JP3944945B2 - Storage method and storage device for bag-shaped article in box - Google Patents

Storage method and storage device for bag-shaped article in box Download PDF

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JP3944945B2
JP3944945B2 JP11653997A JP11653997A JP3944945B2 JP 3944945 B2 JP3944945 B2 JP 3944945B2 JP 11653997 A JP11653997 A JP 11653997A JP 11653997 A JP11653997 A JP 11653997A JP 3944945 B2 JP3944945 B2 JP 3944945B2
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JPH10291503A (en
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禎史 鈴木
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Shibuya Corp
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Shibuya Corp
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Description

【０００１】
【産業上の利用分野】
本発明は袋状物品の箱内への収納方法と収納装置に関し、例えばポテトチップ等を袋詰めした袋状物品を箱内に積層して収納する収納方法および収納装置に関する。
【０００２】
【従来の技術】
従来、ポテトチップ等を収納した袋状物品を箱内に積層して収納する収納装置は知られている（例えば、特開平３−８５２０５号公報、特開平５−１３９４０５号公報）。
このような装置では、一層分の袋状物品を同一方向に傾斜させて保持するようにしてあり、それによって、より多くの袋状物品を箱内に積層して収納できるしている。
【０００３】
【発明が解決しようとする課題】
しかるに、従来の収納装置では、上述したように一層分の袋状物品を同一方向に傾斜させて保持し、その傾斜状態で複数層に積層していたため、箱内における側壁の隣接位置となる袋状物品が下方に沈み込んで、箱内の袋状物品の収納状態が乱雑になるという欠点があった（図５参照）。
【０００４】
【課題を解決するための手段】
このような事情に鑑み、請求項１に記載した第１の本発明は、一層分として所定個数の袋状物品を保持して、それら一層分の袋状物品を箱内に複数積層させて収納するようにした袋状物品の箱内への収納方法において、
上記一層分の袋状物品のうち、袋状物品が搬送される際の搬送方向における先頭あるいは後端となる位置の袋状物品を実質的に水平に保持する一方、それ以外の他の袋状物品は同一方向に傾斜させた状態で、かつ上記先頭あるいは後端となる位置の袋状物品の保持高さよりも低くなるように保持するとともに、上記水平状態に保持した袋状物品の水平方向の幅を圧縮した後に、
上記水平状態の袋状物品における一側を箱内の一方の側壁に接触させるとともに、上記水平状態の袋状物品における他側を隣接位置となる傾斜状態の袋状物品に接触させて、それら一層分の袋状物品を箱内の両方の側壁の間に挟み込ませて収納するようにしたものである。
また、請求項４に記載した第２の本発明は、袋状物品を搬送する第１搬送装置と、上方が開口した箱を搬送する第２搬送装置と、上記第１搬送装置が搬送する袋状物品を先頭のものから順次一層分として所定個数だけ保持して、それら一層分の袋状物品を上記第２搬送装置上の箱内に順次積層させて収納する保持手段と、上記第２搬送装置の上方に配置された固定ガイドとを備え、上記保持手段は一層分となる所定個数の袋状物品をそれぞれ保持する複数の保持部材を備えており、
これら保持部材のうち、搬送装置が搬送する先頭の袋状物品を保持する保持部材は、該先頭の袋状物品を実質的に水平に保持するように構成されており、また、後続する袋状物品を保持するその他の保持部材は、後続する袋状物品を同一方向に傾斜させて、かつ上記先頭の袋状物品よりも保持高さが低くなるように構成されており、
上記保持手段は、上記各保持部材により一層分の袋状物品を保持するとともに先頭の袋状容器を上記固定ガイドに押し付けて水平方向に圧縮させてから、上記先頭の袋状物品における一側を箱内の一方の側壁に接触させるとともに、上記先頭の袋状物品における他側を隣接位置の傾斜状態の袋状物品に接触させて、上記一層分の袋状物品を箱内の両方の側壁の間に挟み込ませて収納するようにしたものである。
【０００５】
【作用】
上述した第１の発明によれば、一層分の袋状物品は箱内の両方の側壁の間に挟みこまれて収納される。そのため、一層分の袋状物品のうち先頭（あるいは後端）のものとして積層収納された袋状物品が下方に沈み込むことを良好に防止することができる。
また、上記第２の発明によれば、一層分の袋状物品は箱内の両方の側壁の間に挟みこまれて収納される。そのため、一層分の袋状物品のうち先頭のものとして積層収納された袋状物品が下方に沈み込むことを良好に防止することができる。
したがって、箱内に収納した袋状物品が乱雑な収納状態となることを良好に防止することができる。
【０００６】
【実施例】
以下、図示実施例について本発明を説明すると、図１において、１は物品収納装置であり、この物品収納装置１は、一層分として５個の袋状物品２を順次保持して、上方が開口した箱３内に積層して収納することができる。図４に示すように、本実施例では、１つの箱３内に４層の袋状物品２を積層することにより合計２０個の袋状物品２を箱３内に収納するようにしている。
物品収納装置１は、袋状物品２を矢印方向に連続的に搬送する第１搬送コンベヤ４と、上方が開口した箱３を矢印方向に間欠的に搬送する第２搬送コンベヤ５を備えており、さらに第１搬送コンベヤ４上と第２搬送コンベヤ５上とを往復移動して、第１搬送コンベヤ４上の袋状物品２を箱３内に積層収納するロボット６を備えている。
図６に拡大して示すように、本実施例の袋状物品２は中央側が膨らんだ扁平な長方形状をしており、その内部に例えば多数のポテトチップを収納している。
図１に示すように、第１搬送コンベヤ４上の袋状物品２は、第１搬送コンベヤ４の搬送方向において一列で、かつ相前後するものを離隔させてあり、その状態で、第１搬送コンベヤ４によって連続的に搬送されるようになっている。
一方、本実施例の箱３は段ボールからなり、上方側の四辺のフラップは鉛直上方に向けて維持されており、それによって、箱３は上方が開口した状態となっている。そして、この状態の空の箱３が第２搬送コンベヤ５によって間欠的に搬送されるようになっている。第２搬送コンベヤ５上の箱３は、縦一列で隣接位置の側壁が相互に当接した状態となっている。
上記第１搬送コンベヤ４の搬送過程における上方の所定位置には、ＣＣＤカメラ９を配置している。第１搬送コンベヤ４が搬送する袋状物品２は、このＣＣＤカメラ９によって載置状態を撮影されるようになっており、このＣＣＤカメラ９によって撮影した袋状物品２の映像はロボット６に入力されるようになっている。
図２ないし図３に示すように本実施例のロボット６は、一層分としての５個の袋状物品２を保持して箱３内に収納する処理ヘッド７を備えている。処理ヘッド７は、昇降可能な回転軸８の下端部に連結してあり、この回転軸８が正逆に回転されると、処理ヘッド７が正逆に所定角度だけ回転することができる。
処理ヘッド７は、回転軸８の下端部に固定した支持部材１１を備えるとともに、この支持部材１１に第１搬送コンベヤ４の下流側から上流側にわたって順次シリンダ機構１２，１３，１４，１５，１６を鉛直下方にむけて取り付けている。これらは、支持部材１１に等間隔で設けてあり、これらの各シリンダ機構１２，１３，１４，１５，１６の下端部（先端）に、角柱状の吸着パッド１７Ａ，１７Ｂ，１７Ｃ，１７Ｄ，１７Ｅをそれぞれ水平に連結している。
さらに各シリンダ機構１２〜１６と平行となるように、支持部材１１の側壁には、５本の大径パイプ１８を連結している。一方、各吸着パッド１７Ａ〜１７Ｅの上面にはそれぞれ小径パイプ１９を連結し、これらの小径パイプ１９を上記大径パイプ１８に下方側から気密を保持して摺動自在に嵌合させている。
各大径パイプ１８の上端には導管２１の一端を接続してあり、この導管２１の他端は、図示しない負圧源に接続している。
各吸着パッド１７Ａ〜１７Ｅには小径パイプ１９と連通する負圧通路が形成されており、かつその負圧通路は、各吸着パッド１７Ａ〜１７Ｅの底面で開口させている。
これにより、導管２１、両パイプ１８，１９を介して、各吸着パッド１７Ａ〜１７Ｅに一斉に負圧を導入することができる。そして、このように各吸着パッド１７Ａ〜１７Ｅに負圧を導入し、その状態で各吸着パッド１７Ａ〜１７Ｅが各シリンダ機構１２〜１６によって昇降されることにより、第１搬送コンベヤ４上の袋状物品１を各吸着パッド１７Ａ〜１７Ｅによって吸着保持できるようにしている。他方、そのように袋状物品２を保持した状態から各吸着パッド１７Ａ〜１７Ｅへの負圧の導入を停止すると、各吸着パッド１７Ａ〜１７Ｅによる袋状物品２の保持状態を解除することができる。
上述したように、ＣＣＤカメラ９が撮影した第１搬送コンベヤ４上の袋状物品１の映像はロボット６に入力されており、ロボット６は、ＣＣＤカメラ９からの入力をもとにして、回転軸８、各シリンダ機構１２〜１６および負圧源からの負圧の給排作動を制御し、第１搬送コンベヤ４が搬送する袋状物品２を各吸着パッド１７Ａ〜１７Ｅにより順次保持する。
より詳細には、先ず図２に示した最下流側（最も左方側）の吸着パッド１７Ａによって第１搬送コンベヤ４が搬送する先頭の袋状物品２を吸着保持し、次いでその隣接位置の第２の吸着パッド１７Ｂによって第２の袋状物品２を保持する。さらに、この後、第３の吸着パッド１７Ｃによって第３の袋状物品２を保持するというように，先頭の袋状物品２からそれに後続する袋状物品２を順次各吸着パッド１７Ａ〜１７Ｅによって吸着保持するようにしている。
このように、処理ヘッド７の各吸着パッド１７Ａ〜１７Ｅによって一層分として合計５個の袋状物品２を吸着保持したら、処理ヘッド７は第１搬送コンベヤ４上から、作動が停止している第２搬送コンベヤ５側の箱３の上方まで移動される。その後に処理ヘッド７全体が所要量だけ下降されるので、処理ヘッド７に保持した一層分５個の袋状物品２が箱３内に同時に挿入され、この後、各吸着パッド１７Ａ〜１７Ｅへの負圧の導入を停止させるので、各吸着パッド１７Ａ〜１７Ｅによる袋状物品２の保持状態を解放される。これによって、一層分５個の袋状物品２が箱３内に収納される。
この後、処理ヘッド７は第１搬送コンベヤ４上に復帰し、第１搬送コンベヤ４が搬送する袋状物品２を再度上述したように先頭のものから順次５個保持し、その後、上述したように第２搬送コンベヤ５側の箱３内に、第２層目となる５個の袋状物品２を積層して収納する。
このようにして、処理ヘッド７は第１搬送コンベヤ４上の袋状物品２を一層分を５個保持して、それらを順次、箱３内に４層だけ積層させて収納するようになっている。
そして、予定した４層分の袋状物品２（合計２０個の袋状物品２）が箱３内に収納されると、それまで停止していた第２搬送コンベヤ５が再度作動されてから停止されるので、袋状物品２を収納した最初の箱３は下流側に移送される一方、第２の空の箱３が処理ヘッド７による袋状物品２の収納位置へ供給される。
上述した構成と作動は基本的に従来公知のものと変わるところはない。
しかして、本実施例は、上記処理ヘッド７によって一層分５個の袋状物品２を保持するに際して、先頭のものを実質的に水平に保持し、後続のものは同一角度だけ傾斜させて保持するようにしたものである。
すなわち、図２に示すように、処理ヘッド７が備える各吸着パッド１７Ａ〜１７Ｅによって一層分５個の袋状物品２を保持した状態において、図面上の左方端となる先頭の袋状物品２は、その上面の中央部側を吸着パッド１７Ａによって吸着保持することで、実質的に保持されている。他方、後続する４つの袋状物品２は、袋状物品２の上面における中央部よりも第１搬送コンベヤ４の搬送方向上流側にずれた位置を保持する各吸着パッド１７Ｂ〜１７Ｅで吸着保持することにより、第１搬送コンベヤ４の搬送方向下流側となる一側が低くなり、第１搬送コンベヤ４の搬送方向上流側となる他側が高くなるように同一角度で傾斜して保持されている。
それに加えて、先頭から２番目の袋状物品２を保持する吸着パッド１７Ｂの底面の高さは、先頭の袋状物品２を保持する吸着パッド１７Ａの底面の高さよりも所定寸法ｈ１だけ低くしている。また、３番目の袋状物品２を保持する吸着パッド１７Ｃの底面の高さは、２番目の袋状物品２を保持する吸着パッド１７Ｂの底面の高さよりも所定寸法ｈ２だけ低くしてあり、これと同様に、４番目の吸着パッド１７Ｄの底面の高さは３番目の吸着パッド１７Ｃの底面の高さよりも上記所定寸法ｈ２だけ低くしてあり、さらに最も上流側となる５番目の吸着パッド１７Ｅの底面の高さは４番目の吸着パッド１７Ｄの底面の高さよりも上記所定寸法ｈ２だけ低くしている。
また、先頭の吸着パッド１７Ａの底面の高さと２番目の吸着パッド１７との高さの差ｈ１は、第２番目から第５番目の吸着パッドにおける隣り合うものの底面の高さの差ｈ２よりも大きな寸法に設定している。
したがって、本実施例の処理ヘッド７の各吸着パッド１７Ａ〜１７Ｅによって、一層分５個の袋状物品２を保持した際には、図２に示すように、先頭の袋状物品２は実質的に水平に支持されており、その他の後続位置の４つの袋状物品２は、同一傾斜角度で順次上流側に位置するものほど少しずつ保持する高さが低くなっている。
さらに本実施例では、図１に示すように、第２搬送コンベヤ５における最下流側で停止する箱３の上方位置に板状をした固定ガイド２９を固定して設けている。袋状物品２を収納する最下流側（先頭）の箱３が停止位置における、該箱３の下流側の側壁の上方となる所定の高さに設けてあり、したがって、固定ガイド２９は、その長手方向が第２搬送コンベヤ５と直交し、幅方向が鉛直方向に支持されている。
そして、上述のようにして本実施例の処理ヘッド７が一層分５個の袋状物品２を保持すると、処理ヘッド７は箱３の上方位置まで移動されてから、となり合う吸着パッドが隔てた距離の約３分の１程度、第２搬送コンベヤ５の下流側に平行移動する。これにより、吸着パッド１７Ａに保持された水平状態の先頭の袋状物品２の一側が上記固定ガイド２９に押し付けられるので、該先頭の袋状物品２は、水平方向の幅を圧縮される。
そして、このあとに、処理ヘッド７全体が所要量だけ下降されるので、一層分の袋状物品２が箱３内に収納される。このようにして、処理ヘッド７によって箱３内に袋状物品２を順次４層分だけ積層して収納する。これにより、図４に示すように、先頭のものとして保持された４つの袋状物品２は箱３における一方の側壁３Ａの隣接位置に収納され、最上流側のものとして保持された袋状物品２は箱３における他方の側壁３Ｂの隣接位置に収納される。
したがって、図４に示すように、箱３に積層されて収納された袋状物品２のうち、箱３における搬送方向の下流側となる一方の側壁３Ａの隣接位置のものは実質的に水平となり、かつ、それら以外のものは同一傾斜状態で箱３内に収納される。そして、各層の袋状物品２は両方の側壁３Ａ、３Ｂの間に挟みこまれて箱３内に収納されている。
これによって、４層分で合計２０個の袋状物品２を箱３内に収納した際に、先頭のものとして保持され水平状態で積層収納された袋状物品２が、沈下するようなことがない。したがって、箱３内に収納した袋状物品２が乱雑な収納状態となることを良好に防止することができる。
このような本実施例に対して、従来では、一層分５個の袋状物品２を吸着パッド１７で保持する際に、全ての袋状物品２を同一高さで、かつ同一傾斜角度で保持してから箱３内に積層収納していたものである。したがって、従来では、図５に示したように、箱３の一方の側壁３Ａの隣接位置に積層した袋状物品２が沈下して、箱３内の袋状物品２の収納状態が乱雑になるという欠点が指摘されていたものである。
なお、上記実施例では、処理ヘッド７が備える各吸着パッド１７Ａ〜１７Ｅによって一層分５個の袋状物品２を保持するに当たって、搬送方向の最下流側となる先頭の袋状物品２を水平に保持し、その他の４個の袋状物品２を傾斜させて保持するようにしているが（図２参照）、これとは逆に、搬送方向の最上流側となる後端の位置の袋状物品２を水平に保持し、それよりも下流側位置となる４個の袋状物品２を傾斜させて保持するようにしてもよい。
また、上記実施例では、第１搬送コンベヤ４が搬送する袋状物品２をＣＣＤカメラ９で撮影して各吸着パッド１７Ａ〜１７Ｅによって順次先頭のものから保持するようにしているが、第１搬送コンベヤ４が搬送する一層分５個の袋状物品２を複数のストッパで停止させ、その状態において、５個の吸着パッドによって一度に５個の袋状物品２を保持し、さらにその状態から隣り合う吸着パッドの間隔を狭くするように構成したものにも本発明を適用することができる。この場合、ストッパで一層分５個の袋状物品２を停止させる技術としては、特開平５−１３９４０５号のものを用いることができる。また、一層分５個の吸着パッドを吸着保持してから隣り合う吸着パッドの間隔を狭くする技術としては、特開平５−３３８７９１号あるいは特公平７−１０８７２６号に開示されている技術を用いることができる。
【０００７】
【発明の効果】
以上のように、本発明によれば、箱内に収納した袋状物品の収納状態が乱雑になるのを防止できるという効果が得られる。
【図面の簡単な説明】
【図１】本発明の一実施例を示す平面図
【図２】図１の要部の正面図
【図３】図１のＩＩＩ−ＩＩＩ線に沿う断面図
【図４】図１に示した装置によって袋状物品２を収納した後の箱の断面図
【図５】従来技術によって袋状物品２を収納した箱の断面図
【図６】図１に示した袋状物品の拡大斜視図
【符号の説明】
１ 物品収納装置 ２ 袋状物品
３ 箱 ４ 第１搬送コンベヤ
５ 第２搬送コンベヤ ６ ロボット
７ 処理ヘッド １７Ａ〜１７Ｅ 吸着パッド（保持部材）[0001]
[Industrial application fields]
The present invention relates to a method for storing a bag-shaped article in a box and a storage device, for example, a storage method and a storage apparatus for stacking and storing bag-shaped articles packed with potato chips or the like in a box.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a storage device that stores and stores bag-shaped articles storing potato chips or the like in a box is known (for example, Japanese Patent Laid-Open Nos. 3-85205 and 5-139405).
In such an apparatus, one layer of bag-like articles is inclined and held in the same direction, so that more bag-like articles can be stacked and stored in the box.
[0003]
[Problems to be solved by the invention]
However, in the conventional storage apparatus, as described above, the bag-shaped article for one layer is inclined and held in the same direction and laminated in a plurality of layers in the inclined state, so that the bag that is adjacent to the side wall in the box There has been a drawback that the storage state of the bag-shaped article in the box becomes messy because the shaped article sinks downward (see FIG. 5).
[0004]
[Means for Solving the Problems]
In view of such circumstances, the first aspect of the present invention described in claim 1 holds a predetermined number of bag-shaped articles as one layer and stores a plurality of such bag-shaped articles stacked in a box. In the method for storing the bag-shaped article in the box,
Among the bag-like articles for one layer, the bag-like article at the position that becomes the leading or trailing end in the conveying direction when the bag-like article is conveyed is held substantially horizontally, while other bag-like articles are used. The article is tilted in the same direction and held so as to be lower than the holding height of the bag-like article at the position of the leading or trailing end, and the horizontal direction of the bag-like article held in the horizontal state is held. After compressing the width,
One side of the bag-like article in the horizontal state is brought into contact with one side wall in the box, and the other side in the bag-like article in the horizontal state is brought into contact with the inclined bag-like article which is an adjacent position, and one layer thereof A minute bag-like article is stored between both side walls in the box.
According to a second aspect of the present invention, a first transport device that transports a bag-shaped article, a second transport device that transports a box that is open at the top, and a bag that the first transport device transports. A holding means for holding a predetermined number of sheet-like articles sequentially from the top, and storing the one-layer bag-like articles in a box on the second transfer device, and the second transfer A fixing guide disposed above the apparatus, and the holding means includes a plurality of holding members each holding a predetermined number of bag-like articles.
Of these holding members, the holding member that holds the leading bag-like article conveyed by the conveying device is configured to hold the leading bag-like article substantially horizontally, and the following bag-like article other holding member for holding the article, the subsequent bag-shaped article is inclined in the same direction, and is configured to hold the height is lower than a bag-shaped article of the top
The holding means holds the bag-like article for one layer by the holding members and presses the leading bag-like container against the fixed guide to compress in the horizontal direction, and then presses one side of the leading bag-like article. The first bag-shaped article is brought into contact with one side wall in the box, and the other side of the leading bag-shaped article is brought into contact with an inclined bag-shaped article at an adjacent position, so that the one-layer bag-shaped article is placed on both side walls in the box. It is sandwiched between them and stored.
[0005]
[Action]
According to the first invention described above , the bag-shaped article for one layer is sandwiched and stored between both side walls in the box. Therefore, it is possible to satisfactorily prevent the bag-shaped article stacked and stored as the first (or rear end) one-layer bag-shaped article from sinking downward.
According to the second aspect of the invention, the bag-shaped article for one layer is sandwiched and stored between both side walls in the box. Therefore, it is possible to satisfactorily prevent the bag-shaped article stacked and stored as the first one of the one-layer bag-shaped articles from sinking downward.
Therefore, it is possible to satisfactorily prevent the bag-like article stored in the box from being in a messy storage state.
[0006]
【Example】
Hereinafter, the present invention will be described with reference to the illustrated embodiment. In FIG. 1, reference numeral 1 denotes an article storage device. The article storage device 1 sequentially holds five bag-like articles 2 as one layer, and the upper portion is open. The stacked boxes 3 can be stacked and stored. As shown in FIG. 4, in this embodiment, a total of 20 bag-like articles 2 are stored in the box 3 by stacking four layers of bag-like articles 2 in one box 3.
The article storage device 1 includes a first conveyor 4 that continuously conveys the bag-like article 2 in the direction of the arrow, and a second conveyor 5 that intermittently conveys the box 3 that opens upward in the direction of the arrow. The robot 6 further includes a robot 6 that reciprocates between the first conveyor 4 and the second conveyor 5 to stack and store the bag-like articles 2 on the first conveyor 4 in the box 3.
As shown in FIG. 6 in an enlarged manner, the bag-shaped article 2 of the present embodiment has a flat rectangular shape in which the center side swells, and accommodates, for example, a large number of potato chips therein.
As shown in FIG. 1, the bag-like articles 2 on the first transport conveyor 4 are arranged in a line in the transport direction of the first transport conveyor 4 and separated from each other, and in this state, the first transport It is conveyed continuously by the conveyor 4.
On the other hand, the box 3 of this embodiment is made of corrugated cardboard, and the upper four side flaps are maintained vertically upward, whereby the box 3 is in an open state. The empty box 3 in this state is intermittently transported by the second transport conveyor 5. The boxes 3 on the second conveyor 5 are in a state where the side walls at adjacent positions are in contact with each other in a vertical row.
A CCD camera 9 is disposed at a predetermined upper position in the transport process of the first transport conveyor 4. The bag-like article 2 conveyed by the first conveyor 4 is photographed by the CCD camera 9, and the image of the bag-like article 2 photographed by the CCD camera 9 is input to the robot 6. It has come to be.
As shown in FIGS. 2 to 3, the robot 6 of this embodiment includes a processing head 7 that holds five bag-like articles 2 as one layer and stores them in the box 3. The processing head 7 is connected to the lower end portion of the rotary shaft 8 that can be moved up and down. When the rotary shaft 8 is rotated forward and backward, the processing head 7 can rotate forward and backward by a predetermined angle.
The processing head 7 includes a support member 11 fixed to the lower end portion of the rotary shaft 8, and the cylinder mechanisms 12, 13, 14, 15, 16 are sequentially attached to the support member 11 from the downstream side to the upstream side of the first transport conveyor 4. Is attached vertically downward. These are provided at equal intervals on the support member 11, and at the lower end portions (tips) of the cylinder mechanisms 12, 13, 14, 15, 16 are prismatic suction pads 17A, 17B, 17C, 17D, 17E. Are connected horizontally.
Further, five large-diameter pipes 18 are connected to the side wall of the support member 11 so as to be parallel to the cylinder mechanisms 12 to 16. On the other hand, small-diameter pipes 19 are connected to the upper surfaces of the suction pads 17A to 17E, respectively, and these small-diameter pipes 19 are slidably fitted to the large-diameter pipe 18 while maintaining airtightness from below.
One end of a conduit 21 is connected to the upper end of each large-diameter pipe 18, and the other end of the conduit 21 is connected to a negative pressure source (not shown).
Each of the suction pads 17A to 17E is formed with a negative pressure passage communicating with the small-diameter pipe 19, and the negative pressure passage is opened at the bottom surface of each of the suction pads 17A to 17E .
Thereby, a negative pressure can be simultaneously introduced into each suction pad 17A-17E via the conduit | pipe 21 and both the pipes 18 and 19. FIG. And a negative pressure is introduce | transduced into each suction pad 17A-17E in this way, and each suction pad 17A-17E is raised / lowered by each cylinder mechanism 12-16 in that state, The bag shape on the 1st conveyance conveyor 4 is carried out. The article 1 can be sucked and held by the suction pads 17A to 17E. On the other hand, when the introduction of the negative pressure to each of the suction pads 17A to 17E is stopped from the state in which the bag-like article 2 is held as described above, the holding state of the bag-like article 2 by each of the suction pads 17A to 17E can be released. .
As described above, the image of the bag-like article 1 on the first conveyor 4 taken by the CCD camera 9 is input to the robot 6, and the robot 6 rotates based on the input from the CCD camera 9. The supply and discharge operation of the negative pressure from the shaft 8, the cylinder mechanisms 12 to 16 and the negative pressure source is controlled, and the bag-like article 2 conveyed by the first conveyor 4 is sequentially held by the suction pads 17A to 17E.
More specifically, the first bag-like article 2 conveyed by the first conveying conveyor 4 is first sucked and held by the most downstream (leftmost) suction pad 17A shown in FIG. The second bag-like article 2 is held by the two suction pads 17B. Thereafter, the third bag-like article 2 is held by the third suction pad 17C, and the subsequent bag-like article 2 from the first bag-like article 2 is sequentially sucked by the suction pads 17A to 17E. I try to keep it.
In this way, when a total of five bag-like articles 2 are sucked and held by the suction pads 17A to 17E of the processing head 7, the processing head 7 is stopped from the operation on the first conveyor 4. 2 Moved to above the box 3 on the conveyor 5 side. Thereafter, the processing head 7 as a whole is lowered by a required amount, so that five layers of bag-like articles 2 held by the processing head 7 are simultaneously inserted into the box 3, and thereafter, the suction pads 17A to 17E Since the introduction of the negative pressure is stopped, the holding state of the bag-like article 2 by the suction pads 17A to 17E is released. As a result, five bag-like articles 2 for one layer are stored in the box 3.
Thereafter, the processing head 7 returns to the first conveyor 4 and holds the five bag-like articles 2 conveyed by the first conveyor 4 sequentially from the top as described above, and then as described above. In the box 3 on the second conveyor 5 side, the five bag-like articles 2 as the second layer are stacked and stored.
In this way, the processing head 7 holds five layers of the bag-like article 2 on the first conveyor 4 and sequentially stores them in the box 3 by stacking only four layers. Yes.
And if the bag-like goods 2 (a total of 20 bag-like goods 2) for four layers planned are stored in the box 3, it will stop after the 2nd conveyance conveyor 5 stopped until then is actuated again. Therefore, the first box 3 storing the bag-shaped article 2 is transferred to the downstream side, while the second empty box 3 is supplied to the storage position of the bag-shaped article 2 by the processing head 7.
The configuration and operation described above are basically the same as those conventionally known.
Thus, in this embodiment, when the bag-like article 2 is held for one layer by the processing head 7, the top one is held substantially horizontally, and the subsequent ones are held inclined at the same angle. It is what you do.
That is, as shown in FIG. 2, in the state where five bag-shaped articles 2 for one layer are held by each of the suction pads 17A to 17E provided in the processing head 7, the top bag-shaped article 2 that is the left end in the drawing. Is substantially held by sucking and holding the center side of the upper surface by the suction pad 17A. On the other hand, the following four bag-like articles 2 are sucked and held by the suction pads 17B to 17E that hold positions shifted to the upstream side in the transport direction of the first transport conveyor 4 from the central portion on the upper surface of the bag-shaped article 2. Thus, one side that is the downstream side in the transport direction of the first transport conveyor 4 is lowered, and the other side that is the upstream side in the transport direction of the first transport conveyor 4 is tilted and held at the same angle.
In addition, the height of the bottom surface of the suction pad 17B that holds the second bag-like article 2 from the top is made lower by a predetermined dimension h1 than the height of the bottom surface of the suction pad 17A that holds the top bag-like article 2. ing. Further, the height of the bottom surface of the suction pad 17C that holds the third bag-shaped article 2 is lower than the height of the bottom surface of the suction pad 17B that holds the second bag-shaped article 2 by a predetermined dimension h2. Similarly, the height of the bottom surface of the fourth suction pad 17D is lower than the height of the bottom surface of the third suction pad 17C by the predetermined dimension h2, and further, the fifth suction pad which is the most upstream side. The height of the bottom surface of 17E is made lower by the predetermined dimension h2 than the height of the bottom surface of the fourth suction pad 17D.
Further, the difference in height h1 between the bottom surface of the first suction pad 17A and the height of the second suction pad 17 is greater than the difference in height h2 between the bottom surfaces of adjacent ones in the second to fifth suction pads. Large dimensions are set.
Therefore, when five bag-shaped articles 2 are held for one layer by the suction pads 17A to 17E of the processing head 7 of the present embodiment, the leading bag-shaped article 2 is substantially as shown in FIG. The four bag-like articles 2 at the other succeeding positions are gradually held at the same inclination angle, and the height is gradually lowered.
Further, in the present embodiment, as shown in FIG. 1, a plate-like fixed guide 29 is fixedly provided at an upper position of the box 3 that stops at the most downstream side in the second transport conveyor 5. The most downstream (leading) box 3 for storing the bag-like article 2 is provided at a predetermined height above the side wall on the downstream side of the box 3 at the stop position. The longitudinal direction is orthogonal to the second conveyor 5 and the width direction is supported in the vertical direction.
As described above, when the processing head 7 of this embodiment holds five bag-shaped articles 2 for one layer, the processing head 7 is moved to the upper position of the box 3 and then the adjacent suction pads are separated. It moves parallel to the downstream side of the second conveyor 5 by about one third of the distance. As a result, one side of the top bag-like article 2 in the horizontal state held by the suction pad 17A is pressed against the fixed guide 29, so that the top bag-like article 2 is compressed in the horizontal width.
After that, the entire processing head 7 is lowered by a required amount, so that one layer of the bag-like article 2 is stored in the box 3. In this manner, the bag-like article 2 is sequentially stacked and stored in the box 3 by the processing head 7 for four layers. As a result, as shown in FIG. 4, the four bag-like articles 2 held as the top one are stored in the box 3 adjacent to one side wall 3 </ b> A, and held as the most upstream side bag-like article. 2 is housed in a position adjacent to the other side wall 3 </ b> B in the box 3.
Therefore, as shown in FIG. 4, among the bag-like articles 2 stacked and stored in the box 3 , the one adjacent to the side wall 3 </ b> A on the downstream side in the transport direction in the box 3 is substantially horizontal. And other things are accommodated in the box 3 in the same inclined state. Each layer of the bag-like article 2 is sandwiched between the side walls 3A and 3B and stored in the box 3.
As a result, when a total of 20 bag-shaped articles 2 in four layers are stored in the box 3, the bag-shaped articles 2 held as the top and stacked and stored in a horizontal state may sink. Absent. Therefore, it is possible to satisfactorily prevent the bag-like article 2 stored in the box 3 from being in a messy storage state.
In contrast to this embodiment, conventionally, when holding five bag-like articles 2 for one layer with the suction pad 17, all the bag-like articles 2 are held at the same height and at the same inclination angle. Then, it was stored in the box 3 in a stacked manner. Therefore, conventionally, as shown in FIG. 5, the bag-like article 2 stacked at the position adjacent to one side wall 3 </ b> A of the box 3 sinks, and the storage state of the bag-like article 2 in the box 3 becomes messy. The shortcoming was pointed out.
In addition, in the said Example, when holding | maintaining five bag-shaped articles 2 for one layer by each suction pad 17A-17E with which the processing head 7 is equipped, the top bag-shaped article 2 used as the most downstream side of a conveyance direction is made horizontal. The other four bag-like articles 2 are held in an inclined manner (see FIG. 2). On the contrary, the bag-like shape at the position of the rear end on the most upstream side in the conveying direction is used. The article 2 may be held horizontally, and the four bag-like articles 2 located downstream from the article 2 may be held inclined.
Moreover, in the said Example, although the bag-like article 2 which the 1st conveyance conveyor 4 conveys is image | photographed with the CCD camera 9, and it is made to hold | maintain from the top thing sequentially by each suction pad 17A-17E, the 1st conveyance The five bag-shaped articles 2 for one layer conveyed by the conveyor 4 are stopped by a plurality of stoppers, and in this state, five bag-shaped articles 2 are held at a time by five suction pads, and further from the state. The present invention can also be applied to a structure in which the interval between the suction pads is narrowed. In this case, as a technique for stopping five bag-shaped articles 2 for one layer with a stopper, one disclosed in JP-A-5-139405 can be used. Further, as a technique for narrowing the interval between adjacent suction pads after sucking and holding five suction pads for one layer, the technique disclosed in Japanese Patent Laid-Open No. 5-338791 or Japanese Patent Publication No. 7-108726 is used. Can do.
[0007]
【The invention's effect】
As described above, according to the present invention, it is possible to prevent the storage state of the bag-shaped article stored in the box from being messy.
[Brief description of the drawings]
FIG. 1 is a plan view showing an embodiment of the present invention. FIG. 2 is a front view of the main part of FIG. 1. FIG. 3 is a cross-sectional view taken along line III-III in FIG. FIG. 5 is a cross-sectional view of the box after the bag-shaped article 2 is stored by the apparatus. FIG. 5 is a cross-sectional view of the box in which the bag-shaped article 2 is stored by the prior art. Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Article storage apparatus 2 Bag-shaped article 3 Box 4 1st conveyance conveyor 5 2nd conveyance conveyor 6 Robot 7 Processing head 17A-17E Suction pad (holding member)

Claims (5)

一層分として所定個数の袋状物品を保持して、それら一層分の袋状物品を箱内に複数積層させて収納するようにした袋状物品の箱内への収納方法において、
上記一層分の袋状物品のうち、袋状物品が搬送される際の搬送方向における先頭あるいは後端となる位置の袋状物品を実質的に水平に保持する一方、それ以外の他の袋状物品は同一方向に傾斜させた状態で、かつ上記先頭あるいは後端となる位置の袋状物品の保持高さよりも低くなるように保持するとともに、上記水平状態に保持した袋状物品の水平方向の幅を圧縮した後に、
上記水平状態の袋状物品における一側を箱内の一方の側壁に接触させるとともに、上記水平状態の袋状物品における他側を隣接位置となる傾斜状態の袋状物品に接触させて、それら一層分の袋状物品を箱内の両方の側壁の間に挟み込ませて収納することを特徴とする袋状物品の箱内への収納方法。In a method for storing a bag-shaped article in a box, in which a predetermined number of bag-shaped articles are held as a single layer, and a plurality of such bag-shaped articles are stacked and stored in a box,
Among the bag-like articles for one layer, the bag-like article at the position that becomes the leading or trailing end in the conveying direction when the bag-like article is conveyed is held substantially horizontally, while other bag-like articles are used. The article is tilted in the same direction and held so as to be lower than the holding height of the bag-like article at the position of the leading or trailing end, and the horizontal direction of the bag-like article held in the horizontal state is held. After compressing the width,
One side of the bag-like article in the horizontal state is brought into contact with one side wall in the box, and the other side in the bag-like article in the horizontal state is brought into contact with the inclined bag-like article which is an adjacent position, and one layer thereof A method for storing a bag-shaped article in a box, wherein the bag-shaped article is stored by being sandwiched between both side walls in the box. 先頭の袋状物品に後続する袋状物品は、それらの搬送方向における上流側のものほど順次高さが低くなるように保持するようにしてあり、
また、上記先頭の袋状物品を保持する高さとその隣接位置の第２の袋状物品を保持する高さとの差は、
該第２の袋状物品を保持する高さとその隣接位置の第３の袋状物品を保持する高さの差よりも大きく設定されていることを特徴とする請求項１に記載の袋状物品の箱内への収納方法。The bag-like article following the first bag-like article is held so that the upstream one in the conveying direction is sequentially lowered in height,
The difference between the height for holding the top bag-like article and the height for holding the second bag-like article at the adjacent position is as follows.
2. The bag-shaped article according to claim 1, wherein the bag-shaped article is set to be larger than a difference between a height for holding the second bag-shaped article and a height for holding the third bag-shaped article adjacent to the second bag-shaped article. How to store in the box. 後端の袋状物品よりも搬送方向の下流側に位置する袋状物品は、それらの搬送方向における下流側のものほど順次高さが低くなるように保持するようにしてあり、
また、上記後端の袋状物品を保持する高さとそれよりも１つ下流側となる袋状物品を保持する高さとの差は、
該後端の袋状物品よりも１つ下流側となる袋状物品を保持する高さとそれよりもさらに１つ下流側となる袋状物品を保持する高さの差よりも大きく設定されていることを特徴とする請求項１に記載の袋状物品の箱内への収納方法。The bag-like article located on the downstream side in the transport direction with respect to the bag-like article at the rear end is configured to hold the lower one in the order in the downstream direction in the transport direction so that the height is sequentially reduced.
Moreover, the difference between the height for holding the bag-like article at the rear end and the height for holding the bag-like article that is one downstream from the height is as follows.
It is set larger than the difference between the height for holding the bag-like article that is one downstream side from the bag-like article at the rear end and the height for holding the bag-like article that is one more downstream side. The method for storing a bag-shaped article in a box according to claim 1. 袋状物品を搬送する第１搬送装置と、上方が開口した箱を搬送する第２搬送装置と、上記第１搬送装置が搬送する袋状物品を先頭のものから順次一層分として所定個数だけ保持して、それら一層分の袋状物品を上記第２搬送装置上の箱内に順次積層させて収納する保持手段と、上記第２搬送装置の上方に配置された固定ガイドとを備え、上記保持手段は一層分となる所定個数の袋状物品をそれぞれ保持する複数の保持部材を備えており、
これら保持部材のうち、搬送装置が搬送する先頭の袋状物品を保持する保持部材は、該先頭の袋状物品を実質的に水平に保持するように構成されており、また、後続する袋状物品を保持するその他の保持部材は、後続する袋状物品を同一方向に傾斜させて、かつ上記先頭の袋状物品よりも保持高さが低くなるように構成されており、
上記保持手段は、上記各保持部材により一層分の袋状物品を保持するとともに先頭の袋状容器を上記固定ガイドに押し付けて水平方向に圧縮させてから、上記先頭の袋状物品における一側を箱内の一方の側壁に接触させるとともに、上記先頭の袋状物品における他側を隣接位置の傾斜状態の袋状物品に接触させて、上記一層分の袋状物品を箱内の両方の側壁の間に挟み込ませて収納することを特徴とする袋状物品の箱内への収納装置。A first transport device that transports bag-shaped articles, a second transport device that transports a box with an opening at the top, and a predetermined number of bag-shaped articles transported by the first transport device as a single layer from the top. And holding means for sequentially stacking and storing the bag-like articles for one layer in the box on the second transport device, and a fixed guide disposed above the second transport device, The means includes a plurality of holding members that respectively hold a predetermined number of bag-shaped articles as a single layer,
Of these holding members, the holding member that holds the leading bag-like article conveyed by the conveying device is configured to hold the leading bag-like article substantially horizontally, and the following bag-like article other holding member for holding the article, the subsequent bag-shaped article is inclined in the same direction, and is configured to hold the height is lower than a bag-shaped article of the top
The holding means holds the bag-like article for one layer by the holding members and presses the leading bag-like container against the fixed guide to compress in the horizontal direction, and then presses one side of the leading bag-like article. The first bag-shaped article is brought into contact with one side wall in the box, and the other side of the leading bag-shaped article is brought into contact with an inclined bag-shaped article at an adjacent position, so that the one-layer bag-shaped article is placed on both side walls in the box. An apparatus for storing a bag-shaped article in a box, wherein the apparatus is stored in a sandwiched manner . 後続する袋状物品を保持する保持部材は、搬送装置の搬送方向上流側のものほど順次袋状物品の保持高さが低くなるように構成されており、
また、上記先頭の袋状物品が保持部材によって保持される高さとその隣接位置の第２の袋状物品が保持部材によって保持される高さとの差は、
該第２の袋状物品が保持部材によって保持される高さとその隣接位置の第３の袋状物品が保持部材によって保持される高さの差よりも大きく設定されていることを特徴とする請求項４に記載の袋状物品の箱内への収納装置。The holding member that holds the subsequent bag-like article is configured such that the holding height of the bag-like article is sequentially reduced toward the upstream side in the conveyance direction of the conveyance device,
The difference between the height at which the top bag-shaped article is held by the holding member and the height at which the second bag-shaped article at the adjacent position is held by the holding member is as follows:
The height difference between the height at which the second bag-like article is held by the holding member and the height at which the third bag-like article at the adjacent position is held by the holding member is set. Item 5. A device for storing the bag-shaped article according to Item 4.
JP11653997A 1997-04-18 1997-04-18 Storage method and storage device for bag-shaped article in box Expired - Fee Related JP3944945B2 (en)

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CN110997493B (en) * 2017-08-16 2022-07-08 株式会社石田 Boxing device
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