cover covering device, the manufacturing efficiency of the cover covering device is high. Therefore, there is a problem that the manufacturing efficiency of the final product is lowered.

An object of the present invention is to provide a transport device capable of efficiently transporting a transported object.

The transport device of the present invention is a transport device that transports a transported object placed on a transport path along a predetermined transport direction, and is provided on the transport path along the transport direction and stacks a plurality of transport objects. The transport moving means for transporting at least two storage means to a predetermined work area by moving the transport path along the transport direction, and the transport moving means for storing the storage means in the work area. A transport transfer means for holding and transferring at least one transported object stored in each of the plurality of transported storage means, and a transport stored in each of the plurality of storage means transported to the work area. A work detecting means for detecting the presence or absence of an object and a transport control means for controlling a transport device are provided, and the transport control means turns a transport path into a transport moving means based on the detection result of the work detection means. Based on the detection results of the movement determination unit that determines whether or not to move, the movement control unit that moves the transportation path to the transportation movement means based on the judgment result of the movement determination unit, and the detection result of the work detection means. A transfer determination unit that determines whether or not to transfer the transported object to the transfer means for transfer, and a transfer control unit that transfers the conveyed object to the transfer means for transfer based on the determination result of the transfer determination unit. It is characterized by having and.

According to such a configuration, the transport device includes the transport control means, and the transport control means determines whether or not to move the transport path to the transport moving means based on the detection result of the work detection means. Since it is provided with a movement determination unit for determining and a movement control unit for moving the transportation path to the transportation moving means based on the determination result of the movement determination unit, the movement determination unit uses the transportation path as the transportation moving means. If it is determined to move, the movement control unit can move the transport path to the transport moving means. Therefore, the transport device can secure at least two storage means for stacking and storing a plurality of transport objects in the work area. Further, the transport control means includes a transfer determination unit that determines whether or not to transfer the transported object to the transfer transfer means based on the detection result of the work detection means, and a determination result of the transfer determination unit. Based on the above, the transfer transfer means is provided with a transfer control unit for transferring the conveyed object. Therefore, when the transfer determination unit determines that the conveyed object is to be transferred to the transfer transfer means. The transfer control unit can transfer the transported object to the transfer means for transfer. Therefore, the transport device can hold and transfer at least one transport object stored in each of the at least two storage means secured in the work area. According to this, the transport device can transfer a plurality of transported objects at a time without relying on an operator, and can efficiently transport the transported objects.

In the present invention, the movement determination unit moves for transportation when the work detection means detects a storage means having no transported object at a position less than a predetermined threshold value among a plurality of storage means transported to the work area. It is determined that the transport path is not moved to the means, and when the work detection means detects a storage means having no transported object at a position equal to or higher than a predetermined threshold value, it is determined to move the transport path to the transport moving means. Is preferable.

According to such a configuration, when the movement determination unit detects, among the plurality of storage means transported to the work area, the storage means having no transported object at a position equal to or higher than a predetermined threshold value by the work detection means. Since it is determined that the transport path is to be moved to the transport moving means, the transport device can secure at least two storage means in which a plurality of transported objects are stacked and stored in the work area.

In the present invention, a storage detection means is provided on the upstream side in the transport direction, and a storage detection means for detecting whether or not a plurality of transported objects are stored in the plurality of storage means is provided, and a plurality of movement determination units are provided in the plurality of storage means. When it is detected by the storage detecting means that the transported object is stored, it is preferable to determine that the transport path is moved to the transport moving means.

According to such a configuration, when the storage detecting means detects that a plurality of transported objects are stored in the plurality of storage means, the movement determining unit determines that the transport path is moved to the transport moving means. Therefore, the plurality of storage means located on the upstream side of the work area can always maintain the state in which the plurality of conveyed objects are stored. Further, for example, when a worker stores a plurality of transported objects in a plurality of storage means, the movement control unit waits for the plurality of transported objects to be stored in the plurality of storage means before transporting the transport path. It can be moved to a moving means, and the transported object can be efficiently transported.

In the present invention, when the transfer determination unit detects, among the plurality of storage means conveyed to the work area, the storage means having no conveyed object at a position less than a predetermined threshold value by the work detection means, the work area. When it is determined that the transported material stored in each of the plurality of storage means transported to the vehicle is to be transferred, and the storage means having no transported material at a position equal to or higher than a predetermined threshold value is detected by the work detecting means, the work It is preferable to determine that the transported object stored in each of the plurality of storage means transported to the preliminary work area located on the upstream side of the region is to be transferred.

According to such a configuration, when the transfer determination unit detects, among the plurality of storage means transported to the work area, the storage means having no transported object at a position equal to or higher than a predetermined threshold value by the work detection means. Since it is determined that the transported object stored in each of the plurality of storage means transported to the preliminary work area located on the upstream side of the work area is to be transferred, the movement control unit sets the transport path as the transport moving means. It is possible to transfer the transported material stored in each of the plurality of storage means transported to the preliminary work area without waiting for the transported product to be moved to, and the transported product can be efficiently transported.

In the present invention, the transport transfer means includes a plurality of transport holding portions for holding at least one transported object stored in each of the plurality of storage means transported to the work area by the transport moving means. It is provided with a transport base that supports a plurality of transport holders and a transport advance / retreat mechanism that moves the transport base forward and backward with respect to a plurality of storage means. The transport base transports each of the plurality of transport holders. It is preferable to freely advance and retreat along the advancing and retreating direction of the advancing and retreating mechanism.

According to such a configuration, the transport base supports each of the plurality of transport holding portions so as to be capable of advancing and retreating along the advancing / retreating direction of the transport advancing / retreating mechanism. Even if the number of transported items stored in each is different and the height from the transport path to the top-level transported object is different, each transport holding unit is moved back and forth to hold the transported object according to the height. Can be made to. Therefore, the transport device can efficiently transport the transported objects even if the number of the transported objects stored in each of the plurality of storage means is different.

In the present invention, the transported object is formed in a substantially rectangular plate shape and has flexibility, and the storage means stacks and stores a plurality of transported objects along the direction orthogonal to the plate surface for transporting. The transfer means preferably includes a pair of transport holding portions provided along the longitudinal direction of the plate surface of the transport object for one transport object.

According to such a configuration, since the transport transfer means is provided with a pair of transport holding portions provided along the longitudinal direction of the plate surface of the transport object for one transport object, the transport object is provided. Each transport holding portion can be moved back and forth to hold the transported object according to the deformation and inclination of the transport. Therefore, the transport device can efficiently transport the transported objects even if the number of the transported objects stored in each of the plurality of storage means is different.

In the present invention, the transport transfer means preferably includes a contact portion that comes into contact with the edge of the plate surface of the transport object when the transported object stored in the storage means is held and transferred.

According to such a configuration, the transport transfer means includes a contact portion that comes into contact with the edge of the plate surface of the transport when the transported object stored in the storage means is held and transferred. , A plurality of transported objects stored in the storage means can be reliably separated and held, and the transported objects can be efficiently transported.

In the present invention, the transport holding portion includes a suction plate having a substantially rectangular suction surface for sucking the transported object, and the contact portion is a suction plate when the transported object is sucked and held by the suction plate. It is preferable to contact the edge of the plate surface of the transported object located on a straight line orthogonal to one side of the suction surface.

According to such a configuration, the contact portion is located on a straight line orthogonal to one side of the suction surface of the suction plate when the conveyed object is sucked and held by the suction plate having a substantially rectangular suction surface. Since it contacts the edge of the plate surface of the transported object, the transported object can be bent along one side of the suction surface of the suction plate. Therefore, the contact portion can make it difficult for the transported object to fall off from the suction plate as compared with the case where the transported object is sucked and held by a suction machine having a circular suction surface, for example, and the transported object can be made more efficient. Can be transported well.

In the present invention, a belt conveyor that conveys a plurality of items transferred by the transfer means for transportation and a pitch that intermittently conveys a plurality of items conveyed by the belt conveyor for each first number. The conveyor, the external transfer means for transferring a plurality of objects conveyed by the pitch conveyor to the outside of the transfer device for each second number, and the plurality of objects conveyed by the belt conveyor are first. It is preferable that the first number is about several of the second number, which is provided with a delivery means for delivering each number to the pitch conveyor.

According to such a configuration, the sending means is a divisor (first number) of a plurality of transported objects (second number) transferred to the outside of the transport device by the external transfer means. Since a plurality of transported objects transported by the belt conveyor are sent to the pitch conveyor for each, the number of the plurality of transported objects transferred to the belt conveyor by the transport transfer means and the external transfer means can be used. Even when the number of the plurality of transported objects (second number) transferred to the outside of the transport device is different, the transported objects can be efficiently transported.

The present invention includes a defect detecting means for detecting defects in a plurality of conveyed objects conveyed by the belt conveyor, and a discharging means for discharging the conveyed objects determined to be defective by the defect detecting means from the belt conveyor. preferable.

According to such a configuration, since the discharging means discharges the conveyed material determined to be defective by the defect detecting means from the belt conveyor, all the conveyed objects sent to the pitch conveyor can be regarded as good products.

Perspective view showing compact Top view showing a compact loader Diagram showing the container Top view and cross-sectional view of the pallet used for the conveyor Perspective view showing a container lid opening device Top view of the container lid opening device Functional block diagram showing a schematic configuration of a container lid opening device The figure which shows the flowchart of the container opening process executed by the container opening device. The figure which shows the state which advanced the nozzle with respect to a pallet Top view of the container lid opening device showing a state in which the fitting member is advanced with respect to the hook portion of the container. Top view of the container lid opening device showing a state in which the fitting member is rotated to disengage the hook portion of the container. Side view and cross-sectional view of the container lid opening device showing a state in which the hook portion of the container is disengaged. Top view and cross-sectional view of the container opening device showing a state in which the insertion member is inserted between the container body and the lid member. Top view and cross-sectional view of the container lid opening device showing a state in which the container body is pushed out by the insertion member. Top view and cross-sectional view of the container lid opening device showing a state in which the container body is further pushed out by the insertion member. Perspective view showing container and cover Perspective view showing the covering mechanism of the cover covering device Enlarged perspective view of the cover holding means Bottom view of the cover holding means Functional block diagram showing a schematic configuration of a cover covering device The figure which shows the flowchart of the cover covering process executed by a cover covering device. The figure which shows the cover covering device in the state which the cover is held by the cover holding means. The figure which shows the cover covering device in the state which the cover holding means was lowered. The figure which shows the cover covering device in the state which the cover holding means is further lowered. Top view showing a transport mechanism of a cover covering device according to an embodiment of the present invention. A view of the front-stage transporting means and the transporting transfer means as viewed from the -X-axis direction side. Enlarged view of the transfer means for transportation from the -X-axis direction side View of the inside of the bucket from the + Z axis direction The figure which shows the state which lowered the transport base by a robot arm. The figure which shows the state which the cover is held by the holding part for transport Enlarged view of the state where the transport base is raised and viewed from the + Y-axis direction side. The view of the latter-stage transport means and the transfer means for transport as viewed from the + Z-axis direction side. Enlarged view of the sending means and the discharging means as seen from the -Y-axis direction side. Functional block diagram showing the detailed configuration of the transport control unit The figure which shows the flowchart of the cover transfer step executed by the cover covering apparatus. Of the six buckets transported to the work area, three or more uncovered buckets are detected by the work detection means, and the six buckets in the storage area store a plurality of covers. The figure which shows the state detected by the detection means Of the six buckets transported to the work area, three or more uncovered buckets are detected by the work detection means, and the six buckets in the storage area store a plurality of covers. The figure which shows the state which was not detected by the detection means The figure which shows the state which a plurality of covers conveyed to a preliminary work area are transferred to the transfer transfer means for transfer. The figure which shows the state which a plurality of covers are transferred by the transfer transfer means for transportation. The figure which shows the post-stage transport means when the defect of a cover is not detected. Perspective view showing a cover handling device Cross-sectional view showing a cover handling device Functional block diagram showing the schematic configuration of the cover handling device The figure which shows the flowchart of the cover handling process executed by the cover handling device. The figure which shows the cover handling device in the state which lowered the roller head. A perspective view showing a container lid opening device according to a reference embodiment of the present invention. Top view of container suction machine and hook disengagement machine Functional block diagram showing a schematic configuration of a container lid opening device The figure which shows the flowchart of the hook release process executed by the container opening device. Top view of the container lid opening device showing the state in which the nozzle is advanced with respect to the pallet. Top view of the container lid opening device showing the state in which the regulating means is advanced with respect to the pallet. Top view of the container lid opening device showing a state in which the fitting member is advanced with respect to the hook portion of the container. Top view of the container lid opening device showing a state in which the fitting member is rotated to disengage the hook portion of the container. Side view and cross-sectional view of the container lid opening device showing a state in which the hook portion of the container is disengaged. The figure which shows the flowchart of the hinge rotation processing executed by the container lid opening device. Side view of a hinge rotating machine showing a state in which the hinge portion of the container is rotated.

[Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
The compact loading device of the present embodiment is a device for manufacturing a compact as a final product by loading a middle plate filled with three colors of cosmetics and a brush into a container and covering the container with a cover. is there. First, this compact will be described.

FIG. 1 is a perspective view showing a compact.
As shown in FIG. 1, the compact 100 includes a container 20 and a middle plate D and a brush B loaded in the container 20. Further, the compact 100 includes a cover C that covers the container 20. This cover C will be described in detail later.

The container 20 includes a container body 201 and a lid member 202 that covers the container body 201. The container 20 will be described in detail later.
The container body 201 includes an accommodating portion 201A for accommodating the middle plate D filled with the three-color cosmetics D1 to D3, and an accommodating portion 201B for accommodating the brush B.
The lid member 202 includes a rectangular plate-shaped mirror M and an accommodating portion 202A for accommodating the mirror M.

FIG. 2 is a top view showing a compact loading device. Specifically, FIG. 2 is a schematic view of the compact loading device 1 as viewed from the vertically upper side. In FIG. 2, the vertically upward direction is defined as the + Z axis direction, and the two axes orthogonal to the Z axis are described as the X and Y axes. The same applies to the following drawings.
As shown in FIG. 2, the compact loading device 1 includes a conveyor 2 for transporting a plurality of containers 20 by transporting a pallet P containing a plurality of containers 20 in a predetermined direction (+ X-axis direction). ..

FIG. 3 is a diagram showing a container. Specifically, FIG. 3A is a diagram showing a container in a closed state, and FIG. 3B is a diagram showing a container in an open state.
As shown in FIG. 3, the container 20 includes a container main body 201 having a first accommodating portion 201A and a second accommodating portion 201B having a substantially rectangular bottom surface, and a first accommodating portion 201A and a second accommodating portion 201B of the container main body 201. It includes a lid member 202 to cover. Further, the container 20 has a hook that rotatably engages the other end of the container body 201 and the other end of the lid member 202 with the hinge portion 203 that rotatably connects one end of the container body 201 and one end of the lid member 202. It has a part 204. The container 20 has a substantially rectangular parallelepiped shape as a whole by rotating the hinge portion 203 to engage the hook portion 204 to close the lid.

Further, as shown in FIG. 2, the compact loading device 1 includes a container transport device 3, a label affixing device 4, a container supply device 5, a container lid opening device 6, a middle plate loading device 7, and a brush loading device. A device 8, a cover covering device 9, a cover handling device 10, and a container discharging device 11 are provided, and these devices are arranged from the upstream side to the downstream side of the conveyor 2.
The conveyor 2 and the devices 3 to 11 are housed inside a region sealed by a frame in which a glass plate is fitted. The operator can perform maintenance of the conveyor 2 and the devices 3 to 11 by opening the doors arranged in the vicinity of the conveyor 2 and the devices 3 to 11, respectively.

The conveyor 2 conveys the containers 20 by conveying the pallets P supplied with the three containers 20 in a predetermined direction (+ X-axis direction). First, the pallet P used for the conveyor 2 will be described.

FIG. 4 is a top view and a cross-sectional view of a pallet used for the conveyor. Specifically, FIG. 4 (A) is a top view of the pallet P, and FIG. 4 (B) is a sectional view taken along the line AA of FIG. 4 (A).
As shown in FIG. 4, the pallet P is a resin pallet formed in the shape of a rectangular plate. The pallet P is formed by penetrating the upper and lower surfaces at three mounting portions P1 formed in a size capable of mounting the container 20 in the opened lid state and at two locations on the + Y axis direction side of the mounting portion P1. It is provided with two through holes P2 and a communication hole P3 for communicating the through hole P2 corresponding to the mounting portion P1 with the side surface of the pallet P on the −Y axis direction side.

The mounting portion P1 is formed in a groove shape and has a rectangular opening slightly larger than the area of the container 20 in the opened state (the total area of the container body 201 and the lid member 202). There is. Therefore, the container 20 in the opened state is placed so as to fit into the mounting portion P1.
In the present embodiment, the pallet P includes three mounting portions P1, but may include one or two mounting portions P1, and four or more mounting portions P1. May be provided.

As shown in FIG. 2, the conveyor 2 has an outward conveyor 21 for transporting the containers 20 and an outward conveyor 21 by transporting the pallets P supplied with the three containers 20 in a predetermined direction (+ X-axis direction). The pallet P is transported to the upstream side of the outbound conveyor 21 by transporting the pallet P from which the three containers 20 have been discharged in the direction opposite to the predetermined direction (-X-axis direction). It is provided with a return conveyor 22.

Further, the conveyor 2 includes an outbound delivery mechanism 23 that sends the pallet P conveyed to the upstream side of the outbound conveyor 21 by the inbound conveyor 22 to the outbound conveyor 21, and the inbound conveyor 22 by the outbound conveyor 21. It is provided with a return path delivery mechanism 24 that sends out the pallet P conveyed to the upstream side of the return path conveyor 22.

Therefore, the conveyor 2 conveys the pallet P on the outbound conveyor 21 in the + X-axis direction, then sends it out to the inbound conveyor 22 by the inbound delivery mechanism 24, and conveys it in the −X-axis direction on the inbound conveyor 22. After that, since it is sent back to the outbound conveyor 21 by the outbound delivery mechanism 23, the pallet P is circulated so as to rotate around the Z axis and conveyed.

The container transport device 3 includes a mounting table 31 on which the container 20 is placed, and a transport path 32 for transporting the closed container 20 mounted on the mounting table 31 to the conveyor 2. The container transport device 3 transports the container 20 placed on the mounting table 31 by the operator to the label affixing device 4 via the transport path 32, and then transports the container 20 to the container supply device 5 via the transport path 32. Here, the operator places the container body 201 in the closed lid state on the vertically upper side, the lid member 202 on the vertically lower side, and the container 20 inverted upside down on the mounting table 31.

The label affixing device 4 affixes a label from the vertically upper side to the container 20 which is conveyed in the −Y axis direction via the conveying path 32. Here, since the container 20 is turned upside down, the label affixing device 4 affixes the label to the container body 201.
The container supply device 5 includes a transfer mechanism 51 for transferring the container 20 conveyed in the + X-axis direction via the transfer path 32 to the pallet P, and the transfer mechanism 51 includes three containers 20. Is transferred to the pallet P and supplied.

The container opening device 6 opens the container 20 by disengaging the hook portion 204 of the container 20 supplied to the pallet P and then rotating the hinge portion 203. The container lid opening device 6 will be described in detail later.
The middle plate loading device 7 includes a mounting table 71 on which the middle plate D is placed, and a loading mechanism 72 for loading the middle plate D mounted on the mounting table 71 into the container 20. The loading mechanism 72 loads the inner plate D into each of the containers 20 opened by the container opening device 6. Specifically, the loading mechanism 72 loads the middle plate D filled with the three-color cosmetics D1 to D3 after applying the hot melt adhesive to the first storage portion 201A of the container 20.
The brush loading device 8 includes a loading mechanism 81 for loading the brush B into the container 20. The loading mechanism 81 loads the brush B into each of the containers 20 loaded with the middle plate D by the middle plate loading device 7. Specifically, the loading mechanism 81 loads the brush B into the second accommodating portion 201B of the container 20.

The cover covering device 9 has a transport mechanism 91 for transporting a transparent thin resin cover C having a shape covering the upper surface and side surfaces of the container 20 in the opened state, and a container 20 for transporting the cover C by the transport mechanism 91. It is provided with a coating mechanism 92 for covering the surface. Specifically, the covering mechanism 92 covers the container 20 by lowering the cover C toward the upper surface of the container 20 and covering the cover C. The cover covering device 9 will be described in detail later.
The cover handling device 10 lowers the cover C toward the upper surface of the container 20 to cover it with the cover covering device 9, and then handles the upper surface of the cover C to bring the cover C into close contact with the container 20. The cover handling device 10 will be described in detail later.
The container discharge device 11 includes a discharge path 111 for discharging the container 20 and a transfer mechanism 112 for transferring the container 20 from the pallet P to the discharge path 111, and the transfer mechanism 112 transfers the container 20 from the pallet P. It is transferred to the discharge path 111 and discharged.
Hereinafter, the main devices among the devices constituting the compact loading device 1 will be described in order.

<Container lid opening device>
FIG. 5 is a perspective view showing a container lid opening device.
As shown in FIG. 5, the container lid opening device 6 disengages the container suction machine 61 that sucks and fixes the container 20 placed on the pallet P from the hook portion 204 of the container 20. After the hook disengagement machine 62 that separates the other end of the container body 201 and the other end of the lid member 202 and the hook disengagement machine 62 disengage the hook portion 204, the hinge portion 203 is rotated. It is provided with a hinge rotating machine 63 that opens the container 20 by allowing the container 20 to open.

FIG. 6 is a top view of the container lid opening device.
As shown in FIGS. 5 and 6, the container suction machine 61 has three nozzles 611 inserted into the communication holes P3 (not shown) of the pallet P, and suction advancement / retreat for advancing / retreating the nozzles 611 with respect to the pallet P. It is equipped with a mechanism 612.

The nozzle 611 has a truncated cone-shaped tip portion 611A whose diameter decreases toward the pallet P side, a cylindrical body portion 611B fixed to the suction advancing / retreating mechanism 612, and a body portion 611B that bends in the + Z axis direction. It has a cylindrical base end portion 611C extending in this way. The base end portion 611C is connected to a suction device (not shown) via a flexible tube (not shown).
The suction advancing / retreating mechanism 612 includes a rectangular frame-shaped frame 612A for fixing the body portion 611B of the nozzle 611, and a linear actuator 612B for advancing / retreating the frame 612A with respect to the pallet P. Therefore, the suction advance / retreat mechanism 612 advances / retreats the nozzle 611 with respect to the pallet P by advancing / retreating the frame 612A with the linear actuator 612B.

The hook disengagement machine 62 includes three fitting members 621 to be fitted and inserted into each of the engaging portions of the hook portion 204 of the container 20, and a release advance / retreat mechanism 622 for advancing and retreating the fitting member 621 with respect to the hook portion 204. And a rotating mechanism 623 that rotates the fitting member 621 around an axis parallel to the advancing / retreating direction of the releasing advancing / retreating mechanism 622.

The fitting member 621 includes a columnar shaft portion 621A and a flat plate-shaped knife portion 621B fixed to the shaft portion 621A. The knife portion 621B is formed to have a thickness that allows it to be fitted into the engaging portion of the hook portion 204. Further, the knife portion 621B is fixed to the shaft portion 621A in the axial direction of the shaft portion 621A so that one side on the −X axis direction side coincides with the central axis of the shaft portion 621A.

The release advance / retreat mechanism 622 includes a rectangular plate-shaped frame 622A that supports the fitting member 621 and a linear actuator 622B that advances / retreats the frame 622A with respect to the hook portion 204. Therefore, the release advance / retreat mechanism 622 advances / retreats the fitting member 621 with respect to the hook portion 204 by advancing / retreating the frame 622A with the linear actuator 622B.
The frame 622A supports the shaft portion 621A of the fitting member 621 via the elastic member 622A1. Therefore, the frame 622A swingably supports the fitting member 621.
In the present embodiment, the frame 622A swingably supports the fitting member 621, but the frame 622A may be fixedly supported.

The rotation mechanism 623 is provided on the three pinions 623A concentrically fixed to each of the shaft portions 621A of the fitting member 621 and the frame 622A so as to be movable along the X-axis direction, and the pinion 623A. It is provided with a rack 623B that meshes with the rack 623B, a linear actuator 623C that is attached to the frame 622A and moves the rack 623B along the X-axis direction, and a support base 623D that supports the rack 623B. Therefore, the rotating mechanism 623 rotates the fitting member 621 around the axis (Y-axis) parallel to the advancing / retreating direction of the releasing advancing / retreating mechanism 622 by moving the rack 623B with the linear actuator 623C.

Here, the frame 622A swingably supports the fitting member 621, but since the pinion 623A meshes with the rack 623B provided on the frame 622A, the fitting member 621 is in the −Z axis direction. Movement to the side is restricted.
In the present embodiment, the rotation mechanism 623 employs a rack and pinion mechanism, but other mechanisms may be adopted. In short, the rotating mechanism only needs to be able to rotate the fitting member around an axis parallel to the advancing / retreating direction of the releasing advancing / retreating mechanism. For example, the rotation mechanism may be configured to rotate the motor by directly connecting it to the fitting member.

As shown in FIG. 5, the hinge rotation machine 63 includes three cylindrical shaft-shaped insertion members 631 to be inserted between the container body 201 and the lid member 202, and a rotation movement mechanism 632 for moving the insertion member 631. It has.
The rotation moving mechanism 632 has a central axis parallel to the central axis of the insertion member 631, and rotatably supports the shaft portion 632A that supports the insertion member 631 via the elliptical plate 632A1 and the shaft portion 632A. It includes a frame 632B, a motor 632C that is attached to the frame 632B and rotates the shaft portion 632A, and a robot arm 632D that moves the frame 632B in the three axial directions of X, Y, and Z. Therefore, the rotating moving mechanism 632 can rotate the insertion member 631 around the central axis of the shaft portion 632A by rotating the shaft portion 632A with the motor 632C. Further, the rotating moving mechanism 632 can move the insertion member 631 in the three axial directions of X, Y, and Z by moving the frame 632B with the robot arm 632D.

FIG. 7 is a functional block diagram showing a schematic configuration of the container lid opening device.
As shown in FIG. 7, the container opening device 6 includes the container suction machine 61, the hook disengagement machine 62, and the hinge rotating machine 63 described above, and also includes a lid opening control means 64 for controlling these. I have.
The lid opening control means 64 is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The lid opening control means 64 includes a suction control unit 641, an insertion / insertion control unit 642, a release control unit 643, and a rotation control unit 644.

The suction control unit 641 controls a suction device (not shown) connected to the nozzle 611 and a linear actuator 612B of the suction advance / retreat mechanism 612, and sucks the container 20 placed on the pallet P to suck the container. 20 is fixed to the pallet P.
The fitting / inserting control unit 642 controls the release advancing / retreating mechanism 622, and the fitting member 621 is advanced to the hook portion 204 by the releasing advancing / retreating mechanism 622, whereby the knife portion 621B is brought into the engaging portion of the hook portion 204. Is inserted.
The release control unit 643 controls the rotation mechanism 623 and rotates the fitting member 621 with the rotation mechanism 623 to release the engagement of the hook portion 204 with the knife portion 621B.
The rotation control unit 644 controls the rotation movement mechanism 632 and moves the insertion member 631 by the rotation movement mechanism 632 to insert the insertion member 631 between the container body 201 and the lid member 202 and insert the insertion member 631. The container body 201 is pushed out by the member 631 to rotate the hinge portion 203.

In the present embodiment, the rotation control unit 644 pushes out the container body 201 with the insertion member 631 to rotate the hinge part 203, but pushes out the lid member with the insertion member to rotate the hinge part. You may let me. In short, the rotation control unit may rotate the hinge portion by pushing out the container body or the lid member with the insertion member.

FIG. 8 is a diagram showing a flowchart of a container lid opening process executed by the container lid opening device.
When the container 20 is opened by the container opening device 6, the lid opening control means 64 executes steps ST61 to ST65 as shown in FIG. 8 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST61 to ST65 will be described with reference to the drawings.

FIG. 9 is a diagram showing a state in which the nozzle is advanced with respect to the pallet.
First, the lid opening control means 64 detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 6) on the conveyor 2 (ST61: pallet detection step). When the lid opening control means 64 determines in step ST61 that the pallet P has been conveyed to a predetermined position, the lid opening control means 64 executes the processes after step ST62. On the other hand, when the lid opening control means 64 determines in step ST61 that the pallet P has not been conveyed to a predetermined position, the container lid opening control means 64 does not execute the processes after step ST62. End the process.

If it is determined in step ST61 that the pallet P has been transported to a predetermined position,
As shown in FIG. 9, the suction control unit 641 inserts the nozzle 611 into the communication hole P3 of the pallet P by advancing the frame 612A with respect to the pallet P by the linear actuator 612B (see the thick arrow in the figure). .. Then, the suction control unit 641 sucks the container 20 placed on the pallet P through the communication hole P3 of the pallet P by a suction device (not shown) connected to the nozzle 611, thereby sucking the container 20 on the pallet. Fixed to P (ST62: container suction step).

FIG. 10 is a top view of the container lid opening device showing a state in which the fitting member is advanced with respect to the hook portion of the container.
Next, as shown in FIG. 10, the fitting control unit 642 advances the frame 622A with respect to the container 20 by the linear actuator 622B (see the thick arrow in the figure), so that the fitting control unit 642 reaches the engaging portion of the hook portion 204. The knife portion 621B of the fitting member 621 is fitted and inserted (ST63: knife fitting step).

FIG. 11 is a top view of the container lid opening device showing a state in which the fitting member is rotated to disengage the hook portion of the container.
Next, as shown in FIG. 11, the release control unit 643 moves the rack 623B toward the + X axis direction by the linear actuator 623C (see the thick arrow in the figure) to move the fitting member 621 around the Y axis. Rotate. Then, the release control unit 643 disengages the hook portion 204 at the knife portion 621B by rotating the fitting member 621 (ST64: hook release step).

FIG. 12 is a side view and a cross-sectional view of the container lid opening device showing a state in which the hook portion of the container is disengaged. Specifically, FIG. 12 is a view (left view) of the main part of the container opening device 6 viewed from the + Y axis direction side, and an AA cross-sectional view (right view) of the left figure. Further, FIG. 12A is a diagram showing a state before the fitting member 621 is rotated, and FIG. 12B is a diagram showing a state in the middle of rotating the fitting member 621. is there.
Here, in the container suction step ST62 described above, as shown in FIG. 12, the suction control unit 641 uses a suction device (not shown) connected to the nozzle 611 to connect the container 20 placed on the pallet P to the pallet P. The container 20 is fixed to the pallet P by suctioning through the communication hole P3 of the above (see the thin arrow in the figure).

Further, in the knife fitting step ST63 described above, as shown in FIG. 12A, the fitting control unit 642 advances the frame 622A with respect to the container 20 by the linear actuator 622B, so that the hook portion 204 The knife portion 621B of the fitting member 621 is fitted and inserted into the engaging portion.
Then, in the hook release step ST64 described above, as shown in FIG. 12B, the release control unit 643 disengages the hook portion 204 at the knife portion 621B by rotating the fitting member 621. To do.

At this time, as described above, the knife portion 621B is fixed to the shaft portion 621A so that one side on the −X axis direction side coincides with the central axis of the shaft portion 621A in the axial direction of the shaft portion 621A. , It will rotate around this one side.
Therefore, the fitting member 621 extends on the rotation axis of the rotation mechanism 623 and has one side parallel to the advance / retreat direction of the release advance / retreat mechanism 622. Further, the rotation mechanism 623 rotates the fitting member 621 in the direction of advancing the container 20 in the opening direction (+ Z-axis direction). In other words, the rotation mechanism 623 rotates the fitting member 621 without moving it in the direction opposite to the opening direction (−Z axis direction) of the container 20.
In the present embodiment, the rotation mechanism 623 rotates the fitting member 621 without moving the fitting member 621 in the direction opposite to the opening direction of the container 20, but the fitting member 621 is rotated in the opening direction of the container 20. It may be rotated so as to move in the opposite direction to the above. In this case, it is preferable to use an insertion member made of a material that does not easily damage the container.

FIG. 13 is a top view and a cross-sectional view of a container opening device showing a state in which the insertion member is inserted between the container body and the lid member. Specifically, FIG. 13 (A) is a top view showing a part of the container lid opening device 6, and FIG. 13 (B) is a sectional view taken along the line AA of FIG. 13 (A).
Next, as shown in FIG. 13, the rotation control unit 644 moves the insertion member 631 near the hook portion 204 of the container 20 by moving the frame 632B with the robot arm 632D (not shown). Then, as shown in FIG. 13B, the rotation control unit 644 rotates the shaft portion 632A by the motor 632C, so that the insertion member 631 is moved from the position of the alternate long and short dash line in the figure to the position of the solid line in the figure. Is rotated around the central axis of the shaft portion 632A and inserted between the container body 201 and the lid member 202.

In the present embodiment, the rotation control unit 644 rotates the shaft portion 632A by the motor 632C to rotate the insertion member 631 around the central axis of the shaft portion 632A, and the container body 201 and the lid member 202. Although it is inserted between the containers, the insertion member 631 may be inserted between the container body 201 and the lid member 202 without rotating the insertion member 631 around the central axis of the shaft portion 632A.

Here, the insertion member 631 is inserted between the container body 201 and the lid member 202 so that the axis of the insertion member 631 and the rotation axis of the hinge portion 203 are parallel to each other.
In the present embodiment, the insertion member 631 is inserted between the container body 201 and the lid member 202 so that the axis of the insertion member 631 and the rotation axis of the hinge portion 203 are parallel to each other. It does not have to be inserted between the container body 201 and the lid member 202 so as to be. In short, the insertion member may be inserted between the container body and the lid member.

FIG. 14 is a top view and a cross-sectional view of a container opening device showing a state in which the container body is pushed out by the insertion member.
Next, as shown in FIG. 14, the rotation control unit 644 pushes out the container body 201 by the insertion member 631 by moving the frame 632B by the robot arm 632D (not shown), and rotates the hinge unit 203. Move it (see the thin arrow in FIG. 14B).
At this time, the fitting control unit 642 retracts the knife portion 621B of the fitting member 621 by retracting the frame 622A with respect to the container 20 by the linear actuator 622B (see the thick arrow in FIG. 14A).

As described above, in the present embodiment, the hinge rotating machine 63 disengages the hook portion 204 with the hook disengagement machine 62, and then uses the hook disengagement machine 62 to disengage the other end of the container body 201 and the other end of the container body 201. When the other end of the lid member 202 is separated, the container 20 is opened by rotating the hinge portion 203.

FIG. 15 is a top view and a cross-sectional view of the container lid opening device showing a state in which the container body is further pushed out by the insertion member.
Finally, as shown in FIG. 15, the rotation control unit 644 further pushes out the container body 201 by the insertion member 631 by moving the frame 632B by the robot arm 632D, and rotates the hinge unit 203 ( (See FIG. 15B, thin arrow). As a result, the container 20 is completely opened (ST65: hinge rotation step).
At this time, the release control unit 643 rotates the fitting member 621 around the Y axis by moving the rack 623B toward the −X axis direction by the linear actuator 623C (see the thick arrow in FIG. 15A). .. Then, the release control unit 643 returns the knife portion 621B of the fitting member 621 to the state before rotation by rotating the fitting member 621.

In the present embodiment, after the knife portion 621B of the fitting member 621 is retracted, the knife portion 621B of the fitting member 621 is returned to the state before rotation by rotating the fitting member 621. However, on the contrary, even if the knife portion 621B of the fitting member 621 is returned to the state before rotation by rotating the fitting member 621 and then retracting the knife portion 621B of the fitting member 621. Good.

After that, the lid opening control means 64 returns to the initial state (state of FIG. 6) by controlling the container suction machine 61 and the hinge rotation machine 63, and executes the above-described step ST61 again for the next pallet P. By doing so, steps ST61 to ST65 are repeatedly executed.

As described above, in the present embodiment, the lid opening control means 64 functions as a release control means for controlling the release advance / retreat mechanism 622 and the rotation mechanism 623.
In the present embodiment, the hook disengagement machine 62 employs a configuration including a fitting member 621, a release advance / retreat mechanism 622, a rotation mechanism 623, and a lid opening control means 64. However, other configurations may be adopted. In short, the hook disengagement machine may adopt any configuration as long as the other end of the container body and the other end of the lid member can be separated by disengaging the hook portion.

Further, in the present embodiment, the lid opening control means 64 functions as a rotation control means for controlling the rotation movement mechanism 632.
In the present embodiment, the hinge rotating machine 63 employs a configuration including an insertion member 631, a rotating moving mechanism 632, and a lid opening control means 64, but other configurations are adopted. You may. In short, the hinge rotating machine adopts any configuration as long as the container can be opened by rotating the hinge portion after the hook portion is disengaged by the hook disengaging machine. You may.

<Cover covering device>
As described above, the cover covering device 9 includes a transport mechanism 91 for transporting the cover C, and a coating mechanism 92 for covering the container 20 (cover) with the cover C transported by the transport mechanism 91 (as described above). (See FIG. 2).

FIG. 16 is a perspective view showing the container and the cover.
As shown in FIG. 16, the cover C is a transparent thin resin cover that is flexible and has a shape that covers the upper surface and the side surface of the container 20 in the opened state.
Specifically, the cover C has a flat upper surface portion C1 that covers the upper surface of the container 20 and a rectangular frame-shaped side surface portion C2 that covers the side surface of the container 20.
In the present embodiment, the cover C adopts a transparent thin resin cover, but a cover of any color and material may be adopted as long as it has flexibility.

The upper surface portion C1 includes a hinge covering portion C11 formed so as to cover the hinge portion 203, a main body side hook covering portion C12 formed so as to cover the hook portion 204 of the container main body 201, and a hook portion 204 of the lid member 202. The lid-side hook covering portion C13 formed to cover the first accommodating portion 201A, the first accommodating covering portion C14 formed to cover the first accommodating portion 201A, and the second accommodating portion formed to cover the second accommodating portion 201B. It includes a covering portion C15.
Here, the first accommodating covering portion C14 and the second accommodating covering portion C15 are formed so as to project upward. Further, the second accommodating covering portion C15 is formed so as to project upward from the first accommodating covering portion C14.

The side surface portion C2 includes a plurality of projecting portions C21 formed so as to project toward the inside of the cover C. The protruding portion C21 comes into contact with the side surface of the container 20 when the cover C is covered with the container 20.
In the previous step, the compact loading device 1 was filled with the three-color cosmetics D1 to D3 after applying the hot melt adhesive to the first storage portion 201A of the container 20 by the middle plate loading device 7. The middle plate D is loaded, and the brush B is loaded into the second accommodating portion 201B of the container 20 by the brush loading device 8.

In the following description, the covering mechanism 92 for covering the container 20 (cover) with the cover C transported by the transport mechanism 91 will be described first, and then the transport mechanism 91 for transporting the cover C will be described.

FIG. 17 is a perspective view showing a covering mechanism of the cover covering device.
As shown in FIG. 17, the covering mechanism 92 includes a cover holding means 93 for holding the cover C (see FIG. 16) and a covering moving mechanism 94 for moving the cover holding means 93.

FIG. 18 is an enlarged perspective view showing the cover holding means. FIG. 19 is a bottom view of the cover holding means.
As shown in FIGS. 17 to 19, the cover holding means 93 includes one end holding means 931 for holding one end of the cover C (the end on the container body 201 side) and the other end (lid) of the cover C. The other end holding means 932 for holding the end portion on the member 202 side) and the plate 933 for supporting the one end holding means 931 and the other end holding means 932 are provided.

The one-end holding means 931 is a substantially flat plate-shaped member. The one-end holding means 931 has three recesses 931A formed in a shape corresponding to the end of the cover C on the container body 201 side, and a through hole 931B formed in the recess 931A so as to penetrate along the Z-axis direction. And a cylindrical tubular portion 931C which is attached to the upper surface of the holding means 931 at one end and is provided so as to communicate with the through hole 931B. Further, the one-end holding means 931 is swingably attached to the plate 933 via the spring 931D and the damper 931E. The tubular portion 931C is connected to a suction device (not shown) via a flexible tube (not shown).

The other end holding means 932 is a substantially flat plate-shaped member. The other end holding means 932 has three recesses 932A formed in a shape corresponding to the end portion of the cover C on the lid member 202 side, and a through hole formed in the recess 932A so as to penetrate along the Z-axis direction. It includes a 932B and a cylindrical tubular portion 932C that is attached to the upper surface of the other end holding means 932 and is provided so as to communicate with the through hole 932B. Further, the other end holding means 932 is swingably attached to the plate 933 via the spring 932D and the damper 932E. The tubular portion 932C is connected to a suction device (not shown).

The plate 933 includes a cylindrical shaft body 933A provided between one end holding means 931 and the other end holding means 932, and a plurality of fixed flat plates 933B for fixing the cylindrical shaft body 933A.
The cylindrical shaft body 933A is formed on the −Z axis direction side and has a recess 933A1 extending along the X axis direction. The recess 933A1 is formed in a shape corresponding to the hinge covering portion C11 of the cover C.

As shown in FIG. 17, the covering moving mechanism 94 has a slider 941 that supports the plate 933, a Z-axis drive unit 942 that moves the slider 941 along the Z-axis direction, and a Z-axis drive unit 942 in the Y-axis direction. It is provided with a Y-axis drive unit 943 that moves along the above.

FIG. 20 is a functional block diagram showing a schematic configuration of the cover covering device.
As shown in FIG. 20, the cover covering device 9 includes the above-mentioned transport mechanism 91 and covering mechanism 92, and also includes a covering control means 95 for controlling these.
The covering control means 95 is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The coating control means 95 includes a transport control unit 951 and a coating control unit 952.

The transport control unit 951 controls the transport mechanism 91, and the transport mechanism 91 transports the cover C to a predetermined standby position. Specifically, the transport control unit 951 moves the plate 933 with the covering moving mechanism 94, so that the cover holding means 93 covers the three covers C with the transport mechanism 91 to a predetermined standby position. Transport C. The transport mechanism 91 and the transport control unit 951 will be described in detail later.
The coating control unit 952 controls the coating mechanism 92, and covers the container 20 with the cover C conveyed by the transfer mechanism 91. Specifically, the covering control unit 952 covers the container 20 with the cover C by lowering the cover C toward the upper surface of the container 20 by the covering mechanism 92.

FIG. 21 is a diagram showing a flowchart of a cover covering process executed by the cover covering device.
When the cover C is coated on the container 20 by the cover covering device 9, the covering control means 95 executes steps ST91 to ST93 as shown in FIG. 21 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST91 to ST93 will be described with reference to the drawings.

First, the covering control means 95 detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 17) on the conveyor 2 (ST91: pallet detection step). When the coating control means 95 determines in step ST91 that the pallet P has been conveyed to a predetermined position, the coating control means 95 executes the processes after step ST92. On the other hand, when the covering control means 95 determines in step ST91 that the pallet P has not been conveyed to a predetermined position, the covering covering process is performed without executing the processes after step ST92. finish.

If it is determined in step ST91 that the pallet P has been transported to a predetermined position,
By moving the plate 933 by the covering moving mechanism 94, the transport control unit 951 transports the cover C by the transport mechanism 91 to a predetermined standby position where the cover holding means 93 can hold the three covers C (the cover C). ST92: Cover transfer step).

FIG. 22 is a diagram showing a cover covering device in a state where the cover is held by the cover holding means. Specifically, FIG. 22 is a view of the cover covering device 9 as viewed from the + X axis direction side.
Next, the covering control unit 952 executes the cover covering step of ST93. In this cover covering step, first, the covering control unit 952 moves the plate 933 by the covering moving mechanism 94 to move the cover C to a predetermined standby position where the cover C is conveyed in the cover conveying step ST92, and then moves the plate 933 to a predetermined standby position. The cover C is held by the cover holding means 93 by sucking the cover C through the through holes 931B and 932B by a suction device (not shown) connected to the tubular portions 931C and 932C.
Then, as shown in FIG. 22, the covering control unit 952 moves the cover holding means 93 above the pallet P by moving the plate 933 by the covering moving mechanism 94.

Here, the end of the cover C on the container body 201 side is fitted with the recess 931A of the holding means 931 at one end, and the end of the cover C on the lid member 202 side is fitted with the recess 932A of the holding means 932 at the other end. To do. In other words, the one-end holding means 931 and the other-end holding means 932 are provided with recesses 931A and 932A for accommodating the cover C when the cover C is held. The recesses 931A and 932A have a shape that covers the upper surface and the side surface of the cover C.
In the present embodiment, the one-end holding means 931 and the other-end holding means 932 are provided with recesses 931A and 932A for accommodating the cover C when the cover C is held, but the recesses 931A and 932A may not be provided. In short, the one-end holding means only needs to be able to hold one end of the cover, and the other-end holding means only needs to be able to hold the other end of the cover.

Further, the hinge covering portion C11 of the cover C fits with the recess 933A1 of the cylindrical shaft body 933A. In other words, the cover covering device 9 includes a cylindrical shaft body 933A as a central holding means for holding the central portion of the cover C, and the cover holding means 93 fixes and holds the cylindrical shaft body 933A.
In the present embodiment, the cover covering device 9 includes a central holding means for holding the central portion of the cover C, but the cover covering device 9 may not be provided. In short, the cover covering device may include one end holding means and the other end holding means.

FIG. 23 is a diagram showing a cover covering device in a state where the cover holding means is lowered.
Next, as shown in FIG. 23, the covering control unit 952 lowers the cover C toward the upper surface of the container 20 and covers it by moving the cover holding means 93 by the covering moving mechanism 94 (FIG. FIG. See medium-thick arrow).

Here, as described above, the one-end holding means 931 is swingably attached to the plate 933 via the spring 931D and the damper 931E. As described above, the other end holding means 932 is swingably attached to the plate 933 via the spring 932D and the damper 932E. In other words, the cover holding means 93 supports one end holding means 931 and the other end holding means 932 so as to be able to advance and retreat toward the upper surface of the container 20.

Therefore, when the cover C is lowered toward the upper surface of the container 20 and covered by the covering control unit 952, when the cover C is caught by the end portion of the container 20, the one-side holding means 931 and the other-end holding means 932 move the container. It will rise away from 20. Further, since the cover holding means 93 fixes and supports the cylindrical shaft body 933A that holds the hinge covering portion C11 of the cover C, the covering control unit 952 lowers the cover C toward the upper surface of the container 20 to cover the cover C. When covered, the cylindrical shaft body 933A does not rise so as to be separated from the container 20.
In other words, when the cover C is lowered toward the upper surface of the container 20 and covered by the covering control unit 952, when the cover C is caught on the end of the container 20, the cover C separates both ends from the container 20. It will be raised and bent (see FIG. 23).

In the present embodiment, the cover holding means 93 supports one end holding means 931 and the other end holding means 932 so as to be able to advance and retreat toward the upper surface of the cover C, but only the one end holding means 931 is supported on the upper surface of the container 20. It may be supported so as to be able to advance and retreat toward the upper surface of the container 20, and only the other end holding means 932 may be supported so as to be able to advance and retreat toward the upper surface of the container 20. In short, the cover holding means may support at least one of the one-side holding means and the other-end holding means with respect to the upper surface of the container so as to be able to advance and retreat.

FIG. 24 is a diagram showing a cover covering device in a state where the cover holding means is further lowered.
Next, as shown in FIG. 24, the covering control unit 952 further lowers the cover C toward the upper surface of the container 20 and covers the cover C by moving the cover holding means 93 by the covering moving mechanism 94 (as shown in FIG. 24). See the thick arrow in the figure).
Then, the covering control unit 952 can cover the container 20 with the bent cover C by releasing the suction of the suction device (not shown) connected to the tubular portions 931C and 932C.
After that, the covering control means 95 returns to the initial state (the state shown in FIG. 17) by controlling the covering mechanism 92, and steps ST91 to the next pallet P by executing the above-described step ST91 again. Repeat ST93.

FIG. 25 is a top view showing a transport mechanism of the cover covering device according to the embodiment of the present invention.
As shown in FIG. 25, the transport mechanism 91 is attached to the pre-stage transport means 96 that transports the cover C mounted on the transport path 961 along a predetermined transport direction (−Y axis direction) and the covering moving mechanism 94. By moving the plate 933, the cover holding means 93 can hold the three covers C. The rear-stage transporting means 97 for transporting the cover C transported by the front-stage transporting means 96 to the predetermined standby position described above, and the front-stage transporting means 97. It is provided with a transfer means 98 for transfer, which transfers the cover C conveyed by the transfer means 96 to the subsequent transfer means 97.

As described above, in the present embodiment, the transport mechanism 91 functions as a transport device that transports the cover C (conveyed object) mounted on the transport path 961 along a predetermined transport direction.
In the present embodiment, the transport mechanism 91 conveys the cover C, but other conveyed objects may be conveyed.

FIG. 26 is a view of the front-stage transporting means and the transporting transfer means as viewed from the −X-axis direction side.
As shown in FIGS. 25 and 26, the pre-stage transport means 96 is provided along the Y-axis direction, and is provided along the Y-axis direction with the above-mentioned transport path 961 on which the cover C is placed, and also transports the cover C. It includes a lower transport path 962 (see FIG. 26) provided on the lower side (−Z axis direction side) of the path 961 and a shooter 963 provided on the −Y axis direction side of the transport path 961.

The transport path 961 transports the cover C along the predetermined transport direction by moving in the predetermined transport direction (−Y axis direction). The transport path 961 is provided in the transport path 961 along the transport direction, and is provided on both sides of the transport path 961 in the X-axis direction and a plurality of buckets 961A (storage means) for stacking and storing a plurality of covers C. A guide rail 961B, a storage area 961C provided on the upstream side (+ Y-axis direction side) in the transport direction, and a storage area 961C for storing a plurality of covers C in the bucket 961A, and a bucket in the storage area 961C. The 961A is provided with a storage detecting means 961D for detecting whether or not a plurality of covers C are stored.

The bucket 961A is partitioned by two partition plates 961A1 fixed to the transport path 961 so that a plurality of covers C can be stacked and stored. This bucket 961A can store about 10 covers C. In other words, in the bucket 961A, a plurality of covers C are stacked and stored along a direction orthogonal to the upper surface portion C1 (plate surface).
In the present embodiment, the storage means adopts the bucket 961A partitioned by the two partition plates 961A1, but other shapes may be adopted. In short, the storage means may be provided in the transport path along the transport direction, and a plurality of transport objects may be stacked and stored.

The guide rail 961B is provided from the storage area C to the shooter 963 to prevent the cover C stored in the bucket 961A from falling.
The storage area 961C includes two poles 961C1 provided on each of the upstream side and the downstream side in order to make the operator recognize that the bucket 961A is an area for storing a plurality of covers C. Further, the size of the storage area 961C partitioned by the two poles 961C1 corresponds to the size of six buckets 961A. In other words, the storage area 961C can store a plurality of covers C in the six buckets 961A.
The operator places the plurality of covers C on the transport path 961 by storing about 10 covers C in the six buckets 961A of the storage area 961C.

The storage detection means 961D is provided at each position corresponding to the six buckets 961A in the storage area 961C. In other words, each storage detecting means 961D can detect whether or not a plurality of covers C are stored in each bucket 961A. Specifically, the storage detection means 961D is a distance sensor that detects the distance to the object by emitting light toward the object and incident the reflected light of the light. In the present embodiment, the storage detection means 961D is provided on the upper side (+ Z axis direction side) of the transport path 961 in order to detect the distance to the transport path 961. Then, the storage detection means 961D detects the distance to the transport path 961, and if it is equal to or longer than a predetermined distance (distance from the storage detection means 961D to the transport path 961), the bucket 961A has a plurality of covers. It is detected that C is not stored, and if it is less than a predetermined distance, it is detected that a plurality of covers C are stored in the bucket 961A.

In the present embodiment, the storage detection means 961D employs a non-contact type distance sensor that detects the distance to the object, but for example, another sensor such as a contact type sensor is adopted. May be good. In short, the storage detecting means may be provided on the upstream side in the transport direction, and may be able to detect whether or not a plurality of transported objects are stored in the plurality of storage means.

The lower transport path 962 transports the cover C along a predetermined transport direction by moving in a predetermined transport direction (+ Y-axis direction). The downward transport path 962 is inclined so as to descend toward the downstream side (+ Y-axis direction side).
The shooter 963 is a plate-shaped member having a curved shape so as to bulge in the −Y axis direction. The shooter 963 guides the cover C discharged from the downstream side of the transport path 961 to the upstream side of the lower transport path 962 as the transport path 961 moves.

FIG. 27 is an enlarged view of the transport transfer means viewed from the −X axis direction side.
As shown in FIG. 27, the transport transfer means 98 is used for a plurality of transports for holding one cover C housed in each of the plurality of buckets 961A transported to the work area 981 by the pre-stage transport means 96. A robot arm 984 that supports a holding portion 982, a rectangular plate-shaped transport base 983 that supports a plurality of transport holding portions 982, and a transport base 983, and moves the transport base 983 in each axial direction of the XYZ. And have.

In the present embodiment, the transport transfer means 98 holds and transfers one cover C housed in each of the plurality of buckets 961A transported to the work area 981 by the front-stage transport means 96. However, a plurality of them may be held and reprinted. In short, the transport transfer means may hold and transfer at least one transported object stored in each of the plurality of storage means transported to the work area by the transport moving means.

Here, the size of the work area 981 corresponds to the size of six buckets 961A. In the present embodiment, the size of the work area 981 corresponds to the size of six buckets 961A, but it may correspond to the size of at least two buckets 961A.

Therefore, in the present embodiment, the pre-stage transport means 96 functions as a transport moving means for transporting at least two buckets 961A to a predetermined work area 981 by moving the transport path 961 along the transport direction. ..
The guide rail 961B has window portions 961B1 formed at each position corresponding to the six buckets 961A in the work area 981. The operator can check the inside of the six buckets 961A in the work area 981 through these window portions 961B1.

The transport base 983 supports each of the plurality of transport holding portions 982 so as to be able to advance and retreat along the Z-axis direction. Specifically, each transport holding portion 982 urges the cylindrical rod 982A supported by the transport base 983 so as to be able to advance and retreat along the Z-axis direction, and the rod 982A toward the −Z axis direction. The spring 982B and the suction plate 982C which are attached to the tip of the rod 982A on the −Z axis direction side and which suck and hold the upper surface of the cover C are provided.
The base end portion of the rod 982A is connected to a suction device (not shown) via a flexible tube (not shown). As a result, the suction board 982C can suck and hold the upper surface of the cover C.

FIG. 28 is a view of the inside of the bucket as viewed from the + Z axis direction side.
As shown in FIG. 28, the transport holding portions 982 are provided at two locations along the longitudinal direction of the upper surface portion C1 (plate surface) of the cover C formed in a substantially rectangular plate shape. In other words, the cover C is held by a pair of transport holding portions 982.
Further, the transport transfer means 98 includes a contact portion 985 that contacts the edge of the plate surface of the cover C when the cover C housed in the bucket 961A is held and transferred.

In the present embodiment, the transport holding portions 982 are provided at two locations along the longitudinal direction of the plate surface of the cover C, but may be provided at one location or at three or more locations. You may be. In short, the transport holding unit only needs to be able to hold at least one transported object stored in each of the plurality of storage means transported to the work area by the transport moving means.
Further, in the present embodiment, the transport transfer means 98 is configured to include a plurality of transport holding portions 982, a transport base portion 983, and a robot arm 984, but other configurations may be used. Good. In short, the transport transfer means is configured to be able to hold and transfer at least one transported object stored in each of the plurality of storage means transported to the work area by the transport moving means. It suffices if it is done.

FIG. 29 is a diagram showing a state in which the transport base is lowered by the robot arm.
When the plurality of transport holding portions 982 hold the covers C housed in the bucket 961A one by one, the robot arm 984 directs the transport base 983 in the −Z axis direction as shown in FIG. By lowering the suction plate 982C so that the suction plate 982C is brought close to the cover C, the suction plate 982C sucks and holds the cover C.

Here, as described above, the operator places the plurality of covers C in the transport path 961 by storing about 10 covers C in the six buckets 961A of the storage area 961C. The number of covers C housed in each of the plurality of buckets 961A transported to the work area 981 by the pre-stage transport means 96 is not a fixed number but an indefinite number.
On the other hand, since the transport base 983 supports each of the plurality of transport holding portions 982 so as to be able to advance and retreat along the Z-axis direction, each transport holding portion 982 is housed in each bucket 961A. The cover C rises according to the number of the covers C, and the cover C can be sucked and held by the suction board 982C without applying a load to the cover C.
In the present embodiment, the transport base 983 supports each of the plurality of transport holding portions 982 so as to be able to advance and retreat along the Z-axis direction, but it may not be supported so as to be able to advance and retreat.

FIG. 30 is a diagram showing a state in which the cover is held by the transport holding portion.
After that, as shown in FIG. 30, the robot arm 984 raises the transport base 983 in the + Z-axis direction to raise the cover C sucked by the suction board 982C, thereby causing a plurality of transport holding portions. At 982, the covers C housed in the bucket 961A are held one by one. At this time, each transport holding portion 982 returns to the original state by urging the rod 982A with the spring 982B.
Therefore, in the present embodiment, the robot arm 984 functions as a transport advancing / retreating mechanism for advancing / retracting the transport base 983 with respect to the plurality of buckets 961A. Further, the transport base 983 is supported by the transport base 983 so as to be freely advancing and retreating along the advancing / retreating direction of the transport advancing / retreating mechanism.

FIG. 31 is an enlarged view of the state in which the transport base is raised and viewed from the + Y-axis direction side.
As shown in FIG. 31, the contact portion 985 raises the transport base 983 in the + Z axis direction to raise the cover C sucked by the suction plate 982C (see the thick arrow in the figure). Since it comes into contact with the edge of the plate surface of C, the cover C that has been engaged with the cover C sucked by the suction board 982C and has been raised together (the cover C that has not been sucked by the suction board 982C) is It will fall into the bucket 961A (see the thin arrow and the two-point chain line in the figure).
Here, as shown in FIG. 28, the contact portion 985 of the cover C located on a straight line orthogonal to one side of the suction surface of the suction plate 982C when the cover C is sucked and held by the suction plate 982C. It is in contact with the edge of the plate surface. Specifically, the suction surface of the suction board 982C is formed in a substantially elliptical shape having two sides parallel to each other. Then, the contact portion 985 contacts the edge of the plate surface of the cover C (the corner of the plate surface of the cover C) located on a straight line orthogonal to one of the two sides of the suction surface close to the contact portion 985. doing.

In the present embodiment, the contact portion 985 is a plate surface of the cover C located on a straight line orthogonal to one side of the suction surface of the suction plate 982C when the cover C is sucked and held by the suction plate 982C. Although it is in contact with the edge, it may be in contact with other positions. In short, the contact portion may come into contact with the edge of the plate surface of the conveyed object when the conveyed object stored in the storage means is held and transferred.
Further, in the present embodiment, the transport transfer means 98 is provided with a contact portion that contacts the edge of the plate surface of the cover C when the cover C housed in the bucket 961A is held and transferred. , Depending on the shape and type of the transported object, this may not be provided.

Further, as shown in FIG. 27, the transport transfer means 98 includes a work detection means 986 that detects the presence or absence of a cover C housed in each of the plurality of buckets 961A transported to the work area 981. ..
The work detection means 986 is provided at each position corresponding to the six buckets 961A in the work area 981. Each work detection means 986 is fixed to the support base 986A and is provided so as to penetrate the guide rail 961B (see FIGS. 25 and 28). In other words, each work detection means 986 can detect the presence or absence of the cover C housed in each bucket 961A. Specifically, the working detection means 986 is a distance sensor that detects the distance to the object by emitting light toward the object and incident the reflected light of the light. In the present embodiment, the working detection means 986 is slightly above the transport path 961 (+ Z axis) in order to detect the distance to the cover C at the bottom of the cover C housed in the bucket 961A. It is attached to the guide rail 961B so as to be located on the directional side). Then, the working detection means 986 detects the distance to the cover C, and if it is equal to or more than the predetermined distance, detects that the cover C is not stored in the bucket 961A, and is less than the predetermined distance. If so, it is detected that the cover C is stored in the bucket 961A.

In the present embodiment, the working detection means 986 employs a non-contact type distance sensor that detects the distance to the object, but for example, another sensor such as a contact type sensor is adopted. May be good. In short, the work detection means only needs to be able to detect the presence or absence of a transported object stored in each of the plurality of storage means transported to the work area.

FIG. 32 is a view of the rear-stage transporting means and the transporting transfer means as viewed from the + Z-axis direction side.
As shown in FIG. 32, the subsequent transfer means 97 is conveyed by the belt conveyor 971 and the belt conveyor 971 that convey a plurality of covers C transferred by the transfer transfer means 98 in the + X-axis direction. A pitch conveyor 972 that intermittently conveys a plurality of covers C one by one (first number) in the −X axis direction, and a plurality of covers C that are conveyed by the belt conveyor 971 one by one. It is provided with a delivery means 973 that delivers to the pitch conveyor 972. Then, as described above, the covering mechanism 92 transfers the plurality of covers C conveyed by the pitch conveyor 972 to the pallet P in every three covers. Therefore, in the present embodiment, the covering mechanism 92 serves as an external transfer means for transferring the plurality of covers C conveyed by the pitch conveyor 972 to the outside of the transfer mechanism 91 every three (second number). Function.
Therefore, in the present embodiment, the first number (1 piece) is a divisor of the second number (3 pieces). The first number may be any other number as long as it is a divisor of the second number.

Further, in the subsequent stage conveying means 97, the camera 974 as a defect detecting means for detecting the defects of the plurality of covers C conveyed by the belt conveyor 971 and the cover C determined to be defective by the camera 974 are transferred from the belt conveyor 971. It is provided with a discharge means 975 for discharging.
In the present embodiment, the post-stage transport means 97 includes the camera 974 and the discharge means 975, but these may not be provided when the defect determination of the cover C is not performed.

FIG. 33 is an enlarged view of the sending means and the discharging means as viewed from the −Y axis direction side.
As shown in FIGS. 32 and 33, the delivery means 973 includes an air cylinder 973A that advances and retreats the piston along the Y-axis direction, and a pad 973B attached to the tip of the piston of the air cylinder 973A. The width of the pad 973B in the X-axis direction is set to be slightly smaller than the width of the cover C in the lateral direction. In other words, the delivery means 973 advances the pad 973B in the −Y axis direction by the air cylinder 973A, so that the plurality of covers C conveyed by the belt conveyor 971 are individually transferred to the pitch conveyor 972. Can be sent.
The delivery means 973 can return to the original position by retracting the pad 973B in the + Y axis direction with the air cylinder 973A.

The discharge means 975 includes a stopper 975A for stopping the cover C by contacting the cover C conveyed by the belt conveyor 971, and an elevator 975B for raising and lowering the stopper 975A along the Z-axis direction. The stopper 975A includes a contact sensor 975A1 that detects whether or not the cover C is stationary by detecting contact with the cover C (see FIG. 33).
The stopper 975A makes the cover C stationary at a position where the cover C can be sent to the pitch conveyor 972 by the sending means 973.

As shown in FIG. 33A, the discharge means 975 can stop the cover C conveyed by the belt conveyor 971 by lowering the stopper 975A by the elevator 975B. Further, as shown in FIG. 33B, the discharging means 975 can discharge the cover C conveyed by the belt conveyor 971 to the outside of the belt conveyor 971 by raising the stopper 975A by the elevator 975B. it can.
As described above, the discharging means 975 discharges the cover C determined to be defective by the camera 974 from the belt conveyor 971.

FIG. 34 is a functional block diagram showing a detailed configuration of the transport control unit.
As shown in FIG. 34, the transport control unit 951 includes a movement determination unit 951A, a movement control unit 951B, a transfer determination unit 951C, a transfer control unit 951D, a defect determination unit 951E, and a transmission / discharge control unit 951F. And have.

The movement determination unit 951A determines whether or not to move the transport path 961 to the pre-stage transport means 96 based on the detection results of the storage detection means 961D and the work detection means 986.
The movement control unit 951B moves the transport path 961 to the pre-stage transport means 96 based on the determination result of the movement determination unit 951A.

The transfer determination unit 951C determines whether or not to transfer the cover C to the transport transfer means 98 based on the detection result of the work detection means 986.
The transfer control unit 951D transfers the cover C to the transfer transfer means 98 for transfer based on the determination result of the transfer determination unit 951C.

The defect determination unit 951E detects defects in the plurality of covers C conveyed by the belt conveyor 971 based on the detection result of the camera 974.
The transmission / discharge control unit 951F sends the cover C determined not to be defective by the defect determination unit 951E to the pitch conveyor 972 by the transmission means 973, and discharges the cover C determined to be defective by the defect determination unit 951E. It is discharged from the belt conveyor 971 at 975.

As described above, in the present embodiment, the transport control unit 951 functions as a transport control means for controlling the transport mechanism 91.

FIG. 35 is a diagram showing a flowchart of a cover transport step executed by the cover covering device.
In the cover transfer step ST92, the covering control means 95 executes steps ST921 to ST929 as shown in FIG. 35 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST921 to ST929 will be described with reference to the drawings.

First, in step ST921, the movement determination unit 951A determines whether or not to move the transport path 961 to the pre-stage transport means 96 based on the detection results of the storage detection means 961D and the work detection means 986 (movement determination). Step).

In FIG. 36, out of the six buckets conveyed to the work area, three or more uncovered buckets are detected by the work detection means, and a plurality of covers are stored in the six buckets in the storage area. It is a figure which shows the state which detected by the storage detection means.
Specifically, as shown in FIG. 36, the movement determination unit 951A detects that the plurality of covers C are stored in the six buckets 961A of the storage area 961C by the storage detection means 961D, and works. When the work detection means 986 detects a bucket 961A having no cover C at three or more of the plurality of buckets 961A transported to the region 981, the transport path 961 is moved to the front stage transport means 96. judge.

When the covering control means 95 determines in the movement determination step ST921 that the transport path 961 is to be moved to the pre-stage transport means 96, the cover control means 95 executes the movement control step in the step ST922.
In the movement control step ST922, the movement control unit 951B moves the transport path 961 to the front-stage transport means 96 (see the thick arrow in the figure). As a result, the pre-stage transport means 96 can transport the following six buckets 961A to the work area 981.
Before moving the transport path 961 to the pre-stage transport means 96, the cover C remaining in the work area 981 is guided to the upstream side of the lower transport path 962 by the shooter 963, and then is guided by the lower transport path 962. It will be returned to the storage area 961C.

In FIG. 37, out of the six buckets conveyed to the work area, three or more uncovered buckets are detected by the work detection means, and a plurality of covers are stored in the six buckets in the storage area. It is a figure which shows the state which it did not detect by the storage detection means.
On the other hand, as shown in FIG. 37, when the movement determination unit 951A does not detect that the plurality of covers C are stored in the six buckets 961A of the storage area 961C by the storage detection means 961D, Alternatively, when the work detection means 986 detects a bucket 961A having no cover C in less than three places among the plurality of buckets 961A transported to the work area 981, the transport path 961 is moved to the previous stage transport means 96. Judge not to let.
As described above, FIG. 37 shows a case where the storage detection means 961D does not detect that the plurality of covers C are stored in the six buckets 961A of the storage area 961C, and the work area 981 is used. It is a figure which shows the case where the bucket 961A which does not have a cover C at three or more places is detected by the work detection means 986 among a plurality of conveyed buckets 961A.

When the covering control means 95 determines in the movement determination step ST921 that the transport path 961 is not moved to the previous stage transport means 96, the coating control means 95 executes the processes after step ST923 without executing the movement control step ST922.

In the present embodiment, the movement determination unit 951A detects the bucket 961A without the cover C at three or more of the plurality of buckets 961A conveyed to the work area 981 by the work detection means 986. In addition, although it is determined that the transport path 961 is moved to the front-stage transport means 96, when one or two buckets 961A without a cover C are detected by the work detection means 986, or four or more. When the bucket 961A without the cover C at the above location is detected by the working detection means 986, it may be determined that the transport path 961 is moved to the pre-stage transport means 96. In short, when the work detection means detects a storage means having no transported object at a position equal to or higher than a predetermined threshold value among the plurality of storage means transported to the work area, the movement determination unit becomes the transport moving means. It is sufficient to determine that the transport path is to be moved, and it is sufficient if it is possible to determine whether or not to move the transport path to the transport moving means based on the detection result of the work detection means.

Further, in the present embodiment, when the storage detection means 961D detects that the plurality of covers C are stored in the plurality of buckets 961A, the movement determination unit 951A moves the transport path 961 to the front stage transport means 96. However, it may be determined whether or not to move the transport path 961 to the previous stage transport means 96 based only on the detection result of the work detection means 986.

In step ST923, the transfer determination unit 951C determines whether or not to transfer the cover C to the transfer transfer means 98 for transfer based on the detection result of the work detection means 986 (work area detection step).

Specifically, as shown in FIG. 26, the transfer determination unit 951C detects the bucket 961A having no cover C at less than three of the plurality of buckets 961A conveyed to the work area 981 for work. When detected in 986, it is determined that the cover C housed in each of the plurality of buckets 961A conveyed to the work area 981 is to be transferred.
When the covering control means 95 determines in the work area detection step ST923 that the plurality of covers C transported to the work area 981 are to be transferred to the transfer transfer means 98, the work area transfer is performed in step ST924. Perform the mounting steps.
In the work area transfer step ST924, the transfer control unit 951D transfers the plurality of covers C transported to the work area 981 to the transfer transfer means 98 (see FIGS. 29 to 31).

On the other hand, as shown in FIG. 37, the transfer determination unit 951C detects the bucket 961A without the cover C at three or more of the plurality of buckets 961A conveyed to the work area 981 for work. When detected in 986, it is determined that the plurality of covers C housed in each of the plurality of buckets 961A conveyed to the preliminary work area 987 located on the upstream side of the work area 981 will be transferred.
Here, the preliminary work area 987 is provided on the upstream side of the work area 981 adjacent to the work area 981. Further, the size of the preliminary work area 987 corresponds to the size of six buckets 961A as in the work area 981.

FIG. 38 is a diagram showing a state in which a plurality of covers transported to the preliminary work area are transferred to the transport transfer means.
When the covering control means 95 determines in the work area detection step ST923 that a plurality of covers C transported to the preliminary work area 987 are to be transferred to the transfer transfer means 98, the preliminary work is performed in step ST925. Perform the area transfer step.
In the preliminary work area transfer step ST925, as shown in FIG. 38, the transfer control unit 951D moves the transfer base 983 in the + Y axis direction by the robot arm 984 (see the thick arrow in the figure). , The plurality of covers C transported to the preliminary work area 987 are transferred to the transport transfer means 98.

In the present embodiment, the transfer determination unit 951C has detected three or more buckets 961A without a cover C among the plurality of buckets 961A transported to the work area 981 by the work detection means 986. In this case, it is determined that the plurality of covers C housed in each of the plurality of buckets 961A conveyed to the preliminary work area 987 located on the upstream side of the work area 981 are to be transferred, but the movement control unit 951B is used. You may wait for the transport path 961 to move to the pre-stage transport means 96. In short, the transfer determination unit may determine whether or not to transfer the transported object to the transport transfer means based on the detection result of the work detection means.

FIG. 39 is a diagram showing a state in which a plurality of covers are transferred by the transport transfer means.
As described above, the transfer control unit 951D transfers the plurality of covers C transported to the work area 981 or the preliminary work area 987 in the work area transfer step ST924 or the preliminary work area transfer step ST925. Reprinted in 98. Specifically, as shown in FIG. 39, the transfer control unit 951D moves a plurality of covers C conveyed to the work area 981 or the preliminary work area 987 to the upstream side (-X-axis direction side) of the belt conveyor 971. Reprint (see the two-dot chain arrow in the figure). The transfer control unit 951D transfers the plurality of covers C to the upstream side of the belt conveyor 971 and then returns the transfer transfer means 98 for transportation to the work area 981.

Then, the subsequent transfer means 97 conveys the plurality of covers C transferred by the transfer transfer means 98 to the belt conveyor 971 in the + X axis direction.
Note that FIG. 39 is a diagram showing a state in which the six covers C transported to the work area 981 are transferred to the transport transfer means 98.

After executing the process of step ST924 or the process of step ST925, the defect determination unit 951E detects the defect of the plurality of covers C conveyed by the belt conveyor 971 based on the detection result of the camera 974 in step ST926. (Defective detection step).
Specifically, the defect determination unit 951E compares the image of the cover C detected by the camera 974 with the image of the good cover C stored in advance in the memory of the covering control means 95, thereby belting the belt. Detects defects in a plurality of covers C transported by the conveyor 971.
Here, the defect determination unit 951E detects defects such as the orientation in the longitudinal direction and the front and back surfaces in addition to the deformation of the shape of the cover C.

FIG. 40 is a diagram showing a post-stage transport means when a defect of the cover is not detected.
If the covering control means 95 does not detect a defect in the cover C in the defect detection step ST926, the coating control means 95 executes a transmission step in the defect detection step ST927.
Specifically, the transmission / discharge control unit 951F detects that the stopper 975A has stopped a plurality of covers C conveyed by the belt conveyor 971 based on the detection result of the contact sensor 975A1. Then, as shown in FIG. 40, when the cover C determined not to be defective by the defect determination unit 951E is stopped by the stopper 975A, the transmission / discharge control unit 951F uses the air cylinder 973A to press the pad 973B. By advancing in the −Y axis direction, each cover C is sent out to the pitch conveyor 972 (see the thin arrow in the figure).
Then, after executing the delivery step ST927, the covering control means 95 intermittently conveys a plurality of covers C one by one in the −X axis direction on the pitch conveyor 972.

On the other hand, when the covering control means 95 detects the defect of the cover C in the defect detection step ST926, the coating control means 95 executes the discharge step in the step ST928.
Specifically, when the cover C determined not to be defective by the defect determination unit 951E is stopped by the stopper 975A, the transmission / discharge control unit 951F raises the stopper 975A by the elevator 975B. The cover C is discharged (see FIG. 33).

After executing the process of step ST927 or the process of step ST928, the covering control means 95 uses the cover C with the transfer mechanism 91 to a predetermined standby position where the cover holding means 93 can hold the three covers C in step ST929. Is determined whether or not the product has been transported. In other words, the covering control means 95 determines whether or not the three covers C are intermittently conveyed in the −X axis direction on the pitch conveyor 972 (conveyance end determination step).

When the covering control means 95 determines that the three covers C have been intermittently conveyed in the −X axis direction on the pitch conveyor 972, the cover transfer step ST92 ends.
On the other hand, when the covering control means 95 determines that the three covers C are not intermittently conveyed in the −X axis direction on the pitch conveyor 972, the process of step ST921 is performed again. Execute.

<Cover handling device>
FIG. 41 is a perspective view showing a cover handling device. FIG. 42 is a cross-sectional view showing a cover handling device.
The cover handling device 10 lowers the cover C toward the upper surface of the container 20 to cover it with the cover covering device 9, and then handles the upper surface of the cover C to bring the cover C into close contact with the container 20. As shown in FIGS. 41 and 42, the cover handling device 10 is a roller for one end that handles the upper surface portion C1 of the cover C from the central portion of the cover C toward one end (end of the container body 201). A mechanism 101 and a roller mechanism 102 for the other end that handles the upper surface portion C1 of the cover C from the central portion of the cover C toward the other end portion (end portion of the lid member 202) are provided. Further, the cover handling device 10 includes a roller head 103 that supports the roller mechanism 101 for one end and the roller mechanism 102 for the other end, and a moving mechanism 104 for handling that raises and lowers the roller head 103.

The roller mechanism 101 for one end rotatably supports the handle member 101A for one end that abuts on one end side of the upper surface portion C1 of the cover C and the handle member 101A for one end around the X axis, and also supports the cover C. It is provided with a shaft support member 101B for one end provided on the other end side of the cover C with respect to the central portion.
In this way, the one-end shaft support member 101B is orthogonal to the one-end handling member 101A in the handling direction (-Y-axis direction), and the one-end handling member 101A can rotate around an axis parallel to the upper surface portion C1 of the cover C. It is supported by.
Therefore, in the present embodiment, the roller mechanism 101 for one end functions as a means for handling one end.

The handle member 101A for one end is provided at the rod-shaped member 101A1 formed in a prismatic shape and the tip end portion (end portion on the −Z axis direction side) of the rod-shaped member 101A1 and is rotatable around the X axis (central axis). It is provided with a cylindrical roller 101A2 that is pivotally supported. The one-end handling member 101A has the side surface of the roller 101A2 in contact with the upper surface portion C1 of the cover C.
The base end portion (end portion on the + Z axis direction side) of the rod-shaped member 101A1 projects vertically upward of the roller head 103 via the slit 103A formed in the roller head 103, and is fixed to the roller head 103 via the spring 101A3. Has been done.

Here, as described above, the first accommodating covering portion C14 and the second accommodating covering portion C15 are formed so as to project upward. Further, the second accommodating covering portion C15 is formed so as to project upward from the first accommodating covering portion C14.
Therefore, the roller 101A2 is configured by combining a large-diameter roller that abuts on the first accommodating coating portion C14 and a small-diameter roller that abuts on the second accommodating coating portion C15.

In the present embodiment, the one-end handling member 101A employs a configuration including a rod-shaped member 101A1 and a roller 101A2, but other configurations may be adopted. For example, the one-end handling member may be provided with a cylindrical member instead of the roller, and the cylindrical member may be fixedly provided at the tip of the rod-shaped member. In short, it suffices that the one-end handling member abuts on one end side of the upper surface of the cover and can handle the upper surface of the cover from the central portion of the cover toward one end.

Further, in the present embodiment, the roller mechanism 101 for one end (one-sided handling means) adopts a configuration including a handling member 101A for one end and a shaft support member 101B for one end, but other configurations are adopted. You may. In short, the one-side handling means only needs to be able to handle the upper surface of the cover from the central portion of the cover toward one end portion.

The other end roller mechanism 102 rotatably supports the other end handling member 102A that abuts on the other end side of the upper surface portion C1 of the cover C and the other end handling member 102A around the X axis. It is provided with a shaft support member 102B for the other end provided on one end side of the cover C with respect to the central portion of the cover C.
As described above, the other end shaft support member 102B is orthogonal to the other end handling member 102A in the handling direction (+ Y axis direction), and the other end handling member 102A is arranged around the axis parallel to the upper surface portion C1 of the cover C. It is rotatably supported.
Therefore, in the present embodiment, the other end roller mechanism 102 functions as the other end handling means.

The handling member 102A for the other end is provided at the rod-shaped member 102A1 formed in a prismatic shape and the tip end portion (end portion on the −Z axis direction side) of the rod-shaped member 102A1 and is rotatable around the X axis (central axis). It is provided with a columnar roller 102A2 axially supported by the wheel. The other end handling member 102A has the side surface of the roller 102A2 in contact with the upper surface portion C1 of the cover C.
The base end portion (end portion on the + Z axis direction side) of the rod-shaped member 102A1 protrudes vertically upward of the roller head 103 via the slit 103A formed in the roller head 103, and is fixed to the roller head 103 via the spring 102A3. Has been done.

In the present embodiment, the handling member 102A for the other end adopts a configuration including the rod-shaped member 102A1 and the roller 102A2, but other configurations may be adopted. For example, the handling member for the other end may be provided with a cylindrical member instead of the roller, and the cylindrical member may be fixedly provided at the tip end portion of the rod-shaped member. In short, the handling member for the other end only needs to be able to abut on the other end side on the upper surface of the cover and handle the upper surface of the cover from the central portion of the cover toward the other end.

Further, in the present embodiment, the other end roller mechanism 102 (the other end handling means) adopts a configuration including the other end handling member 102A and the other end shaft support member 102B, but other than this. The configuration of may be adopted. In short, the other end handling means only needs to be able to handle the upper surface of the cover from the central portion of the cover toward the other end portion.

Therefore, the roller head 103 functions as a handling head that supports the shaft support member 101B for one end and the shaft support member 102B for the other end.
FIG. 42 is a partial cross-sectional view of the cover handling device 10 (roller head 103) cut along the YZ plane passing through the slit 103A.

Here, since the roller mechanism 101 for one end includes a handle member 101A for one end and a shaft support member 101B for one end, the handle member 101A for one end covers as it separates from the upper surface portion C1 of the cover C. The upper surface portion C1 of C is arranged so as to be inclined so as to be located from one end side to the other end side. Further, since the other end roller mechanism 102 includes the other end handling member 102A and the other end shaft support member 102B, the other end handling member 102A is separated from the upper surface portion C1 of the cover C. Therefore, the cover C is arranged so as to be inclined so as to be located on one end side from the other end side on the upper surface portion C1. In other words, the handling member 101A for one end and the handling member 102A for the other end are arranged so as to intersect each other.
In the present embodiment, the handling member 101A for one end and the handling member 102A for the other end are arranged so as to intersect each other, but they may be arranged so as not to intersect each other.

FIG. 43 is a functional block diagram showing a schematic configuration of the cover handling device.
As shown in FIG. 43, the cover handling device 10 includes the handling moving mechanism 104 described above, and also includes a handling control means 105 for controlling the moving mechanism 104.
The handling control means 105 is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The handling control means 105 includes a handling control unit 1051.

The handling control unit 1051 moves the roller head 103 by the handling moving mechanism 104, so that the roller mechanism 101 for one end and the roller mechanism 102 for the other end simultaneously handle the upper surface portion C1 of the cover C.

FIG. 44 is a diagram showing a flowchart of a cover handling process executed by the cover handling device.
When the cover handling device 10 handles the upper surface portion C1 of the cover C, the handling control means 105 executes steps ST101 to ST102 as shown in FIG. 44 according to a predetermined program stored in the memory. ..
Hereinafter, the details of steps ST101 to ST102 will be described with reference to the drawings.

First, the handling control means 105 detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 41) on the conveyor 2 (ST101: pallet detection step). When the handling control means 105 determines in step ST101 that the pallet P has been conveyed to a predetermined position, the handling control means 105 executes the processes after step ST102. On the other hand, when the handling control means 105 determines in step ST101 that the pallet P has not been conveyed to a predetermined position, the handling control means 105 performs the cover handling process without executing the processes after step ST102. finish.

When it is determined in step ST101 that the pallet P has been conveyed to a predetermined position, the handling control unit 1051 moves the roller head 103 by the handling moving mechanism 104, thereby causing the one-end roller mechanism 101 and others. The end roller mechanism 102 simultaneously handles the upper surface portion C1 of the cover C (ST102: cover handling step). Specifically, the handling control unit 1051 lowers the roller head 103 by the handling moving mechanism 104.

FIG. 45 is a diagram showing a cover handling device in a state where the roller head is lowered.
When the roller head 103 is lowered by the handling moving mechanism 104, the rod-shaped member 101A1 rotates about one end shaft support member 101B as shown in FIG. 45, and the roller 101A2 moves from the central portion of the cover C. Handle the upper surface portion C1 of the cover C toward one end portion.
Further, the rod-shaped member 102A1 rotates about the other end shaft support member 102B, and the roller 102A2 handles the upper surface portion C1 of the cover C from the central portion of the cover C toward the other end portion.

After that, the handling control means 105 returns to the initial state (state of FIG. 42) by controlling the handling moving mechanism 104, and re-executes the above-described step ST101 for the next pallet P to take the step. ST101 to ST102 are repeatedly executed.

According to such an embodiment, the following actions and effects can be obtained.
(1) The container opening device 6 is after the hook disengagement machine 62 for disengaging the hook portion 204 of the container 20 and the hook disengagement machine 62 disengage the hook portion 204. A hinge rotating machine 63 for rotating the hinge portion 203 of the container 20 is provided. In other words, the container opening device 6 disengages the hook portion 204 and rotates the hinge portion 203 by separate devices. Therefore, the container opening device 6 employs a hook disengagement machine 62 having a structure that makes it easy to disengage the hook portion 204 and does not easily damage the container 20, and has a structure that makes it easy to rotate the hinge portion 203 and does not easily damage the container 20. Since the hinge rotating machine 63 of the above can be adopted, the lid can be opened without damaging the container 20, and the manufacturing efficiency of the compact as a final product can be improved.

(2) The hook disengagement machine 62 is fitted into the engaging portion of the hook portion 204 by advancing the flat plate-shaped fitting member 621 with respect to the hook portion 204 by the disengaging advancing / retreating mechanism 622. By rotating the fitting member 621 with the rotating mechanism 623, the hook portion 204 is disengaged, so that the configuration of the hook disengaging machine 62 can be simplified.
(3) Since the rotation mechanism 623 rotates the fitting member 621 without moving it in the direction opposite to the opening direction of the container 20, the hook portion 204 is disengaged without applying a load to the container 20. be able to. In other words, the rotating mechanism 623 can disengage the hook portion 204 without damaging the container 20.

(4) The fitting member 621 extends on the rotating shaft of the rotating mechanism 623 and has one side parallel to the advancing / retreating direction of the releasing advancing / retreating mechanism 622. The rotating mechanism 623 has the fitting member 621. Is rotated in the direction of advancing with respect to the opening direction of the container 20, so that the fitting member 621 can be rotated without moving in the direction opposite to the opening direction of the container 20. Therefore, the rotating mechanism 623 can disengage the hook portion 204 without applying a load to the container 20.

(5) The hinge rotating machine 63 disengages the hook portion 204 with the hook disengagement machine 62, and then uses the hook disengagement machine 62 to disengage the other end of the container body 201 and the other end of the lid member 202. Since the container 20 is opened by rotating the hinge portion 203 when the hinge portion 203 is separated, the container 20 can be opened by interlocking the hook disengagement machine 62 and the hinge rotating machine 63. , The manufacturing efficiency of the compact can be further improved.
(6) The hinge rotation machine 63 inserts the insertion member 631 between the container body 201 and the lid member 202 by moving the insertion member 631 by the rotation movement mechanism 632, and the container body 201 is inserted by the insertion member 631. Is pushed out to rotate the hinge portion 203, so that the configuration of the hinge rotating machine 63 can be simplified.

(7) Since the hinge rotating machine 63 pushes out the container body 201 by the inserting member 631 to rotate the hinge portion 203, the container 20 can be completely opened without being hindered by the inserting member 631.
(8) The hinge rotating machine 63 rotates the hinge portion 203 while separating the other end of the container body 201 and the other end of the lid member 202 by the hook disengagement machine 62, thereby rotating the container 20. The lid is opened, so that the other end of the container body 201 and the other end of the lid member 202 are separated by the hook disengagement machine 62, and then the lid is closed again due to its own weight. The insertion member 631 can be reliably inserted between the container body 201 and the lid member 202.

(9) The insertion member 631 is formed in a cylindrical shaft shape, and is inserted between the container body 201 and the lid member 202 so that the shaft of the insertion member 631 and the rotation shaft of the hinge portion 203 are parallel to each other. Therefore, the hinge portion 203 can be rotated by bringing the peripheral surface into contact with the container body 201. Therefore, the hinge rotating machine 63 can rotate the hinge portion 203 without damaging the container 20.

(10) Since the cover holding means 93 supports the one-side holding means 931 and the other end holding means 932 so as to be able to advance and retreat with respect to the upper surface of the container 20, the cover C is moved toward the upper surface of the container 20 by the covering control unit 952. When the cover C is caught on the end portion of the container 20 when the container 20 is lowered and covered, the one-side holding means 931 and the other end holding means 932 are raised so as to be separated from the container 20. In other words, the cover holding means 93 can cover the container 20 with the cover C by raising and bending both ends of the cover C. Therefore, the cover covering device 9 can efficiently cover the container 20 with the cover C.

(11) Since the cover holding means 93 fixes and supports the cylindrical shaft body 933A that holds the central portion of the cover C, the cover C is lowered toward the upper surface of the container 20 by the covering control unit 952 to cover the cover C. At that time, the cylindrical shaft body 933A does not rise so as to be separated from the container 20. Therefore, the cover covering device 9 raises the end portion of the cover C to facilitate bending, so that the cover C can be covered with the container 20 more efficiently.
(12) Since the one end holding means 931 and the other end holding means 932 are provided with recesses 931A and 932A for accommodating the cover C when the cover C is held, the cover control unit 952 faces the upper surface of the container 20. When the cover C is lowered and covered, the movement of the cover C with respect to the one-side holding means 931 and the other-end holding means 932 can be restricted. Therefore, the cover covering device 9 can cover the container 20 with the cover C more efficiently.

(13) The transfer control unit 951 determines the movement determination unit 951A and the movement determination unit 951A that determine whether or not to move the transfer path 961 to the previous stage transfer means 96 based on the detection result of the work detection means 986. Based on the result, the front-stage transport means 96 is provided with a movement control unit 951B for moving the transport path 961. Therefore, when the movement determination unit 951A determines that the transport path 961 is moved to the front-stage transport means 96, , The movement control unit 951B can move the transport path 961 to the pre-stage transport means 96. Therefore, the transport mechanism 91 can secure six buckets 961A in which a plurality of covers C are stacked and stored in the work area 981.

(14) The transfer control unit 951 has a transfer determination unit 951C that determines whether or not to transfer the cover C to the transfer transfer means 98 for transfer based on the detection result of the work detection means 986, and a transfer determination. Since the transfer control unit 951D for transferring the cover C to the transfer transfer means 98 based on the determination result of the unit 951C is provided, the transfer determination unit 951C provides the cover C to the transfer transfer means 98 for transfer. When it is determined that the cover C is to be transferred, the transfer control unit 951D can transfer the cover C to the transfer transfer means 98 for transportation. Therefore, the transport mechanism 91 can hold and transfer at least one cover C housed in each of the six buckets 961A secured in the work area 981. According to this, the transport mechanism 91 can transfer a plurality of covers C at a time without relying on an operator, and can efficiently transport the covers C.

(15) When the movement determination unit 951A detects the bucket 961A without the cover C at three or more of the plurality of buckets 961A transported to the work area 981 by the work detection means 986, the movement determination unit 951A transports the buckets in the previous stage. Since it is determined that the transport path 961 is to be moved to the means 96, the transport mechanism 91 can secure six buckets 961A in which a plurality of covers C are stacked and stored in the work area 981.
(16) When the storage detection means 961D detects that the plurality of covers C are stored in the plurality of buckets 961A, the movement determination unit 951A determines that the transport path 961 is moved to the front stage transport means 96. The plurality of buckets 961A located on the upstream side of the work area 981 can always maintain a state in which the plurality of covers C are housed. Further, for example, when the operator implements the storage of the plurality of covers C in the plurality of buckets 961A, the movement control unit 951B waits for the storage of the plurality of covers C in the plurality of buckets 961A and waits for the storage of the plurality of covers C in the plurality of buckets 961A. Can be moved to the pre-stage transport means 96, and the cover C can be efficiently transported.

(17) The transfer determination unit 951C works when the work detection means 986 detects three or more buckets 961A without a cover C among the plurality of buckets 961A transported to the work area 981. Since it is determined that the covers C housed in each of the plurality of buckets 961A transported to the preliminary work area 987 located on the upstream side of the region 981 will be transferred, the movement control unit 951B sets the transport path 961 to the front stage transport means. The cover C stored in each of the plurality of buckets 961A transported to the preliminary work area 987 can be transferred without waiting for the cover C to be moved to the 96, and the cover C can be efficiently transported.

(18) Since the transport base 983 freely supports each of the plurality of transport holding portions 982 along the advancing / retreating direction (Z-axis direction) of the robot arm 984, the plurality of buckets transported to the work area 981. Even if the number of covers C housed in each of the 961A is different and the height from the transport path 961 to the uppermost cover C is different, each transport holding portion 982 is moved back and forth according to the height. The cover C can be held. Therefore, the transport mechanism 91 can efficiently transport the cover C even if the number of covers C housed in each of the plurality of buckets 961A is different.

(19) Since the transport transfer means 98 includes a pair of transport holding portions 982 provided along the longitudinal direction of the plate surface of the cover C with respect to one cover C, the cover C may be deformed. The cover C can be held by advancing and retreating each transport holding portion 982 according to the inclination. Therefore, the transport mechanism 91 can efficiently transport the cover C even if the number of covers C housed in each of the plurality of buckets 961A is different.
(20) Since the transport transfer means 98 includes a contact portion 985 that contacts the edge of the plate surface of the cover C when the cover C housed in the bucket 961A is held and transferred, the bucket 961A is provided. The plurality of covers C housed in the cover C can be reliably separated and held, and the covers C can be efficiently transported.

(21) The contact portion 985 is a cover C located on a straight line orthogonal to one side of the suction surface of the suction plate 982C when the cover C is sucked and held by the suction plate 982C having a substantially rectangular suction surface. Since it contacts the edge of the plate surface of the cover C, the cover C can be bent along one side of the suction surface of the suction plate 982C. Therefore, the contact portion 985 can make it difficult for the cover C to fall off from the suction plate 982C as compared with the case where the cover C is sucked and held by a suction plate having a circular suction surface, for example, and the cover C can be prevented from falling off. Can be efficiently transported.

(22) The sending means 973 is about several (1: the first) of the number of the plurality of covers C (3: the second) transferred to the outside of the transport mechanism 91 by the covering mechanism 92. ), Since the plurality of covers C transferred by the belt conveyor 971 are sent to the pitch conveyor 972, the number of the plurality of covers C transferred to the belt conveyor 971 by the transfer transfer means 98 (6 pieces). ) And the number of the plurality of covers C transferred to the outside of the transfer mechanism 91 by the covering mechanism 92 (3: the second number), the covers C can be efficiently conveyed. it can.
(23) Since the discharge means 975 discharges the cover C determined to be defective by the camera 974 from the belt conveyor 971, all the covers C sent to the pitch conveyor 972 can be considered as good products.

(24) Since the cover handling device 10 handles the upper surface of the cover C after lowering the cover C toward the upper surface of the container 20 and covering it, the end portion of the cover C is raised and bent. The habit attached to the cover C can be removed by handling the upper surface portion C1 of the cover C, and even if the cover C is caught on the end portion of the container 20, the cover C can be reliably covered on the container 20.
(25) The handling control unit 1051 has a roller mechanism 101 for one end that handles the upper surface portion C1 of the cover C from the central portion of the cover C toward one end, and the handle C from the central portion to the other end. Since the upper surface portion C1 of the cover C is simultaneously handled by the roller mechanism 102 for the other end that handles the upper surface portion C1 of the cover C, the habit attached to the cover C can be efficiently removed.

(26) Since the handle member 101A for one end and the handle member 102A for the other end are arranged so as to intersect with each other, the cover handling device 10 may, for example, handle the handle member 101A for one end and the handle member 102A for the other end. The load on the container 20 and the cover C can be reduced as compared with the case where the containers 20 are arranged so as not to intersect with each other.
(27) Since the handling member 101A for one end and the handling member 102A for the other end bring the side surfaces of the rollers 101A2 and 102A2 into contact with the upper surface portion C1 of the cover C, the cover handling device 10 puts a load on the container 20 and the cover C. Can be further reduced.

[Reference form]
Hereinafter, reference embodiments of the present invention will be described with reference to the drawings.
FIG. 46 is a perspective view showing a container lid opening device according to a reference embodiment of the present invention.
In the following description, the parts already described will be designated by the same reference numerals and the description thereof will be omitted.

In the above embodiment, the container opening device 6 includes a container suction machine 61, a hook disengagement machine 62, and a hinge rotating machine 63, which are installed at one place.
On the other hand, in the present reference embodiment, the container opening device 6A includes a hook disengaging machine 62A and a hinge rotating machine 63A, which are installed at two locations on the upstream side and the downstream side of the conveyor 2. It differs from the above embodiment in that it is present. The container suction machine 61 is installed in each of the hook disengagement machine 62A and the hinge rotation machine 63A.

As shown in FIG. 46, the container opening device 6A disengages the two container suction machines 61 that suck and fix the container 20 placed on the pallet P from the hook portion 204 of the container 20. With the hook disengagement machine 62A that separates the other end of the container body 201 and the other end of the lid member 202, and the hook disengagement machine 62A disengages the hook portion 204, and then the hinge portion 203 It is provided with a hinge rotating machine 63A that opens the container 20 by rotating the container 20.

FIG. 47 is a top view of the container suction machine and the hook disengagement machine.
As shown in FIGS. 46 and 47, the container suction machine 61 has three nozzles 611 inserted into the communication holes P3 of the pallet P, and a suction advancing / retreating mechanism 612 for advancing / retracting the nozzle 611 with respect to the pallet P. I have.
In this reference embodiment, the base end portion 611C of the nozzle 611 attached to the hook disengagement machine 62A extends from the body portion 611B so as to bend in the −Z axis direction. It is different from the base end portion 611C of the nozzle 611 attached to the 63A.

The hook disengagement machine 62A includes three fitting members 624 to be fitted and inserted into each of the engaging portions of the hook portion 204, a release advance / retreat mechanism 622 for advancing and retreating the fitting member 624 with respect to the hook portion 204, and disengagement. It is provided with a rotating mechanism 623 that rotates the fitting member 624 around an axis parallel to the advancing / retreating direction of the advancing / retreating mechanism 622, and a regulating means 625 that regulates the movement of the container 20 toward the hinge portion 203 side.
In the present reference embodiment, the hook disengagement machine 62A is provided with the regulating means 625 for restricting the movement of the container 20 toward the hinge portion 203, but it may not be provided.

The fitting member 624 includes a columnar shaft portion 624A and a flat plate-shaped knife portion 624B fixed to the shaft portion 624A. The knife portion 624B is formed to have a thickness that allows it to be inserted into the engaging portion of the hook portion 204. Further, the knife portion 624B is fixed to the shaft portion 624A so that the center of the width in the X-axis direction coincides with the central axis of the shaft portion 624A.

The release advance / retreat mechanism 622 includes a rectangular plate-shaped frame 622A that supports the fitting member 624, and a linear actuator 622B that advances / retreats the frame 622A with respect to the hook portion 204. Therefore, the release advance / retreat mechanism 622 advances / retreats the fitting member 624 with respect to the hook portion 204 by advancing / retreating the frame 622A with the linear actuator 622B.
The frame 622A supports the shaft portion 624A of the fitting member 624 via the elastic member 622A1. Therefore, the frame 622A swingably supports the fitting member 624.

The rotation mechanism 623 is provided on the three pinions 623A concentrically fixed to each of the shaft portions 624A of the fitting member 624 and the frame 622A so as to be movable along the X-axis direction, and the pinion 623A. It is provided with a rack 623B that meshes with the rack 623B, a linear actuator 623C that is attached to the frame 622A and moves the rack 623B along the X-axis direction, and a support base 623D that supports the rack 623B. Therefore, the rotating mechanism 623 rotates the fitting member 624 around the axis (Y-axis) parallel to the advancing / retreating direction of the releasing advancing / retreating mechanism 622 by moving the rack 623B with the linear actuator 623C.
Here, the frame 622A swingably supports the fitting member 624, but since the pinion 623A meshes with the rack 623B provided on the frame 622A, the fitting member 624 is in the −Z axis direction. Movement to the side is restricted.

The regulating means 625 advances and retreats the contact member 625A that abuts on the end of the container 20 on the hinge portion 203 side, the frame 625B having an L-shaped cross section for fixing the contact member 625A, and the frame 625B with respect to the pallet P. It is equipped with a linear actuator 625C. Therefore, the regulating means 625 advances and retreats the contact member 625A with respect to the pallet P by advancing and retreating the frame 625B with the linear actuator 625C.

The contact member 625A is a rectangular plate-shaped member, and has three recesses 625A1 formed in a shape of contacting and accommodating the end portion of the container 20 on the hinge portion 203 side.
The frame 625B fixes the contact member 625A via two joints 625B1 attached to both ends in the X-axis direction.
Therefore, the regulating means 625 regulates the movement of the container 20 to the hinge portion 203 side by abutting against the end portion of the container 20 on the hinge portion 203 side.

As shown in FIG. 46, the hinge rotation machine 63A includes three cylindrical shaft-shaped insertion members 631A to be inserted between the container body 201 and the lid member 202, and a rotation movement mechanism 632 for moving the insertion member 631A. It has. Further, the hinge rotating machine 63A includes three vacuum pads 633 as holding means for sucking and holding the container body 201, and three support members 634 for supporting the vacuum pads 633 and the insertion member 631A.
In this reference embodiment, the insertion member 631A has a larger diameter than the insertion member 631 in the above embodiment.

The rotation moving mechanism 632 has a central axis parallel to the central axis of the insertion member 631A, and can rotate the shaft portion 632A and the shaft portion 632A that support the insertion member 631A and the vacuum pad 633 via the support member 634. It is provided with a frame 632B that supports the frame 632B, a motor 632C that is attached to the frame 632B and rotates the shaft portion 632A, and a robot arm 632D that moves the frame 632B in the three axial directions of X, Y, and Z. Therefore, the rotating moving mechanism 632 can rotate the insertion member 631A and the vacuum pad 633 around the central axis of the shaft portion 632A by rotating the shaft portion 632A by the motor 632C. Further, the rotating moving mechanism 632 can move the insertion member 631A and the vacuum pad 633 in the three axial directions of X, Y, and Z by moving the frame 632B with the robot arm 632D.

FIG. 48 is a functional block diagram showing a schematic configuration of the container lid opening device.
As shown in FIG. 48, the container opening device 6A includes the container suction machine 61, the hook disengagement machine 62A, and the hinge rotating machine 63A described above, and also includes a lid opening control means 64A for controlling these. I have.
The lid opening control means 64A is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The lid opening control means 64A includes a suction control unit 641, a regulation control unit 645, an insertion / insertion control unit 642, a release control unit 643, a holding control unit 646, a first rotation control unit 647, and a first. It is provided with a two-rotation control unit 648.

The suction control unit 641 controls a suction device (not shown) connected to the nozzle 611 and a linear actuator 612B of the suction advance / retreat mechanism 612, and sucks the container 20 placed on the pallet P to suck the container. 20 is fixed to the pallet P.
The regulation control unit 645 controls the linear actuator 625C and advances and retreats the frame 625B to advance and retreat the contact member 625A with respect to the pallet P.
The insertion / insertion control unit 642 controls the release advance / retreat mechanism 622, and the fitting member 624 is advanced to the hook portion 204 by the release advance / retreat mechanism 622, whereby the knife portion 624B is brought into the engaging portion of the hook portion 204. Is inserted.
The release control unit 643 controls the rotation mechanism 623 and rotates the fitting member 624 with the rotation mechanism 623 to release the engagement of the hook portion 204 with the knife portion 624B.

The holding control unit 646 controls the rotating moving mechanism 632 and moves the support member 634 by the rotating moving mechanism 632 to bring the vacuum pad 633 closer to the container body 201. Then, the holding control unit 646 causes the vacuum pad 633 to hold the container body 201 by sucking the container body 201.
The first rotation control unit 647 pulls out the container body 201 by the vacuum pad 633 by moving the support member 634 by the rotation movement mechanism 632, and rotates the hinge portion 203.
The second rotation control unit 648 rotates the hinge portion 203 by the first rotation control unit 647, and then moves the support member 634 by the rotation movement mechanism 632 to insert the insertion member 631A into the container body. It is inserted between 201 and the lid member 202, and the container body 201 is pushed out by the insertion member 631A to rotate the hinge portion 203.

FIG. 49 is a diagram showing a flowchart of the hook release process executed by the container lid opening device.
When the container 20 is opened by the container opening device 6A, the lid opening control means 64A executes steps ST611 to ST615 as shown in FIG. 49 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST611 to ST615 will be described with reference to the drawings.

FIG. 50 is a top view of the container lid opening device showing a state in which the nozzle is advanced with respect to the pallet.
First, the lid opening control means 64A detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 47) on the conveyor 2 (ST611: pallet detection step). When the lid opening control means 64A determines in step ST611 that the pallet P has been conveyed to a predetermined position, the lid opening control means 64A executes the processes after step ST612. On the other hand, when the lid opening control means 64A determines in step ST611 that the pallet P has not been conveyed to a predetermined position, the hook release process is performed without executing the processes after step ST612. To finish.

When it is determined in step ST611 that the pallet P has been conveyed to a predetermined position, the suction control unit 641 advances the frame 612A with respect to the pallet P by the linear actuator 612B as shown in FIG. Inserts the nozzle 611 into the communication hole P3 of the pallet P (see the thick arrow in the figure). Then, the suction control unit 641 sucks the container 20 placed on the pallet P through the communication hole P3 of the pallet P by a suction device (not shown) connected to the nozzle 611, thereby sucking the container 20 on the pallet. Fixed to P (ST612: container suction step).

FIG. 51 is a top view of the container lid opening device showing a state in which the regulating means is advanced with respect to the pallet.
Next, as shown in FIG. 51, the regulation control unit 645 advances the contact member 625A with respect to the pallet P by advancing the frame 625B with the linear actuator 625C (see the thick arrow in the figure). As a result, the regulating means 625 abuts on the end of the container 20 on the hinge portion 203 side and restricts the movement of the container 20 toward the hinge portion 203 side (ST613: container regulation step).

FIG. 52 is a top view of the container lid opening device showing a state in which the fitting member is advanced with respect to the hook portion of the container.
Next, as shown in FIG. 52, the fitting control unit 642 advances the frame 622A with respect to the container 20 by the linear actuator 622B (see the thick arrow in the figure), so that the fitting control unit 642 reaches the engaging portion of the hook portion 204. The knife portion 624B of the fitting member 624 is fitted and inserted (ST614: knife fitting step).

FIG. 53 is a top view of the container lid opening device showing a state in which the fitting member is rotated to disengage the hook portion of the container.
Next, as shown in FIG. 53, the release control unit 643 moves the rack 623B toward the + X axis direction by the linear actuator 623C (see the thick arrow in the figure) to move the fitting member 624 around the Y axis. Rotate. Then, the release control unit 643 disengages the hook portion 204 at the knife portion 624B by rotating the fitting member 624 (ST615: hook release step).

FIG. 54 is a side view and a cross-sectional view of the container lid opening device showing a state in which the hook portion of the container is disengaged. Specifically, FIG. 54 is a view (left view) of the main part of the container lid opening device 6A seen from the + Y axis direction side, and an AA cross-sectional view (right view) of the left figure. Further, FIG. 54 (A) is a diagram showing a state before rotating the fitting member 624, and FIG. 54 (B) is a diagram showing a state in the middle of rotating the fitting member 624. is there.
Here, in the container suction step ST612 described above, as shown in FIG. 54, the suction control unit 641 uses a suction device (not shown) connected to the nozzle 611 to connect the container 20 placed on the pallet P to the pallet P. The container 20 is fixed to the pallet P by suctioning through the communication hole P3 of the above (see the thin arrow in the figure).

Further, in the knife fitting step ST614 described above, as shown in FIG. 54 (A), the fitting control unit 642 advances the frame 622A with respect to the container 20 by the linear actuator 622B, so that the hook portion 204 The knife portion 624B of the fitting member 624 is fitted and inserted into the engaging portion.
Then, in the hook release step ST615 described above, the release control unit 643 disengages the hook portion 204 at the knife portion 624B by rotating the fitting member 624 as shown in FIG. 54 (B). To do.

At this time, as described above, the frame 622A swingably supports the fitting member 624, so that the fitting member 624 advances in the opening direction (+ Z-axis direction) of the container 20 ( See the thick arrow in the figure). In this way, when the fitting member 624 is rotated, the rotation mechanism 623 advances the fitting member 624 with respect to the opening direction of the container 20. In other words, the rotation mechanism 623 rotates the fitting member 624 without moving it in the direction opposite to the opening direction (−Z axis direction) of the container 20.
In this reference embodiment, the rotation mechanism 623 rotates the fitting member 624 without moving the fitting member 624 in the direction opposite to the opening direction of the container 20, but the fitting member 624 is rotated in the opening direction of the container 20. It may be rotated so as to move in the opposite direction to the above. In this case, it is preferable to use an insertion member made of a material that does not easily damage the container.

After that, the release control unit 643 rotates the fitting member 624 around the Y axis by moving the rack 623B toward the −X axis direction by the linear actuator 623C. Then, the release control unit 643 returns the knife portion 624B of the fitting member 624 to the state before rotation by rotating the fitting member 624.
Further, the fitting control unit 642 retracts the knife portion 624B of the fitting member 624 by retracting the frame 622A with respect to the container 20 by the linear actuator 622B.
Further, the regulation control unit 645 retracts the contact member 625A with respect to the pallet P by retracting the frame 625B with the linear actuator 625C.

After that, the lid opening control means 64A returns to the initial state (state of FIG. 47) by controlling the container suction machine 61, and re-executes the above-mentioned step ST611 for the next pallet P to take the step. ST611 to ST615 are repeatedly executed.

FIG. 55 is a diagram showing a flowchart of a hinge rotation process executed by the container lid opening device.
When the container 20 is opened by the container opening device 6A, the lid opening control means 64A executes steps ST621 to ST625 as shown in FIG. 55 according to a predetermined program stored in the memory.
Hereinafter, the details of steps ST621 to ST625 will be described with reference to the drawings.

First, the lid opening control means 64A detects whether or not the pallet P has been conveyed to a predetermined position (see FIG. 46) on the conveyor 2 (ST6211: pallet detection step). When the lid opening control means 64A determines in step ST621 that the pallet P has been conveyed to a predetermined position, the lid opening control means 64A executes the processes after step ST622. On the other hand, when the lid opening control means 64A determines in step ST621 that the pallet P has not been conveyed to a predetermined position, the hinge rotation without executing the processes after step ST622. End the process.

When it is determined in step ST621 that the pallet P has been conveyed to a predetermined position, the suction control unit 641 advances the frame 612A with respect to the pallet P by the linear actuator 612B, so that the nozzle 611 is moved to the pallet P. It is inserted into the communication hole P3 of. Then, the suction control unit 641 sucks the container 20 placed on the pallet P through the communication hole P3 of the pallet P by a suction device (not shown) connected to the nozzle 611, thereby sucking the container 20 on the pallet. Fixed to P (ST622: container suction step).

FIG. 56 is a side view of the hinge rotating machine showing a state in which the hinge portion of the container is rotated. Specifically, FIG. 56 is a view of the hinge rotating machine 63A viewed from the −X axis direction side. Further, FIG. 56 (A) is a diagram showing a state in which the container body 201 is held by the vacuum pad 633, and FIG. 56 (B) is a diagram showing a state in which the hinge portion 203 of the container 20 is rotated by the vacuum pad 633. 56 (C) is a view showing a state in which the insertion member 631A is in contact with the container body 201, and FIG. 56 (D) is a view showing a state in which the insertion member 631A is in contact with the container body 201, and FIG. 56 (D) is a hinge of the container 20 at the insertion member 631A. It is a figure which shows the state which the part 203 is rotating.

Next, as shown in FIG. 56A, the holding control unit 646 moves the support member 634 by the rotating moving mechanism 632 to bring the vacuum pad 633 closer to the container body 201. Then, the holding control unit 646 causes the vacuum pad 633 to suck the container body 201, thereby causing the vacuum pad 633 to hold the container body 201 (ST623: container holding step).

After that, the first rotation control unit 647 pulls out the container body 201 by the vacuum pad 633 by moving the support member 634 by the rotation movement mechanism 632 as shown by the thin arrow in FIG. 56 (B). The hinge portion 203 is rotated (ST624: first rotation step).
At this time, the first rotation control unit 647 rotates the shaft portion 632A by the motor 632C to rotate the vacuum pad 633 around the central axis of the shaft portion 632A according to the position of the container body 201. There is.

Next, as shown in FIG. 56C, the second rotation control unit 648 rotates the hinge portion 203 by the first rotation control unit 647, and then rotates the shaft portion 632A by the motor 632C. By moving the insertion member 631A, the insertion member 631A is brought into contact with the container body 201 (see the thin arrow in the figure).

Then, as shown by the thin arrow in FIG. 56 (D), the second rotation control unit 648 pushes out the container body 201 by the insertion member 631A to rotate the hinge portion 203 (ST625: second rotation step). ).
At this time, the second rotation control unit 648 rotates the shaft portion 632A by the motor 632C to rotate the insertion member 631A around the central axis of the shaft portion 632A according to the position of the container body 201. There is.

In this reference embodiment, the second rotation control unit 648 pushes out the container body 201 with the insertion member 631A to rotate the hinge part 203, but pushes out the lid member with the insertion member to push the hinge part. It may be rotated. In short, the second rotation control unit may rotate the hinge portion by pushing out the container body or the lid member with the insertion member.

Further, in the present reference embodiment, the hinge rotating machine 63A includes a first rotation control unit 647 and a second rotation control unit 648, and the container body 201 is pulled out by the vacuum pad 633 to rotate the hinge unit 203. After that, the container body 201 was pushed out by the insertion member 631A to rotate the hinge portion 203. On the other hand, the hinge rotating machine 63A includes only the first rotation control unit 647, and opens the container 20 only by pulling out the container body 201 with the vacuum pad 633 and rotating the hinge portion 203. You may.

After that, the lid opening control means 64A returns to the initial state by controlling the hinge rotating machine 63A, and repeats steps ST621 to ST625 by executing the above-mentioned steps ST621 again for the next pallet P. To do.

According to this reference embodiment as described above, the same actions and effects as those of (1) to (3), (6), (7), (9) to (27) in the above-described embodiment can be obtained. The following actions and effects can be achieved.
(28) Since the rotating mechanism 623 advances the fitting member 624 with respect to the opening direction of the container 20 when rotating the fitting member 624, the fitting member 624 is set to the opening direction of the container 20. It can be rotated without moving in the opposite direction. Therefore, the rotating mechanism 623 can disengage the hook portion 204 without applying a load to the container 20.

(29) Since the hook disengagement machine 62A is provided with a regulating means 625 for restricting the movement of the container 20 toward the hinge portion 203 side, the hook portion of the flat plate-shaped fitting member 624 is released by the release advancing / retreating mechanism 622. By advancing with respect to 204, it is possible to restrict the movement of the container 20 toward the hinge portion 203 side when the hook portion 204 is fitted into the engaging portion. Therefore, since the hook disengagement machine 62A can disengage the hook portion 204 without changing the position of the container 20, the subsequent device (for example, the cover covering device 9) can efficiently perform the process. It can be carried out, and the manufacturing efficiency of the compact as a final product can be improved.

(30) The hinge rotating machine 63A pulls out the container body 201 by the vacuum pad 633 and hinges by holding the container body 201 on the vacuum pad 633 and then moving the vacuum pad 633 by the rotating moving mechanism 632. Since the portion 203 is rotated, the configuration of the hinge rotating machine 63A can be simplified.
(31) Since the vacuum pad 633 sucks and holds the container body 201, the hinge rotating machine 63A can rotate the hinge portion 203 without damaging the container 20.

(32) The hinge rotating machine 63A pulls out the container body 201 by the vacuum pad 633 and hinges by holding the container body 201 on the vacuum pad 633 and then moving the support member 634 by the rotating moving mechanism 632. The unit 203 can be rotated. Then, the hinge rotating machine 63A pulls out the container body 201 with the vacuum pad 633 to rotate the hinge portion 203, and then moves the support member 634 with the rotating moving mechanism 632 to insert the insertion member 631A into the container. It can be inserted between the main body 201 and the lid member 202, and the container main body 201 can be pushed out by the insertion member 631A to rotate the hinge portion 203. That is, the hinge rotating machine 63A draws out the container body 201 with the vacuum pad 633 to form a sufficient gap between the container body 201 and the lid member 202 to insert the insertion member 631A, and the insertion member 631A is formed in this gap. The container body 201 can be pushed out by the insertion member 631A to rotate the hinge portion 203. Therefore, the hinge rotating machine 63A can rotate the hinge portion 203 without damaging the container 20.

The present invention is not limited to each of the above-described embodiments, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.
For example, in each of the above-described embodiments, the transfer mechanism 91 is adopted for the compact loading device 1, but the transfer device of the present invention may be adopted for other devices.

As described above, the present invention can be suitably used for a transport device for transporting a transported object placed on a transport path.

1 Compact loading device 6,6A Container lid opening device 9 Cover covering device 10 Cover handling device 20 Container 62, 62A Hook disengagement machine 63, 63A Hinge rotation machine 64, 64A Lid opening control means 91 Conveyance mechanism (conveyor device) )
92 Covering mechanism 93 Cover holding means 94 Moving mechanism for covering 95 Control means for covering 96 Pre-stage transporting means (moving means for transporting)
97 Post-stage transport means 98 Transfer means for transport 101 Roller mechanism for one end (means for handling one end)
101A One end handling member 101A2 Roller 101B One end shaft support member 102 One end roller mechanism (other end handling means)
102A Handling member for the other end 102A2 Roller 102B Shaft support member for the other end 103 Roller head (Handling head)
104 Handling movement mechanism 105 Handling control means 201 Container body 202 Lid member 203 Hinge part 204 Hook part 621, 624 Fitting member 622 Release advance / retreat mechanism 623 Rotation mechanism 625 Regulatory means 631, 631A Insert member 632 Rotation movement mechanism 633 Vacuum pad (holding means)
634 Support member 642 Insertion control unit 643 Release control unit 644 Rotation control unit 645 Regulatory control unit 646 Holding control unit 647 First rotation control unit 648 Second rotation control unit 931 One end holding means 931A Recessed portion 932 Other end holding means 932A Recessed 933A Cylindrical shaft 951 Transport control unit (convey control means)
951A Movement Judgment Unit 951B Movement Control Unit 951C Transfer Judgment Unit 951D Transfer Control Unit 951E Defect Judgment Unit 951F Transmission / Discharge Control Unit 961 Transport Path 961A Bucket (Storage Means)
961D Storage detection means 971 Belt conveyor 972 Pitch conveyor 973 Sending means 974 Camera (defect detection means)
975 Discharge means 981 Work area 982 Transport holder 983 Transport base 984 Robot arm (transport advance / retreat mechanism)
985 Contact part 986 Work detection means 987 Preliminary work area 1051 Handling control part C cover C1 Top surface part

The transport device of the present invention is a transport device that transports a transported object placed on a transport path along a predetermined transport direction, and is provided on the transport path along the transport direction and stacks a plurality of transport objects. a plurality of housing means for housing Te, by moving the conveyance path along the conveyance direction, and transport moving means for conveying the at least two storage means in a predetermined working area, a plurality transported to the work area Each of the storage means includes a work detection means for detecting the presence or absence of a transported object and a transport control means for controlling the transport device, and the transport control means is based on the detection result of the work detection means. A movement determination unit that determines whether or not to move the transport path to the transport moving means, and a movement control unit that moves the transport path to the transport moving means based on the determination result of the movement determination unit are provided for movement. When the work detection means detects a storage means having no transported object at a position less than a predetermined threshold value among a plurality of storage means transported to the work area, the determination unit provides a transport path to the transport moving means. determines not the moved, when detected by the working detecting means without receiving means of conveyance of the predetermined threshold value or more points, characterized that you determined to move the conveying path conveying the moving means ..

According to such a configuration, the transport device includes the transport control means, and the transport control means determines whether or not to move the transport path to the transport moving means based on the detection result of the work detection means. Since it is provided with a movement determination unit for determining and a movement control unit for moving the transportation path to the transportation moving means based on the determination result of the movement determination unit, the movement determination unit uses the transportation path as the transportation moving means. If it is determined to move, the movement control unit can move the transport path to the transport moving means. Therefore, the transport device can secure at least two storage means for stacking and storing a plurality of transport objects in the work area . According to which this, the transport device, without relying on the operator, can be transferred a plurality of conveyed objects at a time, it can carry a conveyed object efficiently.

Further , when the work detection means detects a storage means having no transported object at a position equal to or higher than a predetermined threshold value among the plurality of storage means conveyed to the work area, the movement determination unit uses the transfer means for transportation. Since it is determined that the transport path is to be moved, the transport device can secure at least two storage means for stacking and storing a plurality of transport objects in the work area.

Claims (10)

A transport device that transports a transported object placed on a transport path along a predetermined transport direction.
A plurality of storage means provided in the transport path along the transport direction and for stacking and storing a plurality of the transported objects, and a plurality of storage means.
A transport moving means for transporting at least two of the storage means to a predetermined work area by moving the transport path along the transport direction.
A transport transfer means for holding and transferring at least one of the transported objects stored in each of the plurality of storage means transported to the work area by the transport moving means.
A work detection means for detecting the presence or absence of the transported object stored in each of the plurality of storage means transported to the work area, and a work detection means.
A transport control means for controlling the transport device is provided.
The transport control means
A movement determination unit that determines whether or not to move the transport path to the transport movement means based on the detection result of the work detection means.
Based on the determination result of the movement determination unit, the movement control unit that moves the transportation path to the transportation movement means, and the movement control unit.
A transfer determination unit that determines whether or not to transfer the transported object to the transport transfer means based on the detection result of the work detection means.
A transfer device including a transfer control unit for transferring the transported object to the transfer transfer means for transfer based on a determination result of the transfer determination unit. In the transport device according to claim 1,
When the work detection means detects the storage means having no transported object at a position less than a predetermined threshold value among the plurality of storage means transported to the work area, the movement determination unit said. When it is determined that the transport path is not moved to the transport moving means, and the storage means having no transported object at a position equal to or higher than a predetermined threshold value is detected by the work detection means, the transport moving means is described as described above. A transport device characterized in that it is determined to move a transport path. In the transport device according to claim 2,
It is provided on the upstream side in the transport direction, and is provided with a storage detecting means for detecting whether or not the plurality of transported objects are stored in the plurality of storage means.
When the storage detecting means detects that the plurality of transported objects are stored in the plurality of storage means, the movement determining unit determines that the transport path is moved to the transport moving means. A transport device characterized by. In the transport device according to any one of claims 1 to 3.
When the transfer determination unit detects the storage means having no transported object at a position less than a predetermined threshold value among the plurality of storage means transported to the work area, the work detection means detects the storage means. It is determined that the transported object stored in each of the plurality of storage means transported to the work area is to be transferred, and the storage means having no transported object at a position equal to or higher than a predetermined threshold value is detected by the work detection means. When detected in, it is determined that the transported object stored in each of the plurality of storage means transported to the preliminary work area located on the upstream side of the work area is to be transferred. apparatus. In the transport device according to any one of claims 1 to 4.
The transfer means for transportation is
A plurality of transport holding portions for holding at least one of the transported objects stored in each of the plurality of storage means transported to the work area by the transport moving means.
A transport base that supports the plurality of transport holders, and a transport base.
A transport advancing / retreating mechanism for advancing / retracting the transport base with respect to the plurality of storage means is provided.
The transport base is a transport device that supports each of the plurality of transport holding portions so as to be capable of advancing and retreating along the advancing / retreating direction of the transport advancing / retreating mechanism. In the transport device according to claim 5,
The transported object is formed in a substantially rectangular plate shape and has flexibility.
The storage means stacks and stores a plurality of the conveyed objects along a direction orthogonal to the plate surface.
The transport transfer means is a transport device including a pair of transport holding portions provided along the longitudinal direction of a plate surface of the transport object for one transport object. In the transport device according to claim 6,
The transfer means for transportation is
A transport device including a contact portion that comes into contact with an edge of a plate surface of the transport object when the transported object stored in the storage means is held and transferred. In the transport device according to claim 7,
The transport holding portion is
A suction plate having a substantially rectangular suction surface for sucking the conveyed object is provided.
When the suction plate sucks and holds the conveyed object, the contact portion comes into contact with the edge of the plate surface of the conveyed object located on a straight line orthogonal to one side of the suction surface of the suction plate. A transport device characterized by the fact that. In the transport device according to any one of claims 1 to 8.
A belt conveyor that conveys the plurality of conveyed objects transferred by the conveying transfer means, and a belt conveyor that conveys the plurality of conveyed objects.
A pitch conveyor that intermittently conveys the plurality of conveyed objects conveyed by the belt conveyor for each first number, and a pitch conveyor that intermittently conveys the plurality of conveyed objects.
An external transfer means for transferring the plurality of conveyed objects conveyed by the pitch conveyor to the outside of the transfer device for each second number.
A delivery means for delivering the plurality of transported objects conveyed by the belt conveyor to the pitch conveyor for each of the first number is provided.
The transport device, wherein the first number is a divisor of the second number. In the transport device according to claim 9,
Defect detection means for detecting defects in the plurality of transported objects transported by the belt conveyor, and
A transport device including a discharge means for discharging the transported object determined to be defective by the defect detecting means from the belt conveyor.

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