JP4749977B2 - Alignment tool, alignment method, container accommodation method, alignment device, and storage device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate the arrangement and packaging and improve the efficiency of the operation even when a fragile food product such as croquettes or the like as an object is arranged and packaged. <P>SOLUTION: The arrangement implement 1 includes a guide member 3 for guiding a plurality of croquettes K to be the objects to a desired arrangement position by using a flexible sheet member 2. The sheet having a size circumferentially protruded from the range of a rectangular shape R in which the plurality of croquettes K are to be arranged is used as the sheet member 2 to be used. The guide member 3 has a pressing member 4 opposedly disposed on the sheet member 2 in the use and a partition member 6 projecting from a surface of the pressing member 4, which is opposed to the sheet member 2. The pressing member 4 is formed to be the rectangular shape R, and the partition member 6 has a first partition member 7 for partitioning a direction along one side of the rectangular shape R and a second partition member 8 for partitioning a direction along another side crossing the one side. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to an alignment tool for aligning a plurality of objects within a predetermined rectangular shape, and an alignment method using the alignment tool, an in-container storage method, an alignment device, and a storage device. Alignment tool, alignment method suitable for aligning a plurality of brittle foods having a brittle shape such as frozen croquettes and the like as a plurality of objects within a predetermined rectangular shape range, The present invention relates to an in-container accommodation method, an alignment apparatus, and an accommodation apparatus.

In logistics operations where objects are transported, aligned, and packed, etc., automation by various work machines or the like has been proposed to improve the efficiency of the operations (for example, Patent Documents 1 to 4). 2).
For example, Patent Document 1 discloses a roll product boxing machine for boxing a roll product as an object.

  This roll product boxing machine is provided with a guide device having a rectangular area for aligning a plurality of roll products on a base plate. In this guide device, one side of the quadrangular region is open, and a pusher, which is an extrusion device, is arranged opposite to the side of the open side. This pusher is configured such that roll products on the transport conveyor can be pushed out one by one into the rectangular area of the guide device.

According to this roll product boxing machine, the pusher sequentially pushes the roll products on the transport conveyor into the rectangular area and cooperates with other auxiliary devices to form a plurality of roll products in the rectangular area (predetermined In accordance with the rectangular range), it is possible to align the desired alignment position within the region.
Further, the roll product boxing machine includes a transport mechanism including a gripping device that can grip a plurality of roll products aligned in a desired rectangular range by pressing them from the side surface direction. Thereby, according to this roll product boxing machine, it is possible to transport a plurality of roll products aligned at the intended alignment position to a position required for boxing by the transport mechanism while gripping with the gripping device. .

Moreover, for example, Patent Document 2 discloses a fruit boxing device for boxing fruits as an object.
In this boxing device, a required number of fruits for alignment to a desired alignment position are aligned in advance by an alignment device and arranged on a partitioning material for a box having a predetermined rectangular shape range. ing. And the fruit adsorbent which vacuum-adsorbs each fruit on the arranged partition material separately, and the adsorbent for partition materials which vacuum-adsorbs the partition material simultaneously are also provided. As a result, according to this boxing device, the required number of fruits can be adsorbed together with the partition material and transported in cooperation with other auxiliary devices, and can be boxed while maintaining the intended alignment position. It is said.
Utility registration No. 2555641 Japanese Patent Publication No. 8-5457

  However, the object to be transported or packed is shaped into a lump shape, such as a frozen croquette, etc., and is easily deformed and has a fragile food (hereinafter referred to as “fragile food”), Even if the pressing force or the like when transporting or aligning this is a relatively weak force, the fragile food is likely to be deformed or damaged. Therefore, if such damage or the like occurs in a fragile food, its commercial value will be reduced.

  Here, for example, when considering the case where the technique described in Patent Document 1 illustrated above is applied to this type of vulnerable food, for example, a rectangular region that is a predetermined rectangular shape range from the conveyor on the pusher, for example. Since a force is applied in the pushing direction when the fragile food is pushed inside, deformation is caused by the pushing force, and it is difficult to sequentially push the food. In particular, when aligning a plurality of vulnerable foods in a rectangular shape following a rectangular area, adjacent vulnerable foods are mutually subjected to a force compressed in the direction of extrusion. It is even more difficult to align the vulnerable foods within the rectangular area.

  Furthermore, the example of the roll product boxing machine described above is necessary for boxing by a transport mechanism including a gripping device that presses a plurality of roll products aligned in a predetermined rectangular region at a predetermined alignment position from the side direction. Since the object is conveyed to the position, the object to be conveyed is required to have a strength that can withstand the pressing force even during conveyance. Therefore, it is more difficult to apply the technology described in Patent Document 1 to vulnerable food.

  Further, for example, in the technique described in Patent Document 2 exemplified above, since the object to be aligned, transported, and packed is a fruit, it can be directly transported by an adsorbent that vacuum-sucks each fruit individually. The fragile food, such as the surface layer of the surface is large and irregular, and the shape is irregular, and the croquette has a surface portion of bread crumbs on the surface, and this surface layer portion is easy to peel off, It is more difficult to transport by vacuum suction.

  Thus, this type of vulnerable food is difficult to handle with the techniques described in the above documents. For this reason, it is difficult to automate the fragile foods of this type, for example, the alignment and transport of croquettes, and the packing process (packaging process). (Packing). In particular, for example, a corrugated cardboard box having a rectangular shape in plan view is used as a container for containing the croquettes. In the corrugated cardboard box, for example, a required number of croquettes, for example, about 10 are arranged in a rectangular shape in a box, Similarly, there are cases where croquettes are stacked in layers in the same manner. In this way, the packing process for packing a plurality of croquettes in a layered manner is much more laborious, and it is further desired to facilitate the work and improve the efficiency.

  That is, the croquette has a bread crumb surface portion on the surface, and this surface layer portion is easy to peel off by passing each other with the adjacent croquettes of other layers. Therefore, usually, in the packing process as described above in which croquettes are stacked, a separation sheet is interposed between the croquettes of other adjacent layers to prevent mutual interference. For this reason, the packing process for packing in layers like this requires much more work, and care is taken to prevent damage to the croquette and peeling of the surface layer, etc., facilitating work and improving efficiency Is desired.

  Therefore, the present invention has been made paying attention to such problems, and even if the object is a fragile food such as a frozen croquette, its alignment, or It is an object of the present invention to provide an alignment tool, an alignment method, an in-container storage method, an alignment device, and a storage device that can facilitate packing and improve the efficiency of the work.

  In order to solve the above-mentioned problems, a first invention of the present invention is an alignment tool for aligning a plurality of objects within a predetermined rectangular shape, and cooperates with a flexible sheet member. It comprises a guide member for guiding the plurality of objects to an intended alignment position by operation, and the sheet member has a width projecting to the periphery of the rectangular shape range to be aligned, The guide member includes a pressing member that is disposed to face the sheet member when used, and a partition member that projects and is mounted on a surface of the pressing member that faces the sheet member. The range of the rectangular shape to be aligned is a similar shape and a size necessary for guiding to an intended alignment position, and the partition member is one of the rectangular shapes to be aligned. Along the side A first partition member for partitioning the direction, is characterized in that it is constituted and a second partition member partitioning the direction along the other side crossing on one side.

  According to the first invention, for example, if this alignment tool is used by a human hand, a plurality of objects are disposed between the sheet member and the guide member, and the sheet member is extended toward the guide member, these are provided. A plurality of objects arranged between each other can be aligned at an intended alignment position within a predetermined rectangular shape following the shape of the guide member. Furthermore, for example, it is also possible to move a plurality of objects as a single unit while being placed between the sheet member and the guide member, and accommodate them in a predetermined packing container.

  When the alignment tool is used for alignment, the object can be moved by stretching the sheet member. Since the sheet member has flexibility, the object is, for example, as described above. Even in the case of a fragile food, the fragile food can be moved so that it is softly surrounded, and can follow the guide member. Further, when the object is moved together with the aligning tool and accommodated in a predetermined packing container, the object can be moved while being held by the sheet member. Therefore, even if the object is a fragile food, a large load that deforms it or a load that partially concentrates does not act, so even if the object is a fragile food, Its deformation and damage are prevented. Therefore, according to the alignment tool according to the first aspect of the present invention, even if the food is fragile, such as a frozen croquette, the alignment or packing of the object is facilitated and the work efficiency is improved. be able to. In particular, the alignment tool according to the first aspect of the present invention facilitates the work and improves the efficiency if it is used in logistics operations such as alignment of vulnerable food as an object or packaging, and deformation of vulnerable food. It is suitable for preventing damage.

  The second invention of the present invention is a method of aligning a plurality of objects within a predetermined rectangular shape range, using the aligning tool according to the first invention, on the sheet member. A pre-alignment step in which a predetermined number of objects to be aligned are appropriately spaced and placed in a pre-alignment state, and the pressing members are opposed to each other from above the objects in the pre-alignment state in the pre-alignment step And a guide member disposing step of disposing the guide member so as to interpose the partition members protruding from the pressing member between the objects in a pre-aligned state along the direction to be aligned, and the sheet The outer periphery of the member is gripped, and the outer shape of the pressing member extends along the sheet member, and the first and second partition members are made to follow the object adjacent thereto. Tote It is characterized by containing a desired alignment step of aligning the desired alignment position within the predetermined rectangular shape along the first and second partition members.

  According to the second invention, the alignment tool according to the first invention is used, and in the preliminary alignment state in the preliminary alignment step, for example, the objects mutually include the first and second partition members. If they are arranged as far as possible, high accuracy is not required for the arrangement position. Therefore, this preliminary alignment work is easy and the work efficiency is good. Further, in the preliminary alignment state, high accuracy is not required for the arrangement position. Therefore, it is not necessary to apply a force such as a pressing force for correcting to a strict position in the preliminary alignment. Therefore, even if the target object is, for example, the fragile food as described above, it is suitable for preventing deformation and damage of the fragile food.

  In the guide member arranging step, the pressing member is opposed to the sheet member, and the partition member protruding from the pressing member is placed between the objects in the pre-aligned state along the direction in which the plurality of objects should be aligned. Since it is only interposed, the object is not subjected to a force such as a pressing force even in the same process. Therefore, even if the target object is, for example, the fragile food as described above, it is suitable for preventing deformation and damage of the fragile food.

  Further, in the intended alignment step, the range of a predetermined rectangular shape can be obtained by merely holding the peripheral edge of the sheet member and pulling it upward and moving the object along the sheet member pulled upward. Therefore, even in the same process, a force such as a pressing force is not applied. Therefore, even if the target object is, for example, the fragile food as described above, it is suitable for preventing deformation and damage of the fragile food.

  That is, in this intended alignment step, the upward movement of the object is restrained by the pressing member, so that the posture of the object on the horizontal plane is stable. Furthermore, the first and second partition members are made to follow the object adjacent to each partition member, and the first partition member of the partition members aligns a plurality of objects. Among the rectangular shapes, the object is interposed between the objects so as to partition the direction along one side, and the second partition member partitions the direction along the other side intersecting the one side. Therefore, it can be aligned at an intended alignment position along each partition member.

  The force required for this alignment uses the action of the inclination of the sheet member generated by gripping the peripheral edge of the flexible sheet member and pulling it upward, and the sheet member is flexible. Therefore, the object is softly surrounded. For this reason, even if the target object is, for example, a fragile food as described above, a large load that deforms the fragile food or a partially concentrated load does not act on the fragile food. Deformation and damage of food are prevented. In this operation, the object can be easily aligned and the work efficiency is good because it is possible to align the intended position by simply grasping the peripheral edge of the sheet member and pulling it upward.

  Moreover, 3rd invention among this invention is a method of accommodating a several target object in the container of a predetermined rectangular shape, Comprising: It uses the alignment tool which concerns on 1st invention, and concerns on 2nd invention. An alignment step of aligning the plurality of objects to an intended alignment position within the range of the predetermined rectangular shape by an alignment method, and after the alignment step, the outer shape of the holding member with respect to the guide member A sandwiching step in which the plurality of objects are sandwiched between the sheet member and the guide member that are stretched along the sheet member and gripped in the alignment step, and the plurality of objects in the sandwiching step A moving step that faces a predetermined position above the container in a state where the container is sandwiched, and after the moving step, the peripheral portion of the gripping sheet member is opened and the guide member is separated upward to Aligned to the initial alignment position It is characterized in that a plurality of objects are and a housing step of housing in a container together with the sheet member.

  According to the third invention, the alignment tool according to the first invention is used, and the aligning step places the object at the intended alignment position within a predetermined rectangular shape by the alignment method according to the second invention. Further, in the clamping process, after the alignment process, the sheet member that holds the peripheral edge in the alignment process is rectangular with respect to the guide member arranged in the guide member arranging process. In addition, since the plurality of objects are sandwiched between the sheet member and the guide member that are stretched while following the sheet member and grip the peripheral edge portion, the desired alignment position is maintained in cooperation with the pressing member and the partition member. The object can be held while being maintained by. In this holding state, the flexible sheet member can be held softly so as to surround the object, so that a large load is prevented from acting on the object. Therefore, even if the object is a fragile food such as that described above, the deformation and damage thereof are prevented. Furthermore, in the moving process, since it faces the predetermined position above the container while being clamped in the clamping process, a large load on the object due to the conveyance does not act as in the clamping process. Therefore, even if the object is a fragile food such as that described above, the deformation and damage thereof are prevented.

Further, in the accommodating step, after the moving step, the peripheral portion of the grasped sheet member is opened and the guide member is released upward, so that a plurality of objects already aligned at the intended alignment position are removed from the sheet member. In addition, since it is housed in the container, the object to be housed can be housed while being protected by the sheet member. Therefore, a large load on the object due to this accommodation step does not act. Therefore, even if the target object is, for example, a fragile food as described above, the deformation and damage thereof are prevented.
Therefore, if the container storage method according to the third invention is adopted as a method for storing a fragile food such as a frozen croquette as a target in a container, the alignment and packing can be facilitated. It is suitable for improving the efficiency of the work.

  In particular, according to the container containing method according to the third aspect of the invention, for example, as an object, the method is applied to the above-described vulnerable food, and the vulnerable food has a surface portion of bread crumb on its surface like a croquette. It is suitable when it has what. In other words, since this surface layer part is easy to peel off by passing each other with vulnerable foods in other adjacent layers, usually in the packaging process of vulnerable foods having this type of surface layer part, the vulnerability of adjacent other layers For example, a separation sheet is interposed between the food and the food to prevent mutual interference. In this regard, according to the container accommodation method according to the third aspect of the present invention, the sheet member can be used as the separation sheet when packed in layers. Therefore, the trouble of interposing the separation sheet when accommodated in the container is reduced, and further, the trouble of packaging in the packaging process (packaging process) etc. is reduced by using the sheet member as a packaging material. Is possible. In addition, since the concern for preventing damage to the fragile food and the peeling of the surface layer portion, etc., is reduced, the work to be accommodated in the container is easy, and the efficiency is improved.

  According to a fourth aspect of the present invention, there is provided an alignment apparatus for aligning a plurality of objects within a predetermined rectangular shape, wherein the plurality of objects are cooperated with a flexible sheet member. The sheet member includes a guide member for guiding to an intended alignment position, and the sheet member has a width projecting beyond the range of the rectangular shape to be aligned, and the guide member is used A pressing member, which is sometimes arranged opposite to the sheet member and has a shape similar to the rectangular range to be aligned and a size necessary for guiding to an intended alignment position, and the pressing member A partition member that extends and is mounted on a surface facing the sheet member, and the partition member is a first partition member that partitions a direction along one side of the rectangular shape to be aligned; Intercourse on that one side And a second partition member for partitioning the direction along the other side, and the guide member is disposed at a predetermined position facing the sheet member from above the sheet member, and A guide member moving means capable of being separated from a position; a sheet member gripping means capable of gripping and releasing a peripheral edge of the sheet member; and a guide member disposed at a predetermined position by the guide member moving means On the other hand, a gripping means moving means that can move the sheet member gripping means in a state of gripping the peripheral edge of the sheet member to a predetermined position, and the movement to the predetermined position by the gripping means moving means is The outer shape of the pressing member extends along the sheet member, and the first and second partition members follow the object adjacent to the predetermined rectangular shape. It is characterized by being movable to align the desired aligned position with 囲内.

  According to the alignment apparatus of the fourth invention, all of the arrangements of the alignment tool according to the first invention are provided, and further, the guide member moving means, the sheet member holding means, and the holding means moving means are provided. The member moving means can be operated corresponding to the guide member arranging step in the alignment method according to the second aspect of the invention, and the sheet member holding means and the holding means moving means correspond to the intended alignment step. Since the operation is possible, if the pre-alignment state in which a required number of objects are placed on the sheet member, for example, in order to obtain a rectangular shape to be aligned, is placed in the pre-alignment state, the second It is possible to provide an alignment apparatus that exhibits the operations and effects of the alignment method according to the invention.

  The fifth invention of the present invention is a storage device for storing a plurality of objects in a predetermined rectangular container, comprising the alignment device according to the fourth invention, and further comprising the alignment device A sheet member gripping unit of the apparatus, a sheet member and a guide member, and an integral moving unit that integrally moves the plurality of objects to a predetermined position above the container, the integral moving unit being the sheet member gripping unit It is possible to move to a predetermined position above the container while holding the peripheral edge of the sheet member and holding the plurality of objects between the guide member and the sheet member. Yes.

  According to the fifth invention, all the arrangements of the alignment apparatus according to the fourth invention are provided, and the sheet member gripping means, the sheet member, the guide member, and the plurality of objects are placed at predetermined positions above the container. Since it is provided with an integral moving means that moves together, the integral moving means is capable of operations corresponding to the clamping process, the moving process, and the accommodating process in the container housing method according to the third aspect of the invention. In addition, it is possible to provide an in-container accommodation device that exhibits the functions and effects of the in-container accommodation method according to the third aspect of the invention.

  The sixth invention of the present invention is a method for accommodating a plurality of objects in a predetermined rectangular container, wherein the alignment member according to the first invention is used, and the partition member of the guide member A desired number of objects are placed between the objects along the direction in which the partitioning member is to be aligned on the pressing member so as to form the rectangular shape to be aligned. A placing step for placing the sheet member, a sheet member arranging step for placing the sheet member so as to face each other from above the objects placed in the placing step, and the sheet member The outer edge of the holding member is gripped and stretched along with the sheet member, and the first and second partition members are made to follow the object adjacent thereto. Along the first and second partition members Between the sheet member and the guide member that grips the peripheral edge in the predetermined alignment step after the initial alignment step after the initial alignment step. A reversing step of reversing the top and bottom with the plurality of objects sandwiched, and a reversing step of reversing the top and bottom of the plurality of objects in the reversing step and holding the plurality of objects at a predetermined position above the container A position moving step to be exposed, and after the position moving step, the peripheral edge portion of the grasped sheet member is opened and the guide member is released upward, so that the desired alignment position within the range of the predetermined rectangular shape And a container accommodating step of accommodating a plurality of objects arranged in the container together with the sheet member in the container.

  According to the sixth invention, in the placing step, the partition member of the guide member is directed upward, and a required number of objects should be aligned on the partition member on the pressing member. Since it should just be mounted so that it may be interposed between objects along a direction, high precision is not requested | required of the mounting position of the target object in the same process. Therefore, the placement work is easy and the work efficiency is good. Further, since high accuracy is not required for the placement position, it is not necessary to apply a force such as a pressing force for correcting the placement position to a precise position. Therefore, even if the object is a fragile food such as that described above, the deformation and damage thereof are prevented.

And in a sheet member arrangement process, since only a sheet member is made to oppose a control member, even if the object is a case of the above-mentioned vulnerable food, for example, in this process, this is changed. A force such as moderate pressing force is not applied, and deformation and damage are prevented.
Further, in the intended alignment step, only the peripheral edge of the sheet member is gripped and stretched, and the stretched sheet member is stretched along the sheet member to the outer shape of the pressing member, and the first The first and second partition members can be aligned at an intended alignment position within a predetermined rectangular shape by moving the object following the object adjacent thereto. Even in the process, even if the target object is, for example, a fragile food as described above, its deformation and damage are prevented.

  That is, in this initial alignment step, the movement of the object is restricted between the pressing member and the sheet member, and thus the posture of the object on the horizontal plane is stable. Furthermore, the first and second partition members are made to follow the object adjacent to each partition member, and the first partition member of the partition members aligns a plurality of objects. Among the rectangular shapes, the object is interposed between the objects so as to partition the direction along one side, and the second partition member partitions the direction along the other side intersecting the one side. Therefore, it is possible to align the desired rectangular shape along each partition member.

  The force required for this alignment utilizes the action of the inclination of the sheet member generated by gripping and extending the peripheral edge of the flexible sheet member. Further, the sheet member has flexibility. Because it has, the object is softly surrounded. Therefore, even if the target object is a fragile food, the fragile food is not subjected to a large load that deforms it or a load that is partially concentrated. Is prevented. Further, since the operation at this time can be aligned at an intended alignment position simply by grasping and extending the peripheral edge of the sheet member, it is easy to align the objects and the work efficiency is good. .

  In the reversing step, after the desired alignment step, the sheet member that holds the peripheral edge in the expected alignment step is stretched while following the sheet member to the rectangular shape of the pressing member with respect to the guide member. In addition, while holding a plurality of objects between the sheet member and the guide member holding the peripheral edge, the top and bottom are reversed while maintaining the sandwiched state, so that the target is maintained while maintaining the above-mentioned intended alignment position. You can hold things. In this holding state, the flexible sheet member holds the object softly so to speak, so that a large load does not act on the object even when the top and bottom are reversed. Therefore, even if the object is a fragile food, its deformation and damage are prevented.

Further, in the moving step, since it is allowed to face a predetermined position above the container while being held in the holding step, the holding state in the reversing step is maintained, and a large load is applied to the object by this conveyance. Does not act, and even if the object is a fragile food, its deformation and damage are prevented.
Further, in the container accommodation process, after the movement process, the peripheral edge of the grasped sheet member is opened and the guide member is released upward, and is already aligned within the predetermined rectangular shape within the predetermined alignment position. Since the plurality of objects to be stored are accommodated in the container together with the sheet member, the objects to be accommodated can be accommodated while being protected by the sheet member. Therefore, a large load on the object due to this accommodation step does not act. Therefore, even if the object is a fragile food, its deformation and damage are prevented.
Therefore, according to the container containing method according to the sixth aspect of the present invention, even if the object is a fragile food such as a frozen croquette, it can be easily aligned and packed, and the work efficiency can be improved. Can be improved.

  As described above, according to the present invention, it is possible to easily align or pack a plurality of objects, and to improve the efficiency of the work. In particular, even if the object is a vulnerable food such as a frozen croquette, it is suitable for facilitating the alignment or packing and improving the efficiency of the operation.

Embodiments of the present invention will be described below with reference to the drawings as appropriate.
First, a first embodiment of the present invention will be described. In the first embodiment, an alignment tool according to the present invention, an alignment method using the alignment tool, and a method of accommodating in a container will be described in order. In addition, the example of this embodiment is an example which applied the above-mentioned vulnerable food as a several target object, and also applied to the frozen croquette as the vulnerable food (the same is hereafter). Here, this croquette is prepared by mixing pre-cooked ground meat, vegetables, etc. with boiled and crushed potatoes and sauces into a predetermined oval (oval) flat shape, and its surface layer As shown in the figure, a crumb garment is attached to the surface, and this is frozen.

Hereinafter, an embodiment of an alignment tool according to the present invention will be described with reference to FIGS. 1B and 2B as appropriate in FIGS.
As shown in FIG. 1B and FIG. 2B, the aligner 1 is for aligning a plurality of croquettes K at an intended alignment position within a predetermined rectangular shape. Here, the range of the predetermined rectangular shape in which the plurality of croquettes K should be aligned is within the range of the rectangular shape R shown in FIG. 1B, and in the present embodiment, the packaging is within the range of the rectangular shape R. In this example, a total of 10 croquettes K in a vertical direction and two rows in a horizontal direction are set to a required number in accordance with the standard to be set, and the required number of croquettes K are aligned at an intended alignment position. In this example, as shown in FIG. 2 (b), the rectangular shape R is a rectangle, and the longitudinal direction is front and rear, and the short direction is left and right. Then, with respect to this rectangular shape R, each croquette K has its oblong (elliptical) major axis direction oriented in the lateral direction of the rectangular shape R, and its minor (elliptical) minor axis direction is rectangular. In this example, the position of R in the longitudinal direction is arranged (aligned) as an intended alignment position.

Specifically, the alignment tool 1 includes a guide member 3 for guiding a plurality of croquettes K to an intended alignment position in cooperation with a flexible sheet member 2.
The sheet member 2 is a flexible member made of a material having a form similar to that of a film, and the surface thereof is smooth. And this sheet | seat member 2 uses the thing which has the area which protrudes to the circumference rather than the range of the rectangular shape R which should align the some croquette K. As shown in FIG. Therefore, the peripheral edge 2 a of the sheet member 2 is located outside the range of the rectangular shape R. In addition, as shown in FIG.1 (b), in this embodiment, although the shape which the peripheral part 2a produces has shown the example similar to the rectangular shape R, the sheet | seat member 2 is shown. As long as it is wider than the range of the rectangular shape R, the shape of the peripheral edge 2a may be an arbitrary shape.

And the guide member 3 is arrange | positioned facing the sheet | seat member 2 at the time of the use. And when aligning the several croquettes K, it is for guiding to the intended alignment position, and it has the pressing member 4 and the partition member 6, and is comprised integrally.
Specifically, the pressing member 4 has a shape similar to the range of the rectangular shape R in which the plurality of croquettes K are to be aligned, and a size necessary for guiding to a desired alignment position. In this example, the size matches the rectangular shape R, and the peripheral edge 4a matches the rectangular shape R. In more detail, the dimension is determined based on the relationship with a predetermined position facing a sheet member 2 described later (see FIG. 6).

  The partition member 6 includes a first partition member 7 and a second partition member 8, and each partition member 7, 8 is opposed to the pressing member 4 to the sheet member 2. It is mounted on the surface. And the 1st partition member 7 is provided so that the direction (left-right direction in FIG.1 (b)) along one side among the rectangular shapes R which should align several croquettes K may be partitioned, The second partition member 8 is provided so as to partition the direction along the other side intersecting the one side (the vertical direction in FIG. 1B). Here, the cross-sectional shape of the tip of the first partition member 7 and the second partition member 8 (the end on the side facing the sheet member 2) is formed in a pointed shape, and the pointed end Is arcuate.

The guide member 3 is provided with two solid cylindrical support shafts 9 on the upper surface of the pressing member 4. That is, the two support shafts 9 are provided on the surface opposite to the partition member 6 side with respect to the pressing member 4, and each support shaft 9 is in the longitudinal direction of the rectangular shape R (second In the direction in which the partition member 8 extends).
The aligner 1 having the above-described configuration is used by a person by hand, and a plurality of croquettes K are disposed between the sheet member 2 and the guide member 3, and the sheet member 2 is extended toward the guide member 3. Thus, the plurality of croquettes K arranged between them can be aligned within the range of the predetermined rectangular shape R following the shape of the guide member 3. Further, the aligner 1 can move the plurality of croquettes K as a single unit while being placed between the sheet member 2 and the guide member 3 to be accommodated in a predetermined packaging container. ing.

Hereinafter, a method for aligning a plurality of croquettes K using the aligner 1, a method for accommodating the croquettes K in the cardboard box 100, and the operation and effect thereof will be described.
First, a method of aligning a plurality of croquettes K within the range of the rectangular shape R will be described with reference to FIGS.
This alignment method is a method of aligning a plurality of croquettes K within the range of the rectangular shape R by using the alignment tool 1 by hand, and as a step for aligning the desired rectangular shape R as a preliminary step. It includes an alignment process, a guide member arrangement process, and an intended alignment process.

  Specifically, first, in the preliminary alignment step, as shown in FIGS. 1A to 2A, the above-described sheet member 2 is prepared by spreading it on a base plate (stage), for example. Then, a required number (10 in this example) of croquettes K are placed on the sheet member 2 in order to obtain a rectangular shape R to be aligned. Each croquette K in this pre-aligned state has the long axis direction of the oval shape (elliptical shape) oriented in the short direction of the rectangular shape R, and the short axis direction of the oval shape (elliptical shape) is the longitudinal direction of the rectangular shape R. As long as it is arranged at a position facing the direction, the distance and the degree of inclination in the opposing direction are not so limited. For example, the permissible range of the position of each croquette K in this pre-aligned state is a range in which the long axis direction of the rectangular shape R with respect to the short direction is within a range in which the partition member 6 can be interposed between adjacent croquettes K The range of the direction may be, for example, within ± 30 °, and the distance in the facing direction between the adjacent croquettes K may be, for example, within a range of about 0 to 50 mm.

  Next, in the guide member arranging step, as shown in FIGS. 1B to 2B, the guide member 3 is arranged by supporting the support shaft 9 by hand from above the pre-aligned croquette K. Here, the guide member 3 makes the above-described pressing member 4 face the sheet member 2 with a predetermined distance therebetween, and the partition member 6 protruding from the pressing member 4 is a direction in which a plurality of croquettes K should be aligned. Are arranged so as to be interposed between the croquettes K in the pre-aligned state. That is, as shown in FIG. 2B, the first partition member 7 among the partition members 6 partitions the direction along one side of the rectangular shape R in which the plurality of croquettes K should be aligned. The second partitioning member 8 is interposed so as to partition the direction along the other side intersecting the one side. At this time, the cross-sectional shape of the tip of the first partition member 7 and the second partition member 8 (the end on the side facing the sheet member 2) is formed in a pointed shape, and the pointed end Since it has an arc shape, it is suitable for interposing. That is, even if there is no gap (0 mm) within the range in which the partition members 6 can be interposed between the adjacent croquettes K between the adjacent croquettes K arranged in the preliminary alignment step. The partition member 6 can be easily inserted while suppressing the deformation.

  Next, in the intended alignment step, as shown in FIGS. 1C to 2C, the peripheral edge 2a of the sheet member 2 is gripped and pulled upward. Accordingly, as shown in FIG. 1C, the croquette K moves by sliding on the smooth surface of the sheet member 2 following the inclination of the sheet member 2 pulled upward, and the inclined sheet member 2. And the croquette K are brought to the guide member 3 side by the boundary portion 2b. In FIGS. 1 and 2, the triangular shape shown in the peripheral edge 2 a of the sheet member 2 indicates an image of gripping the peripheral edge 2 a of the sheet member 2.

  Then, the croquette K brought close to the guide member 3 side is restrained from upward movement of the croquette K by the pressing member 4 by the guide member 3 which is arranged opposite to the sheet member 2 in the above-described guide member arrangement step. On the other hand, the first and second partition members 7 and 8 are made to follow the croquettes K adjacent to the partition members 7 and 8 so as to follow the desired rectangular shapes along the partition members 7 and 8. Align with R. Here, at the time of this alignment, the partition members 7 and 8 are arranged one by one along the vertical and horizontal sides of the intended rectangular shape R. The partition members 7 and 8 are aligned. And the position of other croquettes K other than the croquettes K directly adjacent to the partition members 7 and 8 is regulated by contacting the croquettes K aligned with the partition members 7 and 8, and By being sandwiched by the pressing member 4 and the sheet member 2 from above and below, they are sequentially aligned. As a result, it is possible to align at an intended alignment position within a predetermined rectangular shape R.

  As described above, when the alignment tool 1 is used for alignment, the croquette K is moved by the extension of the sheet member 2, and the sheet member 2 has flexibility. In other words, the guide member 3 can be made to follow the guide member 3 while being softly surrounded. For this reason, a large load or a partially concentrated load enough to be deformed does not act on the croquette K, thereby preventing the croquette K from being deformed or damaged. Therefore, the alignment of the croquettes K can be facilitated and the efficiency of the work can be improved.

  In particular, according to the method of aligning a plurality of croquettes K using the aligner 1, in the preliminary alignment state, the croquettes K are separated to such an extent that the first and second partition members 7 and 8 can be interposed. Therefore, high accuracy is not required for the arrangement position. Therefore, this preliminary alignment work is easy and the work efficiency is good. In addition, since high accuracy is not required for the arrangement position, it is not necessary to apply a force such as a pressing force for correcting the position to a strict position at the time of preliminary alignment. Therefore, deformation and damage of the croquette K are prevented.

In the guide member arranging step, the pressing member 4 is made to face the sheet member 2 and the partition member 6 protruding from the pressing member 4 is preliminarily aligned in the direction in which the plurality of croquettes K should be aligned. Since the croquette K is only interposed between the croquettes K, a force such as a pressing force is not applied to the croquette K even in the same process.
Furthermore, in the intended alignment process, the peripheral edge 2a of the sheet member 2 is only gripped and pulled upward. By moving the croquette K along the sheet member 2 pulled upward, the desired collocation K is moved. Since alignment is possible, deformation and damage of the croquette K are prevented even in the same process.

  That is, in this initial alignment step, the upward movement of the croquette K is restrained by the pressing member 4, so that the posture of the croquette K on the horizontal plane is stable. Furthermore, the croquette K adjacent to the first and second partition members 7 and 8 is caused to follow the partition members 7 and 8 so that the first partition member 7 of the partition members 6 Among the rectangular shapes R in which a plurality of croquettes K are to be aligned, the croquettes K are interposed between the croquettes K so as to partition the direction along one side, and the second partition member 8 intersects the one side. Therefore, the croquette K that directly contacts the croquette K and the croquette K adjacent to the croquette K along the respective partition members 7 and 8 are arranged in an intended manner. Within the rectangular shape R, it can be aligned at an intended alignment position.

The force required for this alignment utilizes the action of gravity due to the inclination of the sheet member 2 generated by gripping the peripheral edge 2a of the flexible sheet member 2 and pulling it upward. Since 2 has flexibility, it surrounds croquette K softly. Therefore, a large load enough to deform or a partially concentrated load does not act on the croquette K, thereby preventing the croquette K from being deformed or damaged. In addition, the operator can easily align the sheet member 2 by simply holding the peripheral edge of the sheet member 2 and pulling it upward (for example, picking up). .
It should be noted that the timing of gripping the peripheral edge portion of the sheet member 2 in the desired alignment step does not necessarily have to be after the guide member placement step, and may be kept in a standby state in advance. For example, the croquette K can be already gripped on the sheet member 2 in the preliminary alignment step when the croquette K is set in the preliminary alignment state.

Next, a method for accommodating a plurality of croquettes K in a predetermined rectangular container will be described. In this example, a cardboard box is used as a predetermined rectangular container. In this example, a plurality of croquettes K are packed in layers in the cardboard box, and the required number (10) of croquettes K are arranged in a rectangular shape for each layer.
In this container accommodation method, the alignment tool 1 is used continuously. And in addition to the alignment process by the alignment method mentioned above, the clamping process, the movement process, and the accommodation process are further included.
That is, in the alignment process, as described above, the croquettes K are aligned within the range of the intended rectangular shape R by the alignment method including the preliminary alignment process, the guide member arranging process, and the intended alignment process.

Next, in the clamping step, after the alignment step, the sheet member 2 holding the peripheral edge 2a in the alignment step is arranged in the guide member arrangement step as shown in FIG. 2 (d). 3, the sheet member 2 is stretched along the rectangular peripheral edge 4 a of the pressing member 4, and a plurality of croquettes K are provided between the sheet member 2 and the guide member 3 holding the peripheral edge 2 a. Hold it.
Next, as shown in FIG. 2 (e), the moving process is performed at a predetermined position above the cardboard box 100 in a state after the clamping process, that is, with a plurality of croquettes K being clamped by the aligner 1. Let it come.

  Here, in the sandwiching step and the moving step, the first partition member 7 and the second partition member 8 also contribute to securely sandwiching the plurality of croquettes K. The desired alignment position is reliably maintained. That is, for example, assuming that the partition members 7 and 8 are removed after the alignment process, the position and posture of the croquette K in the clamping process and the movement process are not stable, and a desired operation becomes difficult. According to the member 3, the fragile food is securely clamped and the position and posture of the croquette K are maintained while the desired alignment position is maintained by the cooperation of the pressing member 4 and the partition members 7 and 8. Can do it.

  Next, as shown in FIGS. 2 (f) to 2 (g), the accommodating step opens the peripheral portion 2 a of the gripped sheet member 2 and releases the guide member 3 upward after the moving step. A plurality of croquettes K arranged in a desired rectangular shape R are accommodated in the cardboard box 100 together with the sheet member 2. Note that the position where the peripheral edge 2a of the grasped sheet member 2 is opened above the cardboard box 100 is in the height direction according to the height of the croquette K layer accommodated in the cardboard box 100. Adjust the position. That is, when the croquette K is not accommodated, the height is adjusted with reference to the bottom surface of the cardboard box 100. However, if the croquette K is already accommodated, the height is based on the top surface of the uppermost croquette K. The position of the direction is matched (hereinafter the same in other examples).

  As described above, when the alignment tool 1 is used, the croquette K can be moved together with the sheet member 2 and the guide member 3 to be accommodated in the cardboard box 100. 2 and can be moved. For this reason, the croquette K is not subjected to a large load that is deformed or a partially concentrated load, thereby preventing the croquette K from being deformed or damaged. Therefore, according to this alignment tool 1, the operation | work can be made easy also about the packaging of the croquette K, and the efficiency of the operation | work can be improved.

  In particular, according to the method for accommodating a plurality of croquettes K in the container using the aligner 1, in the clamping process, after the alignment process, the sheet member 2 holding the peripheral edge 2a in the alignment process is replaced with the guide member arranging process. The sheet member 2 and the guide member 3 holding the peripheral edge 2a by extending the sheet member 2 along the rectangular peripheral edge 4a of the pressing member 4 with respect to the guide member 3 arranged in the above. Since a plurality of croquettes K are sandwiched between them, the croquettes K can be held while maintaining the above-mentioned desired alignment state. In this holding state, the croquette K is softly surrounded by the sheet member 2 having flexibility, so that a large load that causes deformation does not act on the croquette K. And damage is prevented.

Further, in the subsequent movement process, since it is held at the predetermined position above the cardboard box 100 while being held in the holding process, a large load on the croquette K is also applied in this transfer operation as in the holding process. The deformation and damage of the croquette K are prevented without acting.
In the accommodating step, after the moving step, the peripheral portion 2a of the grasped sheet member 2 is opened and the guide member 3 is separated upward, so that a plurality of already aligned rectangular shapes R are obtained. Since the croquette K is accommodated in the cardboard box 100 together with the sheet member 2, the croquette K to be accommodated can be accommodated while being protected by the sheet member 2. Therefore, even in this housing step, the croquette K is not subjected to such a large load as to be deformed, and deformation and damage of the croquette K are prevented.

  Here, in this accommodation step, the sheet member 2 is accommodated in the cardboard box 100 together with the croquette K. However, the croquette has a bread crumb surface layer on its surface, and this surface layer portion is easy to peel off by passing each other with the adjacent croquettes of the other layers. As described above, a separation sheet is interposed between the adjacent croquettes of other layers to prevent mutual interference.

That is, according to the method for accommodating a plurality of croquettes K in the container using the alignment tool 1, the sheet member 2 can be used as a separation sheet when packed in layers.
Therefore, the trouble of interposing the separation sheet when housed in the container is reduced, and further, the trouble of packaging is reduced by using the sheet member 2 used for alignment and conveyance as it is as a packaging material. It is possible. In addition, since the concern for preventing damage to the croquette K, peeling of the surface layer portion, and the like is reduced, the operation of accommodating the croquette K in the container is easier and the efficiency is improved. In this case, when the croquette of the next layer is aligned and accommodated in the container, another sheet member 2 other than the sheet member 2 already interposed for separation is used.

  In addition, the number of workers who perform the alignment work or the container accommodation work is not particularly limited. For example, when three people perform the work, one person appropriately separates the croquette K on the sheet member 2. The other person is in charge of the process of placing (arranged) the pre-aligned state, and the other person is in charge of the process of arranging the guide member 3 by supporting the support shaft 9 by hand. Further, the work can be performed more efficiently if the work is performed in a shared manner, such as in charge of the process of gripping the peripheral edge 2a of the sheet member 2 and aligning it to the desired rectangular shape R.

  In the above-described embodiment, a total of 10 croquettes K, 5 in the vertical direction and 2 in the horizontal direction, within the range of the rectangular shape R are a required number, and the required number of croquettes K are aligned as desired. As described in the example of aligning to the position, the total number of vulnerable foods such as croquette K and the number of vertical and horizontal arrangements aligned within the range of the rectangular shape R are not limited to this, for example, 5 vertically A total of 15 croquettes K in three rows can be set as the required number, and for example, a total of 12 croquettes K in six rows and two rows are set as the required number. The present invention is applicable to the case of housing.

  Moreover, in the said embodiment, although the guide member 3 demonstrated the example which has the partition member 6 projected from the pressing member 4 integrally with the pressing member 4, it is not limited to this, For example, a partition member You may comprise 6 so that attachment or detachment is possible. With such a configuration, for example, when the shape of the fragile food to be aligned is a small food with a radial symptom (a shape that does not have a major axis or a minor axis), a predetermined quantity is aligned vertically and horizontally. If this is not the case, the partition member 6 can be removed, and can be used as an “accommodating device” that is sandwiched and conveyed by the sheet member 2 and the pressing member 4 and accommodated one by one in the container. If the partition member 6 is detachable as described above, the length suitable for this depends on the total number of fragile foods such as croquettes K to be aligned within the range of the rectangular shape R and the number of vertical and horizontal arrangements. The partition member 6 having a sheath width can be appropriately replaced. Therefore, it is more suitable for using as the guide member 3 adapted to appropriate conditions while improving versatility.

As described above, according to the aligner 1, the method of aligning a plurality of croquettes K using the aligner 1, and the method of accommodating the croquettes K in the cardboard box 100, fragile foods such as croquettes are used. Even if it exists, the arrangement | sequence, accommodation in a container or packing, packaging, etc. can be made easy and the efficiency of the operation | work can be improved.
Here, in the first embodiment, the method for aligning the croquette K and the method for accommodating the croquette K using the alignment tool 1 by hand by the person has been described. The accommodation method is not limited to the manual method, and can be automated by a machine. The alignment tool 1 can also be an alignment device and a storage device including the configuration of the alignment tool 1.

  Therefore, as an example in which the alignment tool according to the present invention is used and the alignment method and the container accommodation method according to the present invention are implemented by machine automation, the alignment device and the storage device according to the present invention are described below as a second embodiment. Explained. In addition, since 2nd embodiment described below is the example which provided the structure similar to the alignment tool 1 mentioned above, and also mechanized the process which the said alignment tool 1 is used by the hand by hand, it mentioned above. With respect to the configuration and process in the first embodiment, the same configuration and the corresponding process will be described using the same reference numerals and process names, and the detailed description thereof will be omitted as appropriate. .

FIG. 3 is a view for explaining a storage device including the alignment device according to the second embodiment of the present invention.
As shown in the figure, the storage device 10 includes an articulated robot 12, a camera 14, and an aligning device 20. The articulated robot 12, the camera 14, and the aligning device 20 are all controllers not shown. It is connected so that necessary signals can be exchanged.

  Specifically, the camera 14 is installed facing the upper side of the stage 5. Here, the stage 5 corresponds to the above-mentioned base plate, and the sheet member 2 is spread on the stage 5 and a predetermined number of croquettes K are placed (arranged) at appropriate intervals to be in a pre-alignment state. Has become an area for. The camera 14 captures an image on the stage 5, and the captured image information is sent to the controller.

  In the controller, the image is processed by a predetermined program, whereby the coordinates of the alignment device 20 on the stage 5 can be detected, the excess or deficiency of the number of the croquettes K placed thereon can be detected, Can detect the suitability of the position of the sheet member 2 that is spread on the stage 5. That is, the storage device 10 includes coordinate detection means for detecting the coordinates of the alignment device 20 on the stage 5, and placement quantity detection means for detecting the excess or deficiency of the number of croquettes K placed on the stage 5. And a sheet member arrangement position detecting means for detecting appropriateness of an arrangement position of the sheet member 2 spread on the stage 5.

  The articulated robot 12 is a 6-axis vertical articulated robot, which uses a servo motor as a drive source, controls the direction of each arm by feedback control using an encoder incorporated in the servo motor, and is designated in advance by teaching work. The predetermined operation can be performed. The program including the predetermined operation is executed by the controller connected to the articulated robot 12, and the coordinates of the alignment device 20 in the coordinate detection means and the placement of the croquette K in the placement quantity detection means described above. Based on such information and the like, including the number and information on the arrangement position of the sheet member 2 in the sheet member arrangement position detecting means, operations necessary for aligning the croquette K and accommodating it in the container can be performed. ing. The alignment device 20 is attached to the end effector 12 a of the arm of the articulated robot 12, and the entire alignment device 20 can be moved by the articulated robot 12.

  Next, the alignment apparatus 20 will be described with reference to FIGS. 4 to 5 as appropriate. 4A is a plan view of the alignment device 20, FIG. 4B is a front view thereof, and FIG. 4C is a right side view thereof. FIG. 5A is a diagram in which the hand unit (short side) in the front view of FIG. 4B is omitted, and FIG. 5B is a diagram A in FIG. 5A. FIG. 5C illustrates an image of a layout of the hand unit when the cross section is viewed from the plan view direction, and FIG. 5C illustrates the hand unit when the cross section of FIG. 5A is viewed from the plan view direction. Further, FIG. 5D shows the guide member 3, the sheet member 2, and the like when the C section in FIG. 5A is viewed from the plan view direction.

  As shown in FIGS. 4 to 5, the alignment device 20 is provided with a support housing 22 made of a rectangular plate member at the top. The end effector 12a of the arm of the articulated robot 12 is attached to the support housing 22. Further, a guide member support unit 50 is provided at the center of the support housing 22, and a hand unit 24 is provided around the support housing 22.

  The guide member support unit 50 includes a guide member lifting guide device 54, a guide member lifting nut 52, and a guide member lifting motor 56. The guide member lifting guide device 54 integrally includes a ball screw shaft 54a and a pair of guide rails 54b provided on both sides along the ball screw shaft 54a. One end of the pair of guide rails 54b is fixed to the lower surface of the central portion of the support housing 22, and the other end is suspended downward. One end side of the ball screw shaft 54 a passes through the support housing 22, and this one end side is connected to the output shaft of the guide member lifting motor 56 mounted on the upper portion of the support housing 22. Further, a guide member elevating nut 52 is provided on the end portion of the guide member elevating / guiding device 54 that is suspended. The guide member elevating nut 52 is supported by a ball screw shaft 54a so as to be movable along a raceway surface formed on a pair of guide rails 54b while being screwed through a large number of balls. The guide member 3 is mounted on the guide member elevating nut 52 via the four support shafts 9 so as to face the sheet member 2 spread on the stage 5.

  When the guide member lifting / lowering motor 56 is driven and the ball screw shaft 54a rotates in the normal direction or the reverse direction according to this, the guide member lifting / lowering nut 52 is thereby turned into the pair of guide rails 54b. The guide member 3 can be slid in the direction corresponding to forward rotation or reverse rotation along the direction of the sheet member 2 from the upper side of the sheet member 2 to be arranged and separated at a predetermined position facing the sheet member 2. . The guide member support unit 50 corresponds to the guide member moving means.

Here, the predetermined position of the guide member 3 in the guide member support unit 50 facing the sheet member 2 from above the sheet member 2 will be described in detail with reference to FIG.
Specifically, as shown in the figure, the dimension in the major axis direction of the croquette K is W (unit: mm, the same applies hereinafter), the height thereof is H, and the guide member 3 applied thereto has its partition member 6 (each partition member 7, 8) is B, one width of the pressing member 4 from the partition member 6 to the end is C, and the opposing distance between the pressing member 4 and the sheet member 2 (stop in the opposing direction) When the position) is A and the inner dimension of the cardboard box is D, these mutual values are selected based on the table shown in FIG.

  For example, in the same table, when the facing distance A is less than the lower limit in the same table, the croquette K is crushed. If the facing distance A exceeds the upper limit in the table, the alignment accuracy is lowered. Moreover, if the height B of the partition member 6 is less than the lower limit in the table, the alignment accuracy is lowered. Moreover, when the height B of the partition member 6 exceeds the upper limit in the same table, a load is applied to the guide member 3, and the possibility of breakage increases. Further, if one width C of the pressing member 4 is below the lower limit in the table, the alignment accuracy is lowered, and the croquette K is likely to be damaged by interference with the end portion of the one width C. Moreover, when the one width C of the pressing member 4 exceeds the upper limit in the same table, it cannot be inserted into the cardboard box.

Therefore, the predetermined position is suitable for guiding the croquette K to the intended alignment position in consideration of the correlation between the dimension of the croquette K to be aligned and the dimension of the guide member 3 based on the table. Range.
On the other hand, the hand units 24 are arranged at four locations around the support housing 22. Since each hand unit 24 has the same configuration except that the number of hands 30 to be equipped is different, the configuration of the hand unit 24 will be described below in one place in the figure (mainly in each figure except for different points). This will be described with reference to the hand unit 24) located on the right side.

  As shown in FIGS. 4 to 5, the support housing 22 is provided with a pair of support blocks 46 on the lower surface thereof for supporting the respective hand units 24 (see FIG. 5B). The pair of support blocks 46 are arranged in pairs so as to be separated from each side of the rectangular support housing 22 as appropriate in a direction perpendicular to each side, so that each hand unit 24 can be supported. ing. The four hand traverse guide devices 42 extending along a direction perpendicular to each side are supported by the pair of support blocks 46 on both sides (see FIG. 5C).

  The hand traverse guide device 42 integrally includes a ball screw shaft 42a and a pair of guide rails 42b provided on both sides along the ball screw shaft 42a. One end of the pair of guide rails 42b is fixed to the inner surface of one support block 46, the other end is fixed to the inner surface of the other support block 46, and the support block on the center side (one end side) A hand traverse motor 44 is attached to 46. The one end side of the ball screw shaft 42 a passes through the support block 46, and one end thereof is connected to the output shaft of the hand traversing motor 44. The hand traverse nut 40 is supported by the hand traverse guide device 42 so as to be slidable. The hand traversing nut 40 is screwed to the ball screw shaft 42a via a large number of balls, and is movable along a raceway formed on the pair of guide rails 42b. It is supported by. Of the hand units 24, the left and right hand units 24 arranged along the long side direction are provided with long hand traversing nuts 40A, and the top and bottom (front and back) arranged along the short side direction. The hand unit 24 is provided with a short hand traverse nut 40B.

In each hand unit 24, when the hand traverse motor 44 is driven and the ball screw shaft 42a rotates forward or reverse in response to this, the hand traverse nut 40 moves forward along the pair of guide rails 42b. The hand traversing nut 40 can be moved to a predetermined position from one side to the other side in a direction perpendicular to each side by sliding in a direction corresponding to rolling or reverse rotation.
Further, the hand traversing nut 40 is provided with a hand lifting guide device 36 on the lower surface thereof.

  The hand lifting guide device 36 has a ball screw shaft 36a and a pair of guide rails 36b provided on both sides along the ball screw shaft 36a. Then, one end of the pair of guide rails 36b is fixed to the lower surface of the hand traversing nut 40, the other end is suspended downward, and a motor fixing plate 37 is attached to the end thereof. One end side of the ball screw shaft 36 a passes through the motor fixing plate 37, and this one end side is connected to an output shaft of a hand lifting motor 38 mounted on the lower surface of the motor fixing plate 37. Further, the hand lifting guide device 36 is equipped with a hand lifting nut 34. The hand elevating nut 34 is screwed to the ball screw shaft 36a via a large number of balls, and is supported to be movable along a track surface formed on the pair of guide rails 36b. Has been.

  In each hand unit 24, when the hand lift motor 38 is driven and the ball screw shaft 36a rotates forward or reverse in response to this, the hand lift nut 34 is moved forward along the pair of guide rails 36b. The hand elevating nut 34 can be moved to a predetermined position from one side in the up-down direction to the other side by sliding and moving in a direction corresponding to rolling or reverse rotation.

Further, in each hand unit 24, a base end portion of a hand support shaft 32 extending vertically is fixed to a hand lifting nut 34, and one or a plurality of hands 30 are mounted on the tip portion thereof. .
That is, as shown in FIG. 5C, among the hand units 24, the hand traversing nuts 40 </ b> A of the left and right hand units 24 arranged along the long side direction have three hands 30 at equal intervals in the longitudinal direction. Is attached, and one hand 30 is attached to the hand traversing nut 40B of the upper and lower (front and rear) hand units 24 arranged along the short side direction.

Each hand 30 has a pair of claw portions opposed to each other, and the pair of claw portions move in a facing direction by the action of the pressure fluid, whereby the peripheral edge portion 2a of the sheet member 2 can be gripped and released. ing. Here, the hand 30 corresponds to the sheet member gripping means.
In this way, the hand 30 equipped in each hand unit 24 is transferred to the guide member 3 in a state where it is arranged at a predetermined position by the guide member support unit 50 by the hand lifting guide device 36 and the hand traverse guide device 42 described above. On the other hand, the hand 30 in a state of gripping the peripheral edge 2a of the sheet member 2 is configured to be movable to a position corresponding to a predetermined position.

  The movement to the position corresponding to the predetermined position in the hand raising / lowering guide device 36 and the hand traverse guide device 42 expands the outer shape of the pressing member 4 while keeping the sheet member 2 along the first shape. The second partition members 7 and 8 are controlled so as to be movable so as to follow the croquettes K adjacent to the second partition members 7 and 8 and to align them with the intended rectangular shape R. Here, the hand traverse guide device 42 and the hand lifting guide device 36 of each hand unit 24 correspond to the grip means moving means.

  The alignment device 20 has a peripheral edge push-up plate 60 around the stage 5. The peripheral edge push-up plates 60 are arranged at four positions on each side of the rectangular shape R at positions facing the hand 30 on each side of the rectangular shape R. Each peripheral edge push-up plate 60 can be moved in the vertical direction by an air cylinder (not shown), and each peripheral edge push-up plate 60 lifts the peripheral edge 2a of the sheet member 2 upward. A grip assisting means for assisting the grip of the peripheral edge 2 a of the sheet member 2 by the hand unit 24 is provided. That is, by projecting the peripheral edge push-up plate 60 upward at an appropriate timing, the peripheral edge 2a of the sheet member 2 is lifted upward by about 45 degrees to facilitate gripping by the hand unit 24. .

  The grip assisting means is not limited to the above-described configuration including the peripheral edge push-up plate 60 and the air cylinder. For example, the grip assisting means may be supplementarily gripped by an apparatus capable of vacuum suction, or may be attracted by static electricity. Various configurations are possible as long as they can be held in an auxiliary manner, such as by an auxiliary gripping device or by being hooked by a hook member or the like. Can be adopted.

Next, operations and effects of the alignment device 20 and the storage device 10 according to the second embodiment will be described with reference to FIGS. 3, 7, and 8 as appropriate. In addition, in FIG. 3, the image of the state corresponding to the process of work is shown by code | symbol ST1-ST4.
In this storage device 10, first, the alignment device 20 aligns a plurality of croquettes K within the intended rectangular shape R (reference ST1 in FIG. 3). That is, as shown in FIG. 7A, the sheet member 2 is spread and prepared on the stage 5. The croquette K is in a pre-aligned state in which it is placed (arranged) at an appropriate distance (pre-alignment step), as in the pre-alignment step described above.

Next, as shown in FIG. 7B, the peripheral edge push-up plate 60 provided around the stage 5 is protruded upward, so that the peripheral edge 2a of the sheet member 2 is upward about 45 degrees. Make it easy to lift and grip.
Next, as shown in FIG. 7C, the hand unit 24 and the guide member support unit 50 of the aligning device 20 are opposed to each other from above the croquette K in the pre-aligned state. The movement at this time may be performed by the multi-joint robot 12 (reference ST2 in FIG. 3).

Next, as shown in FIG. 7 (d), the hand unit 24 and the guide member support unit 50 of the aligning device 20 are lowered from the upper side of the pre-aligned croquette K to a predetermined height in the opposing direction of the sheet member 2 (guide). Member arrangement step).
Next, the peripheral edge 2a of the sheet member 2 is gripped by the hand 30 of the hand unit 24, and further, the hand lifting guide device 36 and the hand traverse guide device 42 are driven, and as shown in FIG. The outer shape of the presser member 4 extends along the sheet member 2, and the first and second partition members 7 and 8 follow the croquette K adjacent to the first and second partition members 7 and 8 to form an intended rectangular shape. It moves so that it may align with R (initial alignment process). Accordingly, as shown in FIG. 7 (f), the plurality of croquettes K are aligned while being sandwiched between the guide member 3 and the sheet member 2.

  As described above, according to the alignment device 20 provided in the storage device 10, all the configurations of the alignment tool 1 are provided, and the guide member support unit 50, the hand 30, the hand lifting / lowering guide device 36, and the hand traverse guide device 42 are provided. The guide member support unit 50 is capable of operating in accordance with the guide member placement step in the alignment method described above. The hand 30, the hand lifting guide device 36, and the hand traverse guide device 42 include: Since the operation corresponding to the desired alignment step is possible, as described above, the alignment tool 1 is used if the pre-alignment state in which a required number of croquettes K are placed at appropriate intervals is used. The effect | action and effect by the alignment method can be show | played.

Next, in the storage device 10, as shown in FIG. 8A, the hand elevating guide device 36 and the hand traverse guide device 42 are further driven to give an appropriate tension to the sheet member 2 to ensure the clamping state. (Clamping process).
Next, as shown in FIG. 8B, the hand 30, the sheet member 2, the guide member 3, and the plurality of croquettes K of the aligning device 20 are integrated by the articulated robot 12 (not shown in FIG. 8, the same applies hereinafter). Move upward (reference ST3 in FIG. 3).

Next, as shown in FIG. 8 (c), the multi-joint robot 12 faces a predetermined position above the cardboard box 100 (moving step), and further inserts into the cardboard box 100. At this time, the positions of the hands 30 on both sides in the width direction are set so as to be positioned so as not to interfere with the cardboard box 100, thereby preventing interference.
Next, as shown in FIG. 8D, each hand 30 is opened, and the guide member 3 is separated upward (reference ST4 in FIG. 3). Thereby, the aligned croquettes K are accommodated in the cardboard box 100 together with the sheet member 2 (accommodating step).

Finally, as shown in FIG. 8 (e), the multi-joint robot 12 retracts the alignment device 20 (excluding the sheet member 2) upward, and further puts it in a predetermined position in preparation for the next alignment, conveyance, and storage. Return.
As described above, according to the storage device 10, the alignment device 20 is provided, and the hand 30, the sheet member 2, the guide member 3, and the plurality of croquettes K of the alignment device 20 are arranged at a predetermined position above the cardboard box 100. An articulated robot 12 that moves integrally to a position is provided, and this articulated robot 12 is capable of operations corresponding to the clamping process, the moving process, and the accommodating process in the container accommodation method. The effect | action and effect by the accommodation method in a container can be show | played.

As described above, according to the storage device 10 of the second embodiment, a plurality of croquettes K can be aligned by the alignment device 20 provided therein. Further, according to the storage device 10, the cardboard box The container 100 can be accommodated, and when the container 10 is aligned and accommodated in a predetermined container, the same operations and effects as those of the second embodiment described above are achieved.
The alignment tool, alignment method, in-container storage method, alignment device, and storage device according to the present invention are not limited to the above embodiments, and various modifications can be made without departing from the spirit of the present invention. It is.

  For example, in each of the above-described embodiments, as a plurality of objects, a fragile food is the target, and further, the fragile food is described as an example applied to a frozen croquette. Of course, the present invention is not limited to fragile foods, and can be applied to articles other than foods. In addition, when the target object is an article other than food, if the article is a fragile article having a lump shape and being fragile, it can be suitably applied to aligning or accommodating the article in a container.

Further, in each of the above embodiments, the example of application to frozen croquettes as fragile foods has been described. However, fragile foods are not limited to this, and other than croquettes, for example, rice cutlets, hamburger patty, rice balls, etc. Any food that is brittle and molded into a lump shape can be suitably applied. In particular, it can be more suitably applied to fragile foods having a surface layer portion such as bread crumbs that are easily peeled off, such as croquettes and mentakatsu.
Further, for example, in the alignment device 20 in the second embodiment, the gripping means moving means and the guide member moving means are described as an example in which the nut screw slides and the ball screw and the guide rail are adopted. However, the present invention is not limited to this, and moving means such as a gripping means moving means and a guide member moving means may be constituted by, for example, a link or an air cylinder.

  Thus, hereinafter, an example in which the gripping means moving means and the guide member moving means are configured using links, air cylinders, and the like will be described as a third embodiment, and will be described with reference to FIGS. 9 to 14 as appropriate. 9A is a plan view of the alignment device 20B, FIG. 9B is a front view thereof, and FIG. 9C is a right side view thereof. FIG. 10A is a diagram in which the hand unit (short side) in the front view of FIG. 9B is omitted, and FIG. 10B is an F portion in FIG. 10A. FIG. 10C illustrates the hand unit when the cross section is viewed from the plan view direction, and FIG. 10C illustrates the hand unit when the E section cross section in FIG. FIG. 10D illustrates the guide member 3, the sheet member 2, and the like when the cross section of the D portion in FIG.

In the storage device of the third embodiment, the alignment device includes the alignment tool 1 in the same manner as described above, and the multi-joint robot 12 is used for the integral moving means as in the storage device 10 of the second embodiment. ing. Therefore, in the following description, the description of the same configuration and the like will be omitted as appropriate, and a different configuration will be described.
As shown in FIG. 9, in the aligning device 20B included in the storage device of the third embodiment, each hand unit 24B has a four-link parallel link mechanism, and the guide member support unit. 50 is configured to be movable in the direction facing the sheet member 2 by an air cylinder.

Specifically, as shown in FIG. 10A, the guide member support unit 50 is configured to have an air cylinder 58 at the center upper portion of the support housing 22 of the alignment device 20B. The rod 58a of the air cylinder 58 extends downward through the support housing 22, and the tip of the rod 58a extends through the connecting member 58b (see FIG. 9C) to support the shaft 9 above the guide member 3. It is connected to. Thus, the guide member support unit 50 can move the guide member 3 attached to the tip of the rod 58a in the direction facing the sheet member 2 by operating the air cylinder 58.
On the other hand, the hand unit 24B also has different configurations corresponding to the hand lifting guide device 36 and the hand traverse guide device 42 in the first embodiment.

  Of each hand unit 24B, the hand unit 24B arranged on the long side has a configuration corresponding to the hand traverse guide device (hereinafter referred to as hand traverse guide device 42B), as shown in FIG. A plurality of guide rails 42 are provided so as to protrude from the side surface of the support housing 22 and be appropriately separated in the direction in which the side extends. A plurality of hand traversing blocks 76 are placed on the guide rails 42 so as to be slidable relative to the respective guide rails 42. The plurality of hand traversing blocks 76 are connected to each other by a traversing block connecting plate 77. Are connected to each other. A nut of a ball screw device is incorporated in one of the plurality of hand traversing blocks 76 (in this example, the second from the front side in the figure). 10C, a hand traverse motor 44 is attached to the support housing 22 at a position facing the hand traverse block 76, and an output shaft of the hand traverse motor 44 includes A hand traversing screw shaft 71 which is a screw shaft of a ball screw device for traversing the hand unit 24B is connected. The hand traversing screw shaft 71 is screwed to the hand traversing block 76 in which the nut is incorporated via a large number of balls, thereby driving the hand traversing motor 44. Each hand traversing block 76 can be moved integrally in the side surface direction of the support housing 22 along the sliding movement direction of each guide rail 42. For this reason, the hand traverse guide device 42B in this embodiment is not only for the function of the hand traverse guide device in the second embodiment described above, but also for the “remodeling” function, that is, for aligning different patterns and accommodating them in containers. It is possible to respond more flexibly.

That is, the hand traverse guide device 42B, for example, responds to changes in the total number of vulnerable foods such as croquettes K and the like arranged in the range of the rectangular shape R, and other guidance corresponding to the change in the number of vertical and horizontal arrangements. When the member 3 is replaced, each hand traversing block is moved along the sliding movement direction of each guide rail 42 by driving the hand traversing motor 44 corresponding to the shape or the like of the replaced new guiding member 3. 76 can be integrally moved in the side surface direction of the support housing 22, so that the position of the hand lifting guide device 36 </ b> B described below is adjusted accordingly, and the position where the hand 30 is lifted and lowered is changed to the replaced new guide member 3. It is possible to adjust to the optimal position.
Of the hand units 24B, the hand unit 24B disposed on the short side is configured in the same manner as the hand unit 24B disposed on the long side, but the hand traversing block 76 in which a nut is incorporated. The difference is that only one is provided.

  Further, the configuration corresponding to the hand lifting guide device in the hand unit 24B (hereinafter referred to as the hand lifting guide device 36B) has a hand lifting support shaft 75 at each of the positions separated from the hand traversing block 76 in the vertical direction. Are attached penetrating in the direction in which the side extends, and one end side of the hand lifting link 74 is connected to each of the upper and lower hand lifting support shafts 75. Here, each hand traversing block 76 has a portion where the hand lifting link 74 is mounted at a position along the direction facing the seat member 2, and the upper and lower hand lifting links 74 have the same length. is doing. The other ends of the upper and lower hand elevating links 74 are connected to the upper and lower sides by hand support shaft connecting shafts 73 that communicate the mutual hand elevating links 74 in the extending direction of the sides. A hand support shaft 72 is rotatably supported with respect to the shaft connection shaft 73. Thus, the hand lifting guide device 36B of each hand unit 24B has a four-link parallel link mechanism, and the hand 30 is attached to the tip of the hand support shaft 72.

  Further, a hand elevating gear 78 is connected to an end of each hand elevating support shaft 75 constituting the four-link parallel link mechanism, and the hand elevating gear 78 corresponds to the hand elevating gear shaft 79. One of the gears meshed with the gear and fixed to the hand lifting gear shaft 79 coaxially meshes with the gear mounted on the output shaft of the hand lifting motor 38. Here, among the hand lifting links 74 whose one ends are connected to the upper and lower hand lifting support shafts 75, the hand lifting support shaft 75 and the hand lifting link 74 on the side transmitting the driving force are fixed integrally with each other. The other connecting portions are pivotally supported so as to be rotatable.

  When each hand unit 24B having the above configuration drives the hand lifting motor 38, the driving force is transmitted from the gear attached to the output shaft thereof to the hand lifting gear shaft 79 via the gear meshing with the gear. When the driving force is transmitted to the gears of the respective hand lifting support shafts 75 meshing with the gears corresponding to the plurality of gears fixed to the hand lifting gear shaft 79, each hand lifting support shaft 75 is rotated. The hand support shaft 72 is movable in the direction facing the sheet member 2 by the four-link parallel link mechanism.

  That is, even in the aligning device 20B having such a configuration, as shown in FIGS. 11 and 12, the fragile food is placed on the sheet member 2, and the guide member 3 is opposed from above, The brittle food can be sandwiched between the sheet member 2 and the guide member 3 while being aligned, further transported, and accommodated in a container, similar to the alignment device 20 in the first embodiment. There are effects and effects.

Specifically, in the storage device of the second embodiment, first, the alignment device 20B aligns the plurality of croquettes K within the intended rectangular shape R (corresponding to reference ST1 in FIG. 3). . That is, as shown in FIG. 11 (a), the sheet member 2 is spread on the stage 5, and the croquette K is placed (arranged) at an appropriate distance as in the above-described preliminary alignment step. Pre-alignment process).
Next, as shown in FIG. 11 (b), the peripheral edge push-up plate 60 provided around the stage 5 is protruded upward, so that the peripheral edge 2a of the sheet member 2 is upward about 45 degrees. Make it easy to lift and grip.

  Next, as shown in FIG. 11C, the hand unit 24B and the guide member support unit 50B of the alignment device 20B are opposed to each other from above the croquette K in the pre-alignment state. The movement at this time can also be performed by the articulated robot 12 (corresponding to symbol ST2 in FIG. 3). Then, as shown in the figure, the hand unit 24B and the guide member support unit 50B of the aligning device 20B are lowered from above the pre-aligned croquette K to a predetermined height in the facing direction of the sheet member 2 (guide member arranging step). ).

Next, as shown in FIG. 11D, the peripheral edge 2a of the sheet member 2 is gripped by the hand 30 of the hand unit 24B.
Further, as shown in FIGS. 11E to 11F, the hand lifting / lowering guide device 36B and the hand traverse guide device 42B of each hand unit 24B described above are driven to hold the hand unit 24B to the outer shape of the pressing member 4. The first and second partition members 7 and 8 are moved to follow the croquette K adjacent to the first and second partition members 7 and 8 so as to align with the intended rectangular shape R. (Initial alignment process) Accordingly, the plurality of croquettes K are aligned while being sandwiched between the guide member 3 and the sheet member 2.

  As described above, the alignment device 20B included in the storage device of the third embodiment also includes all of the configuration of the alignment tool 1, and further includes a guide member support unit 50B, a hand 30, a hand elevating guide device 36B, and A hand traverse guide device 42B is provided, and like the second embodiment, the guide member support unit 50B can operate in accordance with the guide member arranging step in the alignment method described above. 30, the hand elevating guide device 36B and the hand traverse guide device 42B are capable of operating in accordance with the intended alignment process, so that the rectangular shape R to be aligned on the sheet member 2 is formed as described above. In order to do this, if the required number of croquettes K are placed in a pre-aligned state in which the croquettes K are placed at an appropriate distance, a method for aligning vulnerable foods using the aligner 1 is used. It exhibits the action and effect that.

Furthermore, in the storage device of the third embodiment, as shown in FIG. 11 (f), the hand lifting guide device 36B and the hand traverse guide device 42B of each hand unit 24B are driven, so To provide a reliable clamping state (clamping process).
Next, as shown in FIG. 12A, the hand 30, the sheet member 2, the guide member 3, and the plurality of croquettes K of the aligning device 20B are integrally moved upward by the articulated robot 12 (reference numerals in FIG. 3). Corresponding to ST3).

Next, as shown in FIG. 12B, the multi-joint robot 12 faces a predetermined position above the cardboard box 100 (moving step), and further inserts into the cardboard box 100. At this time, the positions of the hands 30 on both sides in the width direction are set so as to be positioned so as not to interfere with the cardboard box 100, thereby preventing interference.
Next, as shown in FIG. 12C, each hand 30 is opened, and the guide member 3 is separated upward (corresponding to reference ST4 in FIG. 3). Thereby, the several croquettes K arranged can be accommodated in the cardboard box 100 with the sheet | seat member 2 (accommodating process).

Finally, as shown in FIG. 12 (d), the multi-joint robot 12 retracts the aligning device 20 (excluding the sheet member 2) upward, and at a predetermined position in preparation for the next alignment, conveyance, and accommodation. Return.
As described above, even in the configuration of the third embodiment, the hand 30, the sheet member 2, the guide member 3, and the plurality of croquettes K of the aligning device 20B are placed at predetermined positions above the cardboard box 100. It can be moved integrally so as to face, and the operation corresponding to the clamping process, the moving process and the storing process in the container accommodating method is possible. There is an effect.

  Here, in each said embodiment, the croquette K which is a fragile food as a target object is mounted on the sheet | seat member 2, the guide member 3 is made to oppose from the upper direction, and between the sheet | seat member 2 and the guide member 3 mutual. However, the present invention is not limited to this. For example, the object is placed on the guide member 3 with the top and bottom reversed from the above-described embodiments, and the sheet member 2 from above. Even if the object is sandwiched between the guide member 3 and the sheet member 2, it is possible to arrange and accommodate the same operations and effects as those described above.

Hereinafter, a configuration example in which such a top-and-bottom is reversed will be described as a fourth embodiment.
As shown in FIG. 13, the storage device 10 </ b> C of the fourth embodiment uses the above-described multi-joint robot 12 to place the top of the alignment device 20 </ b> C with respect to the configuration of the storage device 10 of the first embodiment. The difference is that it is configured to be inverted. Further, the accommodation apparatus 10C includes, as other equipment attached thereto, a belt-type conveyance device 80 which is a means for sequentially conveying a plurality of croquettes K and a guide which is a means for sequentially conveying a plurality of guide members 3. A member conveying device 81 and a sheet member arranging device 82 which is a sheet member arranging means capable of arranging a sheet member at a predetermined position are provided. Further, the alignment device 20C is different in that a support shaft gripping device 83 capable of gripping and releasing the support shaft 9 of the guide member 3 is provided at the distal end portion of the guide member support unit 50 described above.

  And the said guide member conveying apparatus 81 is comprised so that intermittent conveyance is possible sequentially in the state which orient | assigned the partition member 6 of the several guide member 3 upwards. Moreover, the belt-type conveying apparatus 80 is comprised. A plurality of croquettes K in a state of being placed thereon are sequentially and intermittently conveyed, and a required number of croquettes K are placed on the pressing member 4 with respect to the guide member conveying device 81 disposed below the croquettes K. The partition member 7 is configured to be placed so as to be interposed between the croquettes K along the direction to be aligned.

  Further, the sheet member arranging device 82 is arranged on the upper downstream side from the position where the required number of croquettes K are placed on the pressing member 4 of the guide member 3 conveyed by the guide member conveying device 81. The sheet member 2 can be covered from the opposing direction of the pressing member 4. The articulated robot 12 is taught to move the alignment device 20C to a lower position in a direction facing the sheet member arranging device 82 and a predetermined position above the cardboard box 100.

Next, a method of aligning a plurality of croquettes K by the storage device 10C within the range of the rectangular shape R and then storing the croquettes in a predetermined packaging container will be described with reference to FIGS. 13 and 14 as appropriate. In addition, the code | symbol "ST" in the figure shows the position corresponding to the state corresponding to each process, or the image of operation | movement with each apparatus.
As shown in FIG. 13, the apparatus (packing line) including the storage device 10 </ b> C of the fourth embodiment is in a state where a plurality of guide members 3 have their partition members 6 facing upward by a guide member transport device 81. Are intermittently conveyed (ST10). In the belt-type transport device 80, a plurality of croquettes K are sequentially transported in synchronization with the intermittent transport timing of the guide member transport device 81 (ST20).

Then, at the confluence point of these conveying devices 80 and 81 (position indicated by reference numeral ST30 in the figure), as shown in FIG. 14A, the partition member 6 of the guide member 3 is conveyed upward. A required number of croquettes K are placed on the holding member 4 so that the partition members 7 are interposed between the croquettes K along the direction to be aligned (placement step).
Next, as shown in FIG. 14B, the sheet member 2 is the sheet member from above the croquettes K that are placed on the pressing member 4 in the placing step (reference ST31 in the figure). It arrange | positions so that it may oppose with the arrangement | positioning apparatus 82 (sheet | seat member arrangement | positioning process).

At this time, the articulated robot 12 stands by at a lower position (reference ST32 in the figure) in a direction facing the sheet member arranging device 82, and the pressing shaft 4 is held by the support shaft gripping device 83. The support shaft 9 of the guide member 3 in a state where the croquette K is placed thereon is gripped.
Next, the peripheral edge 2a of the sheet member 2 is gripped by the hand 30 of the aligning device 20C, and as shown in FIG. 14C, the outer shape of the pressing member 4 extends while the sheet member 2 is aligned. The first and second partition members 7 and 8 are aligned with the desired rectangular shape R along the first and second partition members 7 and 8 by following the croquettes K adjacent to the first and second partition members 7 and 8 ( Expected alignment process).

Next, after the intended alignment step, as shown in FIG. 14D, the croquettes K are sandwiched between the sheet member 2 and the guide member 3 holding the peripheral edge 2a in the alignment step. The top and bottom are reversed (reversal step, symbol ST33 in the figure).
Next, while maintaining the state in which the top and bottom of the plurality of croquettes K are reversed and sandwiched in the reversing step (reference ST34 in the figure), as shown in FIG. It moves so that it may face (ST35 in the figure) (position movement process). Here, the predetermined position above the cardboard box 100 is adjusted in the height direction according to the height of the croquette K layer accommodated in the cardboard box 100 as shown in FIG. To do. That is, as shown in the figure, when the croquette K is not accommodated, the height is adjusted based on the bottom surface of the cardboard box 100. If the croquette K is already accommodated, the uppermost croquette is accommodated. The position in the height direction is adjusted with reference to the K upper surface.

Next, after the position moving step, as shown in FIG. 14 (g), the peripheral edge 2a of the grasped sheet member 2 is opened and the alignment device 20C (guide member 3) is released upwardly, so A plurality of croquettes K aligned in the rectangular shape R are accommodated in the cardboard box 100 together with the sheet member 2 (in-container accommodating step).
The guide member 3 that has been separated upward is transported by the articulated robot 12 to a collection unit (not shown) located upstream of the guide member transport device 81, and the support shaft gripping device 83 is moved by the collection unit. By being opened, intermittent conveyance is repeated sequentially with the partition member 6 facing upward again.

  Thus, according to the storage device 10C of the fourth embodiment, in the placing step, the partition member 6 of the guide member 3 is directed upward, and the required number of croquettes K is placed on the pressing member 4. However, since it should just be mounted so that it may be interposed between the croquettes K along the direction which should be aligned with respect to the partition member 6, high precision is not requested | required in the mounting position. Therefore, since high precision is not required for the placement position, it is not necessary to apply a force such as a pressing force for correcting the placement position to a strict position, for example. Also, even if a person manually performs an operation corresponding to the above placement process, the placement operation is easy and the work efficiency is good. Therefore, deformation and damage of the croquette K are prevented. In the sheet member arranging step, only the sheet member 2 is made to face the pressing member 4, so that the croquette K is not applied with a force such as a pressing force in the same step, and deformation and damage of the croquette K are prevented.

  Furthermore, in the intended alignment process, the peripheral edge 2 a of the sheet member 2 is only gripped and extended, and the extended sheet member 2 is kept in line with the outer shape of the pressing member 4. In the same process, the first and second partition members 7 and 8 can be aligned to the intended alignment position by moving the croquette K by following the croquette K adjacent to the first and second partition members 7 and 8. In addition, deformation and damage of the croquette K are prevented.

  That is, in this initial alignment step, the movement of the croquette K is restrained between the pressing member 4 and the sheet member 2, so that the posture of the croquette K on the horizontal plane is stable. Further, the first and second partition members 7 and 8 are made to follow the partition members 7 and 8 that are adjacent to the first and second partition members 7 and 8. Is interposed between the croquettes K so as to partition the direction along one side of the rectangular shape R in which the plurality of croquettes K are to be aligned, and the second partition member 8 is disposed on the one side. Since it is interposed so as to partition the direction along the other intersecting sides, it can be aligned along the partition members 7 and 8 at the intended alignment position within the intended rectangular shape R. .

  In the accommodating device 10C of the fourth embodiment, the force required for the alignment is the action of the inclination of the sheet member 2 generated by gripping and extending the peripheral edge 2a of the flexible sheet member 2. Further, since the sheet member 2 has flexibility, it surrounds the croquette K softly. Therefore, a load large enough to deform the croquette K or a partially concentrated load does not act, thereby preventing the croquette K from being deformed or damaged. Further, since the operation at this time can be aligned at an intended alignment position simply by grasping and extending the peripheral edge 2a of the sheet member 2, it is easy to align, and the work efficiency is good.

  In the reversing step, after the desired alignment step, the sheet member 2 holding the peripheral edge 2a in the intended alignment step is made to the same outer shape as the rectangular shape R of the pressing member 4 with respect to the guide member 3. Since the sheet member 2 is extended while following the sheet member 2 and the plurality of croquettes K are sandwiched between the sheet member 2 and the guide member 3 holding the peripheral edge 2a, the top and bottom are inverted while being sandwiched. The croquette K can be held while maintaining the desired alignment position. And in this holding state, since the croquette K is softly held by the sheet member 2 having flexibility, a large load does not act on the croquette K even when the top and bottom are reversed. The deformation and damage of the croquette K are prevented.

Further, in the moving process, since it is held at the predetermined position above the cardboard box 100 while being held in the holding process, the holding state in the reversing process is maintained, and the croquette K is transferred to the croquette K by this conveyance. A large load does not act, and deformation and damage of the croquette K are also prevented.
Further, in the container housing step, after the moving step, the peripheral edge 2a of the grasped sheet member 2 is opened and the guide member 3 is released upwardly, so that it is already within the expected rectangular shape R. Since the plurality of croquettes K aligned at the aligned positions are accommodated in the cardboard box 100 together with the sheet member 2, the croquettes K to be accommodated can be accommodated while being protected by the sheet member 2. For this reason, a large load on the croquette K due to this accommodation step does not act, and deformation and damage of the croquette K are prevented. Therefore, if the croquette K is accommodated in the cardboard box 100 by the accommodating device 10C, even if a plurality of objects are vulnerable foods such as frozen croquettes, it is easy to align and package them, The efficiency of the work can be improved.

  When the flexible sheet member 2 is stretched toward the pressing member 4 facing the flexible sheet member 2, if wrinkles occur in the sheet member 2 between the croquettes K, tension is applied to the sheet member 2. As a result, this cocoon grows and may inhibit the movement of croquette K. Therefore, in order to prevent or suppress the occurrence of such wrinkles, the hand of the hand unit may be gripped over the entire length of each side along each side of the rectangular shape, or about the four corners of the sheet member 2 However, it is preferable that a hand unit and a hand are separately arranged so that tension can be applied more uniformly, for example, by adding an operation of extending the sheet member 2 in the diagonal direction.

Here, in the second to fourth embodiments, the example in which the integral moving means of the storage device is configured using the articulated robot 12 is described, but the configuration of the integral moving means is also limited to the articulated robot. Of course, various modifications are possible without departing from the spirit of the present invention.
Specifically, for example, instead of the articulated robot 12 in the fourth embodiment, a configuration example in which a rotary transfer device is used as an integral moving unit will be referred to as a fifth embodiment with reference to FIG. I will explain. In the fifth embodiment, since the rotary transfer device includes a plurality of alignment devices 20 in the second embodiment at regular intervals in the circumferential direction, the same configuration and the like will be described below. Are omitted as appropriate, and different configurations will be described.

As shown in the figure, the accommodating device 10D of the fifth embodiment is configured to include a rotary transfer device 92 instead of the articulated robot 12 as the integral moving means.
The rotary transfer device 92 has an annular alignment device arrangement portion 94. The alignment device arrangement portion 94 includes a plurality of units (12 units in this example) of alignment devices 20 at equal intervals in the circumferential direction. I have. Each alignment device 20 in this embodiment has the support shaft gripping device 83.

  The rotary conveying device 92 is configured to be intermittently driven in the clockwise direction by the rotation mechanism (not shown), and the units ST of the alignment devices 20 are denoted by reference numerals ST41 to ST47. The operation corresponding to the process shown in FIG. The symbol “ST” in the figure indicates the state corresponding to each process or the position corresponding to the image of the operation in each device, but this rotary transfer device 92 is intermittent in the clockwise direction. Since 12 units of the aligning device 20 that are driven and arranged at equal intervals in the circumferential direction are driven, the configuration and operation will be described below in correspondence with the clock face markings.

The accommodation apparatus 10D of the fifth embodiment includes a belt-type conveyance device 80, a guide member conveyance device 81, and a sheet member arrangement device 82, as in the fourth embodiment. In particular, in the example of the present embodiment, the guide member transport device 81 is configured to be able to circulate a plurality of guide members 3 to be transported in an elliptical ring shape.
The rotary transfer device 92 is disposed inside one arcuate end of the plurality of guide members 3 circulated in an elliptical shape by the guide member transfer device 81 so that the center of rotation is concentric. ing. In addition, the arrangement position is arranged at a position where a process corresponding to the process shown in ST31 in the fourth embodiment is performed, and the position shown in ST41 corresponds to the figure. That is, as shown in the figure, the rotary conveying device 92 has a sheet above the “11 o'clock position” slightly before the “12 o'clock position” positioned at the top of the alignment device arrangement portion 94. It arrange | positions so that the member arrangement | positioning apparatus 82 may oppose.

The rotary transport device 92 grips the support shaft 9 of the guide member 3 being transported by the guide member transport device 81 at the “12 o'clock position” by the support shaft gripping device 83 and the sheet member 2. Is held by the hand 30 of the aligning device 20 (ST42).
Further, the rotary conveying device 92 extends the sheet member 2 holding the peripheral edge 2a at the “1 o'clock position” while keeping the sheet member 2 along the outer shape of the pressing member 4. The first and second partition members 7 and 8 are aligned with the desired rectangular shape R along the first and second partition members 7 and 8 by following the croquettes K adjacent thereto. A period alignment process is performed.

  Then, the rotary conveying device 92 sequentially rotates to the “position from 2 o'clock to 5 o'clock” indicated by reference numeral ST44 in the drawing, and the sheet member 2 that has gripped the peripheral edge portion 2a in the predetermined alignment step and the guide The top and bottom are reversed while the plurality of croquettes K are sandwiched between the members 3 (reversing step). Further, the rotary conveying device 92 moves so as to face a predetermined position above the cardboard box 100 at “6 o'clock position” indicated by reference sign ST45 in FIG. Process).

  Here, in the present embodiment, a container lifting device 84 is disposed below the cardboard box 100. The container lifting / lowering device 84 can place the cardboard box 100 on the container cardboard box 100, and can lift the cardboard box 100 placed thereon. The height of the croquette K layer accommodated in the cardboard box 100 can be increased. The position in the height direction can be adjusted to match. That is, when the croquette K is not accommodated in the cardboard box 100, the container lifting / lowering device 84 sets the height of the alignment device 20 at the “6 o'clock position” with respect to the bottom surface of the cardboard box 100. However, if the croquette K is already accommodated, the position in the height direction of the alignment device 20 at the “6 o'clock position” is aligned with the upper surface of the uppermost croquette K as a reference.

  Then, after the position movement process, the alignment device 20 at the “6 o'clock position” further opens the peripheral portion 2a of the gripping sheet member 2 so that a plurality of croquettes K together with the sheet member 2 are corrugated. It is lowered into the box 100 (reference ST46 in the figure). At this time, the alignment device 20 (the guide member 3) is separated upward relative to the plurality of croquettes K and the sheet member 2. Thereby, a plurality of croquettes K aligned in the desired rectangular shape R can be accommodated in the cardboard box 100 together with the sheet member 2 (in-container accommodating step).

The rotary transport device 92 opens the support shaft 9 of the guide member 3 gripped by the support shaft gripping device 83 at the “7 o'clock position” indicated by reference sign ST47 in FIG. As a result, the guide member 3 is returned again to the position facing the “7 o'clock position” of the guide member transport device 81 and circulates in an elliptical ring shape.
Thus, according to the storage device 10D of the fifth embodiment, as with the fourth embodiment, the belt-type conveyance device 80, the guide member conveyance device 81, and the sheet member arrangement device 82 are provided. The placement process and the sheet member placement process described above can be performed in the same manner as the storage device 10C of the fourth embodiment. Therefore, high accuracy is not required for the placement position in the placement process. Therefore, since high precision is not required for the placement position, it is not necessary to apply a force such as a pressing force for correcting the placement position to a strict position, for example. Further, in the sheet member arranging step, only the sheet member 2 is opposed to the pressing member 4, so that the croquette K is not applied with a force such as a pressing force in the same step, and deformation and damage of the croquette K are prevented.

  The accommodation apparatus 10D according to the fifth embodiment rotates the rotary conveying device 92 in order, so that the peripheral portion 2a of the sheet member 2 is moved by the hand 30 of the aligning device 20 at the “12 o'clock position”. Then, at the “1 o'clock position”, the outer shape of the pressing member 4 is extended along the sheet member 2 and is adjacent to the first and second partition members 7 and 8. The croquette K to be aligned can be aligned along the first and second partition members 7 and 8 into the desired rectangular shape R (the desired alignment step). Further, it rotates sequentially to “positions from 2 o'clock to 5 o'clock” to reverse the top and bottom (reversing process), and at “6 o'clock position”, it faces a predetermined position above the cardboard box 100 (position movement) Step), and after the position movement step, the aligning device 20 (guide member 3) is released relatively upward by opening the peripheral edge 2a of the sheet member 2 gripped at the "6 o'clock position". Accordingly, a plurality of croquettes K aligned in the desired rectangular shape R can be accommodated in the cardboard box 100 together with the sheet member 2 (in-container accommodating step), and thus the accommodation of the fourth embodiment described above. The same operation and effect as the apparatus 10C are exhibited.

It is a figure for demonstrating one Embodiment of the alignment tool which concerns on this invention, and the alignment method using the alignment tool. It is a figure for demonstrating one Embodiment of the alignment method which concerns on this invention, and the accommodation method in a container. It is a figure explaining the accommodating apparatus provided with the alignment device which concerns on 2nd embodiment of this invention. It is a figure explaining the alignment apparatus which concerns on 2nd embodiment of this invention. It is a figure explaining the alignment apparatus which concerns on 2nd embodiment of this invention. It is a figure explaining the alignment apparatus which concerns on 2nd embodiment of this invention, the figure (a) is a schematic diagram of the principal part, and the table | surface of the figure (b) is the model of the figure (a). The relationship of each part shown in FIG. It is figure (a)-(f) explaining the effect | action of the accommodating apparatus which concerns on 2nd embodiment of this invention. It is figure (a)-(e) explaining the effect | action of the accommodating apparatus which concerns on 2nd embodiment of this invention. It is a figure explaining the alignment apparatus which concerns on 3rd embodiment of this invention. It is a figure explaining the alignment apparatus which concerns on 3rd embodiment of this invention. It is figure (a)-(f) explaining the effect | action of the accommodating apparatus which concerns on 3rd embodiment of this invention. It is figure (a)-(d) explaining the effect | action of the accommodating apparatus which concerns on 3rd embodiment of this invention. It is a figure explaining the accommodating apparatus which concerns on 4th embodiment of this invention. It is a figure explaining the effect | action of the accommodating apparatus which concerns on 4th embodiment of this invention. It is a figure explaining the accommodating apparatus which concerns on 5th embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Alignment tool 2 Sheet | seat member 3 Guide member 4 Holding member 5 Stage 6 Partition member 7 1st partition member 8 2nd partition member 9 Support shaft 10 Accommodating device 12 Articulated robot (integral movement means)
14 Camera (coordinate detection means)
20 alignment device 22 support housing 24 hand unit 30 hand (sheet member gripping means)
32 Hand spindle 34 Hand lifting nut 36 Hand lifting guide device (gripping means moving means)
37 Motor fixing plate 38 Hand lifting motor 40 Hand traverse nut 42 Hand traverse guide device (gripping means moving means)
44 hand traverse motor 46 support block 50 guide member support unit (guide member moving means)
52 Guide Member Lifting Nut 54 Guide Member Lifting Guide Device 56 Guide Member Lifting Motor 58 Guide Member Lifting Cylinder 60
71 Hand traverse screw shaft 72 Hand support shaft 73 Hand support shaft connecting shaft 74 Hand elevating link 75 Hand elevating support shaft 76 Hand traversing block 77 Traverse block connecting plate 78 Hand elevating gear 79 Hand elevating gear shaft 80 Belt type conveying device (conveying means) )
81 Guide member conveying device 82 Sheet member arranging device 83 Support shaft gripping device 84 Container lifting device 92 Rotary conveying device (integral moving means)
94 Alignment device placement section 100 Cardboard box (container)
K croquette (fragile food, target)

Claims (6)

An alignment tool for aligning a plurality of objects within a predetermined rectangular shape,
A guide member for guiding the plurality of objects to an intended alignment position in cooperation with a flexible sheet member;
As the sheet member, a sheet member having a width projecting around the range of the rectangular shape to be aligned,
The guide member includes a pressing member that is disposed to face the sheet member during use, and a partition member that projects and is mounted on a surface of the pressing member that faces the sheet member.
The pressing member has a shape similar to the rectangular shape range to be aligned and a size necessary for guiding to a desired alignment position, and the partition member has a rectangular shape to be aligned. The first partition member that partitions the direction along one side and the second partition member that partitions the direction along the other side that intersects the one side. Characteristic alignment tool. A method of aligning a plurality of objects within a predetermined rectangular shape,
Using the alignment tool according to claim 1,
A pre-alignment step for pre-alignment in which a required number of objects are placed at an appropriate distance to align on the sheet member;
The objects in the pre-aligned state are made to face each other from above the objects in the pre-aligned state, and the objects in the pre-aligned state are aligned along the direction in which the partition members projecting from the press members should be aligned. A guide member arranging step of arranging the guide member so as to be interposed between,
The outer periphery of the sheet member is gripped, and the outer shape of the pressing member extends while being along the sheet member, and the first and second partition members have objects adjacent thereto. And an intended alignment step of aligning the desired alignment position within the predetermined rectangular shape along the first and second partition members. A method of accommodating a plurality of objects in a predetermined rectangular container,
Using the alignment tool according to claim 1,
An alignment step of aligning the plurality of objects to an intended alignment position within the predetermined rectangular shape by the alignment method according to claim 2;
After the alignment step, the guide member is extended along the outer shape of the pressing member along the sheet member, and between the guide member and the sheet member that grips a peripheral edge in the alignment step. A clamping step of clamping a plurality of objects;
A moving step of facing a predetermined position above the container in a state where the plurality of objects are clamped in the clamping step;
After the moving step, the peripheral portion of the grasped sheet member is opened and the guide member is released upward, so that a plurality of objects aligned at the intended alignment position are placed in the container together with the sheet member. And a housing process for housing in the container. An alignment device for aligning a plurality of objects within a predetermined rectangular shape,
A guide member for guiding the plurality of objects to an intended alignment position in cooperation with a flexible sheet member;
As the sheet member, a sheet member having a width protruding around the range of the rectangular shape to be aligned,
The guide member is disposed so as to face the sheet member when used, and has a shape similar to the rectangular range to be aligned and a presser formed to have a size necessary for guiding to an intended alignment position. And a partition member that extends and is mounted on a surface of the pressing member facing the sheet member, and the partition member partitions a direction along one side of the rectangular shape to be aligned. A first partition member and a second partition member that partitions the direction along the other side intersecting the one side;
Furthermore, the guide member moving means capable of disposing the guide member from a position above the sheet member at a predetermined position facing the sheet member and detaching the guide member from the position; and gripping and releasing the peripheral edge of the sheet member; With respect to the possible sheet member gripping means and the guide member placed at a predetermined position by the guide member moving means, the sheet member gripping means in the state of gripping the peripheral portion of the sheet member is moved to the predetermined position. Possible gripping means moving means,
When the gripping means moving means moves to a predetermined position, the outer shape of the pressing member expands along the sheet member, and the first and second partition members are adjacent thereto. An alignment apparatus, wherein the alignment device is movable so as to be aligned with an intended alignment position within the range of the predetermined rectangular shape by following the target object. A storage device that stores a plurality of objects in a predetermined rectangular container,
An alignment device according to claim 4 is provided,
Furthermore, the sheet member gripping means, the sheet member and the guide member of the alignment device, and an integral moving means for integrally moving the plurality of objects to a predetermined position above the container,
The integral moving means holds the plurality of objects between the guide member and the sheet member while holding the peripheral edge of the sheet member with the sheet member holding means, A storage device that is movable to a position. A method of accommodating a plurality of objects in a predetermined rectangular container,
Using the alignment tool according to claim 1,
A partition member of the guide member is directed upward, and a necessary number of objects are formed on the pressing member to form the rectangular shape to be aligned along the direction in which the partition member is to be aligned. A placement step of placing the materials so as to be interposed between each other;
A sheet member arranging step for arranging the sheet members to face each other from above the objects placed in the placing step,
While gripping the peripheral edge of the sheet member and extending the outer shape of the pressing member along the sheet member, the first and second partition members are provided with objects adjacent thereto. An intended alignment step of aligning the desired alignment position within the predetermined rectangular shape along the first and second partition members,
After the desired alignment step, a reversing step of reversing the top and bottom with the plurality of objects sandwiched between the sheet member and the guide member that have gripped a peripheral edge in the desired alignment step;
A position moving step of reversing the top and bottom of the plurality of objects in the reversing step and facing a predetermined position above the container in a sandwiched state;
After the position moving step, the peripheral portion of the grasped sheet member is opened and the guide member is separated upward, and a plurality of lines are aligned at an intended alignment position within the predetermined rectangular shape range. An in-container housing method for accommodating an object in the container together with the sheet member.

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