JP5425703B2

JP5425703B2 - Article supply device in packaging machine

Info

Publication number: JP5425703B2
Application number: JP2010113451A
Authority: JP
Inventors: 眞人畑野; 勝己加藤; 清和井上
Original assignee: 株式会社フジキカイ
Priority date: 2010-05-17
Filing date: 2010-05-17
Publication date: 2014-02-26
Anticipated expiration: 2030-05-17
Also published as: JP2011241027A

Description

本願発明は、ロボットを用いて物品を高速で搬送する包装機における物品供給装置に関する。 The present invention relates to an article supply apparatus in a packaging machine that conveys articles at high speed using a robot.

従来、ＣＣＤカメラ等の撮像手段で撮像した情報に基づき、コンベヤ上のランダムに搬送される物品をアームで吸着して下流に配置されたコンベヤに載置する物品供給装置が知られている。
特許文献１には、ＣＣＤカメラ等の撮像手段で撮像した情報に基づき、１つのアームを回動させて、搬送方向における左右前後に不規則な間隔で搬送される物品の中から、特定の物品を吸着して、物品の搬送向きが同じになるように第２コンベヤに移すことが示されている。 2. Description of the Related Art Conventionally, there has been known an article supply apparatus that adsorbs an article conveyed randomly on a conveyor with an arm and places the article on a conveyor disposed downstream based on information captured by an imaging unit such as a CCD camera.
According to Patent Document 1, a specific article is selected from articles conveyed at irregular intervals in the conveying direction by rotating one arm based on information captured by an imaging unit such as a CCD camera. It is shown that it is adsorbed and transferred to the second conveyor so that the conveyance direction of the articles becomes the same.

特開２００６−１６０４１６号公報JP 2006-160416 A

しかし、前記特許文献１に開示のロボットは、処理速度が遅く、吸着した物品を高速で処理する包装機の処理能力に対応することができず、回収コンベヤへの回収が煩雑に発生するだけであって、物品の効率的な受け渡しができない。
物品の効率的な受け渡しを行うためには、最高処理能力を備えた水平多関節ロボットなどを使用しても、包装機の処理能力が、例えば、２００包/分以上の高速仕様の場合、確実に物品を包装機に載置することは困難である。
そこで、本願発明は、搬送方向における左右前後に不規則な間隔で搬送されるコンベヤ上の物品を、下流に設置のコンベヤに高速で、確実に載置し得る包装機における物品供給装置を提供することを目的とする。 However, the robot disclosed in Patent Document 1 has a low processing speed, cannot cope with the processing capacity of the packaging machine that processes the adsorbed article at a high speed, and the recovery to the recovery conveyor is complicated. Therefore, efficient delivery of goods is not possible.
For efficient delivery of goods, even if a horizontal articulated robot with the highest processing capacity is used, the processing capacity of the packaging machine is reliable when the high-speed specification is, for example, 200 packets / minute or more. It is difficult to place the article on the packaging machine.
Therefore, the present invention provides an article supply device in a packaging machine that can place articles on a conveyor conveyed at irregular intervals left and right in the conveying direction at a high speed and reliably on a conveyor installed downstream. For the purpose.

本願の請求項１の包装機における物品供給装置は、前後左右に不規則な間隔で搬送される第１コンベヤ（１）上の物品（Ｐ）の状態を物品検出手段を介して得た情報に基づいて、ロボット（１０）のアーム（２０）に配設された吸着具（２５）を昇降させて、第１コンベヤ（１）上の左右に広がった物品保持領域（Ｃ）における物品（Ｐ）を吸着して第２コンベヤ（２）に載置する。
そして、前記ロボット（１０）は、鉛直軸周りに一定方向に一定速度で回転する回転体（１２）と、その回転体（１２）に所定の角度間隔で支持されるアーム（２０）を有していて、前記それぞれのアーム（２０）は、前記回転体（１２）の中心（Ｑ）から同じ距離だけ離れた各支持位置（１６）で、サーボモータ（１５）によって独立して水平方向に所定角度の回動が可能である。回転体（１２）が回転中において、前記アーム（２０）を回動させ、物品（Ｐ）を吸着して前記吸着具（２５）を前記支持位置（１６）より前記回転体（１２）の中心（Ｑ）に近づけてから、第２コンベヤ（２）の搬送方向に向けて移動させて物品（Ｐ）を載置した後に、該物品（Ｐ）を載置したときの前記回転体（１２）の中心（Ｑ）と支持位置（１６）とを結ぶ線分に対するアーム（２０）の角度より広がるようにアーム（２０）を回動させるよう前記サーボモータ（１５）を駆動制御して、前記物品保持領域（Ｃ）の物品（Ｐ）を吸着するものであり、前記吸着具（２５）は第１コンベヤ（１）の物品保持領域（Ｃ）において物品（Ｐ）を吸着する際と、第２コンベヤ（２）に物品（Ｐ）を載置する際に降下するよう制御されることを特徴とする包装機における物品供給装置。 The article supply device in the packaging machine according to claim 1 of the present application uses the information obtained through the article detection means for the state of the article (P) on the first conveyor (1) conveyed at irregular intervals in the front, rear, left and right directions. The article (P) in the article holding area (C) that is expanded to the left and right on the first conveyor (1) by raising and lowering the suction tool (25) disposed on the arm (20) of the robot (10). Is adsorbed and placed on the second conveyor (2).
The robot (10) has a rotating body (12) that rotates at a constant speed in a fixed direction around a vertical axis, and an arm (20) that is supported by the rotating body (12) at a predetermined angular interval. The respective arms (20) are respectively set in a horizontal direction independently by a servo motor (15) at each support position (16) separated from the center (Q) of the rotating body (12) by the same distance. Angle rotation is possible. While the rotating body (12) is rotating, the arm (20) is rotated, the article (P) is sucked, and the suction tool (25) is centered on the rotating body (12) from the support position (16). The rotating body (12) when the article (P) is placed after the article (P) is placed after being moved toward the conveying direction of the second conveyor (2) after approaching (Q) The servomotor (15) is driven and controlled to rotate the arm (20) so as to be wider than the angle of the arm (20) with respect to a line segment connecting the center (Q) and the support position (16). When the article (P) is adsorbed in the article holding area (C) of the first conveyor (1), the adsorbing tool (25) adsorbs the article (P) in the holding area (C). to be controlled to fall at the time of placing the article (P) to the conveyor (2) The article feeder in the packaging machine according to symptoms.

また、請求項２の包装機における物品供給装置は、前記物品（P）を載置したときのアーム（２０）の角度を前記所定角度の内の最小角度とし、前記各アーム（２０）を、該最小角度から隣のアーム（２０）に干渉することがない範囲だけ定方向に回動させて、前記物品保持領域（C）の物品（P）を吸着することを特徴とする。 Moreover, the article supply apparatus in the packaging machine according to claim 2 sets the angle of the arm (20) when the article (P) is placed as a minimum angle of the predetermined angles, and each arm (20) only range does not interfere from the said minimum angle next to the arm (20) is rotated in a constant direction, characterized by adsorbing an article (P) of the article holding region (C).

また、請求項３の包装機における物品供給装置は、アーム（２０）の支持位置（１６）が物品保持領域（C）より手前の準備完了位置（B）に到るまでに、アーム（２０）の角度が物品保持領域（C）へ進入後の角度に変更されていることを特徴とする。 Further, the article supply apparatus in the packaging machine according to claim 3 is configured so that the arm (20) is moved by the time the support position (16) of the arm (20) reaches the ready position (B) before the article holding area (C ). angle is characterized in that it is changed to angle after entering the article holding region (C).

また、請求項４の包装機における物品供給装置は、前記回転体（１２）の中心（Q）に対してアーム（２０）の支持位置（１６）より遠い位置で前記物品保持領域（C）の物品（P）を前記吸着具（２５）で吸着する際に、回転体（１２）の回転方向とは逆方向にアーム（２０）を回動させて物品（P）に対する吸着具（２５）の相対速度を小さくすることを特徴とする。 Moreover, the article supply apparatus in the packaging machine according to claim 4 is configured such that the article holding region (C) is located farther from the support position (16) of the arm (20 ) than the center (Q) of the rotating body (12 ) . When the article (P) is adsorbed by the adsorbing tool (25) , the arm (20) is rotated in the direction opposite to the rotating direction of the rotating body (12) , and the adsorbing tool (25) with respect to the article (P) is rotated. characterized in that to reduce the relative speed.

また、請求項５の包装機における物品供給装置は、前記第２コンベヤ（２）には仕切り部材（３０）が所定間隔ごとに配設されており、吸着具（２５）が物品（P）を吸着した状態で搬送方向に移動中の仕切り部材（３０）を追い越して、該仕切り部材（３０）の搬送方向前方に移動後に、吸着具（２５）と物品（P）との吸着を解除して物品（P）を載置することを特徴とする。 Further, in the article supply device in the packaging machine according to claim 5 , partition members (30) are arranged at predetermined intervals on the second conveyor (2) , and the adsorber (25) receives the article (P) . overtaking the partition member (30) being moved in the transport direction in the adsorbed state, after the movement in the conveying direction in front of the partition member (30), by releasing the adsorption of the sucker (25) and the article (P) characterized by placing the article (P).

また、請求項６の包装機における物品供給装置は、第２コンベヤ（２）は、筒状に成形されたフィルム中に物品を供給するとともに、縦シールと横シール及びフィルム切断を行って包装品を得る横形製袋充填機の供給コンベヤであることを特徴とする。
また、請求項７の包装機における物品供給装置は、第１コンベヤ（１）上の物品（P）の状態を物品検出手段を介して得た情報に基づきロボット（１０）のアーム（２０）を回動すると共に該アーム（２０）に配設された吸着具（２５）を昇降させつつ第１コンベヤ（１）上の左右に広がった物品保持領域（C）内における複数の物品（P）のうち特定の物品（P）を吸着し該特定の物品（P）を第２コンベヤ（２）に向けて搬送する。
そして、前記ロボット（１０）は、鉛直軸周りに一定方向に一定速度で回転する回転体（１２）と、該回転体（１２）の中心から所定角度ごとに離れた各支持位置（１６）で、該回転体（１２）に対しそれぞれ水平回動可能に支持され、前記回転体（１２）が回転中に回動される複数の前記アーム（２０）と、該アーム（２０）の回動に伴い前記吸着具（２５）が前記特定の物品（P）を吸着し搬送するにあたって、前記物品保持領域（C）内にある前記特定の物品（P）と該特定の物品（P）の隣りの物品（P）とが接触することなく、且つ、前記物品保持領域（C）内において吸着した物品（P）が回転体（１２）の回転により回転方向に移動する場合にその物品（P）の移動方向における前方側に他の物品（P）が存在しないよう回転体（１２）の回転方向で最も遠い物品（P）から順次、前記特定の物品（P）を決定し、前記回転体（１２）の回転位置に応じて前記アーム（２０）の回動と前記吸着具（２５）の昇降動作を所定タイミングで制御するロボットコントローラを備えることを特徴とする。
Further, in the article supply apparatus in the packaging machine according to claim 6, the second conveyor (2) supplies the article into the film formed into a cylindrical shape, and performs vertical sealing, horizontal sealing, and film cutting, and the packaged product. It is the supply conveyor of the horizontal bag making and filling machine which obtains .
Moreover, the article supply apparatus in the packaging machine according to claim 7 has the arm (20) of the robot (10) based on information obtained through the article detection means on the state of the article (P) on the first conveyor (1). The plurality of articles (P) in the article holding area (C) that rotates and moves up and down on the suction tool (25) disposed on the arm (20) on the first conveyor (1). Among them, the specific article (P) is adsorbed and the specific article (P) is conveyed toward the second conveyor (2).
Then, the robot (10) has a rotating body (12) rotating at a constant speed around a vertical axis at a constant speed , and at each support position (16) separated from the center of the rotating body (12) by a predetermined angle. The plurality of arms (20) are supported so as to be horizontally rotatable with respect to the rotating body (12) and are rotated while the rotating body (12) is rotating, and the arms (20) are rotated. Accordingly, when the suction tool (25) sucks and conveys the specific article (P), the specific article (P) in the article holding area (C) and the specific article (P) are adjacent to each other. When the article (P) adsorbed in the article holding area (C) moves in the rotation direction by the rotation of the rotating body (12) without contact with the article (P), the article (P) rotating body so that the other article on the front side in the moving direction (P) does not exist (12) Sequentially from the farthest article in rolling direction (P), the specific determining an article (P), pivoting said sucker of the arm (20) in accordance with the rotational position of the rotating body (12) (25) The robot controller is provided with a robot controller that controls the lifting / lowering operation at a predetermined timing.

本願発明は、搬送方向における左右前後に不規則な間隔で搬送される第１コンベヤ上の物品を、高速で、確実に下流に設置の第２コンベヤに載置し得る包装機における物品供給装置を提供できる。 The present invention provides an article supply device in a packaging machine capable of reliably placing articles on a first conveyor conveyed at irregular intervals in the conveying direction at right and left and back and forth on a second conveyor installed downstream at high speed. Can be provided.

（ａ）は物品供給装置の略体平面図，（ｂ）は第２コンベヤの略体正面図である。(A) is a schematic plan view of the article supply device, and (b) is a schematic front view of the second conveyor. 物品供給装置の略体正面図である。It is a schematic front view of an article supply apparatus. （ａ）〜（ｃ）は第１コンベアで搬送される物品の処理順序を示す図である。(A)-(c) is a figure which shows the process order of the articles | goods conveyed by the 1st conveyor. 第１コンベヤ上の物品を吸着具で吸着する際のロボットのアームの動きを示す図である。It is a figure which shows a motion of the arm of the robot at the time of adsorb | sucking the articles | goods on a 1st conveyor with an adsorption tool.

本実施形態の包装機は、物品供給装置によって搬送される物品を筒状に成形されたフィルム中に供給するとともに、縦シールと横シール及びフィルム切断を行って包装品を得る横形製袋充填機である。
物品供給装置は、図１、図２に示すように、搬送方向における左右前後に不規則な間隔で、例えば、煎餅などの欠けやすい略円盤状の物品や搬送向きの方向性を有した形状の物品など、所定速度で搬送するベルトからなる第１コンベヤ１と、所定間隔ごとに配設されている仕切り部材３０の間に１個の物品を載置して筒状のフィルム中に供給する第２コンベヤと、第１コンベヤ上の物品を吸着具２５で吸着して第２コンベヤ上に載置するロボット１０を備える。 The packaging machine according to the present embodiment supplies an article conveyed by an article supply apparatus into a cylindrically formed film, and performs a vertical seal, a horizontal seal, and a film cutting to obtain a packaged product. It is.
As shown in FIG. 1 and FIG. 2, the article supply apparatus has a substantially disc-like article that is easily chipped, such as rice crackers, or a shape having directionality in the conveyance direction, at irregular intervals in the conveyance direction. A first article is placed between a first conveyor 1 made of a belt that conveys the article at a predetermined speed and a partition member 30 arranged at predetermined intervals, and is supplied into a cylindrical film. 2 conveyors and the robot 10 which adsorb | sucks the articles | goods on a 1st conveyor with the suction tool 25, and mounts them on a 2nd conveyor.

ロボット１０は、架台（図示略）に対して取り付けてあり、サーボモータ１１の駆動により、図１（ａ）において反時計方向（左回り）に一定速度で回転する回転体１２を備える。また、この回転体１２には、等間隔に４個の同じ形状の支持部１３が設けてある。
前記各支持部１３にはサーボモータ１５が固定してあり、このサーボモータ１５によって、回転体１２に設置の軸受け体１８で軸支されている回動軸１６を回動する。また、この回動軸１６には、サーボモータ２１で昇降可能なアーム２０が取り付けてある。
尚、サーボモータ１５によって、アーム２０は前記回動軸１６を中心に水平方向に回動軸１６と共に所定角度を回動し、該回動角は、隣接するアーム２０に接触しないように設定してある。 The robot 10 is attached to a gantry (not shown), and includes a rotating body 12 that rotates at a constant speed counterclockwise (counterclockwise) in FIG. The rotating body 12 is provided with four support portions 13 having the same shape at equal intervals.
A servo motor 15 is fixed to each support portion 13, and the servo motor 15 rotates a rotating shaft 16 that is supported by a bearing body 18 installed on the rotating body 12. An arm 20 that can be moved up and down by a servo motor 21 is attached to the rotating shaft 16.
The servo motor 15 causes the arm 20 to rotate a predetermined angle together with the rotation shaft 16 about the rotation shaft 16 in the horizontal direction, and the rotation angle is set so as not to contact the adjacent arm 20. It is.

また、それぞれのアーム２０の自由端側には、ガイド体２４がサーボモータ２７からの駆動を受け取り、回転可能に取り付けられている。そして、ガイド体２４の下端部には、一対の樹脂製板状のバネ材２８の間に、先端が弾性を備える蛇腹状の吸着具２５が傾いた状態（例えば、吸着具の先端部分の一端側が、被吸着面に対して上傾する角度が１°程度）で取り付けてある。この吸着具２５は、真空ライン２６に接続してあり、吸着時には負圧であり、吸着された物品を切り離すときには吸着を解除する。 A guide body 24 receives a drive from the servomotor 27 and is rotatably attached to the free end side of each arm 20. Then, at the lower end of the guide body 24, a bellows-like suction tool 25 having an elastic tip is inclined between a pair of resin plate-like spring members 28 (for example, one end of the tip of the suction tool). The side is attached at an angle of about 1 ° with respect to the attracted surface. The suction tool 25 is connected to a vacuum line 26, has a negative pressure during suction, and releases suction when the sucked article is cut off.

以上のように、前記ロボット１０は、鉛直軸周りに一定方向に定速回転する回転体１２と、その回転体１２に所定の角度間隔で支持されるアーム２０を有していて、それぞれのアーム２０は、前記回転体１２の中心Ｑから同じ距離だけ離れた各支持位置（回動軸１６）で、サーボモータ１５によって独立して水平方向に所定角度の回動が可能である。また、回転体１２が回転中において、アーム２０を回動させて、物品Ｐを吸着した吸着具２５を、支持位置１６より回転体１２の中心Ｑに近づけてから、該吸着具２５を、第２コンベヤ２の搬送方向に向けて移動させて第２コンベヤ２が所定間隔で物品Ｐを搬送し得るように物品Ｐを載置した後に、物品Ｐを載置したときの回転体１２の中心Ｑと支持位置１６とを結ぶ線分に対するアーム２０の角度より大きく広がるようにアーム２０を回動させて、前記物品保持領域の物品Ｐを吸着する。 As described above, the robot 10 includes the rotating body 12 that rotates at a constant speed around the vertical axis and the arms 20 that are supported by the rotating body 12 at predetermined angular intervals. Reference numerals 20 denote support positions (rotation shafts 16) that are separated from the center Q of the rotating body 12 by the same distance, and can be rotated by a predetermined angle in the horizontal direction independently by the servo motor 15. Further, while the rotating body 12 is rotating, the arm 20 is rotated to bring the suction tool 25 that sucks the article P closer to the center Q of the rotating body 12 than the support position 16. The center Q of the rotating body 12 when the article P is placed after the article P is placed so that the second conveyor 2 can carry the article P at a predetermined interval by moving in the conveying direction of the two conveyors 2 The arm 20 is rotated so as to be wider than the angle of the arm 20 with respect to a line segment connecting the support position 16 and the article P in the article holding area.

各種の機器を運転するに当たって、例えば、ロボットコントローラ（図示略）は、横形製袋充填機において、筒状に成形されたフィルム中に供給された物品Ｐをヒートシールや切断等を制御するコントローラ（図示略）との間で運転前にそれぞれの準備状況などの情報を交信し、また、第２コンベヤ２の位置や速度に関する情報を入力して動作タイミングを調整する。 When operating various devices, for example, a robot controller (not shown) is a controller for controlling heat sealing, cutting, etc. of an article P supplied in a tubular film in a horizontal bag making and filling machine ( Before the operation, information such as the respective preparation status is communicated with the information, and information regarding the position and speed of the second conveyor 2 is input to adjust the operation timing.

第１コンベヤ１上には、物品保持領域Ｃと、その上流側である物品認識領域Ｅが設定されていて、物品認識領域Ｅの物品Ｐを検出する物品検出手段（図示略）が第１コンベヤ１の上部に設置してある。
物品保持領域Ｃは、回転体１２の回転によりアーム２０が移動しながら、アーム２０自身が所定角度の範囲で回動して物品Ｐを吸着し得ることと、吸着した物品Ｐを第２コンベヤ２に載置する準備を完了し得る条件を加味して、物品認識領域Ｅより面積が狭く、第１コンベヤ１の左右に広がった物品をいずれも吸着し得る領域に設定されている。
物品認識領域Ｅにおいては、前後左右不規則に広がって搬送されてくるそれぞれの物品Ｐの状態が物品検出手段（図示略）によって検出され、ロボットコントローラに送信される。なお、物品検出手段としては、ＣＣＤ、ラインセンサ，Ｘ線などのいずれかの検出方式を採用することが望ましい。 On the first conveyor 1, an article holding area C and an article recognition area E on the upstream side thereof are set, and article detection means (not shown) for detecting the article P in the article recognition area E is the first conveyor. It is installed at the top of 1.
In the article holding area C, while the arm 20 is moved by the rotation of the rotating body 12, the arm 20 itself can rotate within a predetermined angle range to suck the article P, and the sucked article P can be sucked into the second conveyor 2. In consideration of the conditions for completing the preparation to be placed on the first conveyor 1, the area is smaller than the article recognition area E, and is set to an area where any article spread to the left and right of the first conveyor 1 can be adsorbed.
In the article recognition area E, the state of each article P that is conveyed irregularly in front, rear, left, and right is detected by article detection means (not shown) and transmitted to the robot controller. As the article detection means, it is desirable to employ any detection method such as a CCD, a line sensor, or an X-ray.

ロボットコントローラは、吸着具２５が吸着した物品Ｐを第２コンベヤ２の載置位置Ｄで載置した後、その吸着具２５が配設されたアーム２０の回動軸１６が反時計方向に進んだ開始位置Ａに到るまでに、物品検出手段からの情報によって、第１コンベヤ１上の複数の物品Ｐの位置から、次に、開始位置Ａに到る予定の吸着具２５が吸着する物品Ｐの位置を算出する。
尚、物品検出手段で検出された複数の物品Ｐの処理順序は、高速処理のため、それぞれのアーム２０の支持位置１６より吸着具２５が回転体１２の中心Ｑに近くなる後述する最小角度θ1よりアーム２０が大きく広がるように大きな角度にアーム２０を回動させて、物品保持領域Ｃ内の複数の物品Ｐのうち、アーム２０の回動軌跡において隣り合う物品Ｐと接触することがなく、且つ、回転体１２の回転方向で最も遠い物品Ｐから順次、吸着具２５で吸着するように決定される。
例えば、配列された物品Ｐが４個の場合、図３（ａ）（ｂ）（ｃ）に示すように、番号を付した順であり、吸着する物品Ｐは、回転体１２の回転方向において最も遠い物品Ｐからであり、回転体１２が高速回転中に、物品Ｐを吸着する瞬間や物品Ｐを上昇させる瞬間に物品同士の衝突を回避し得る。 The robot controller places the article P attracted by the suction tool 25 at the placement position D of the second conveyor 2, and then the rotation shaft 16 of the arm 20 on which the suction tool 25 is disposed advances counterclockwise. By the information from the article detection means until the start position A is reached, the article that the adsorber 25 that is scheduled to reach the start position A from the position of the plurality of articles P on the first conveyor 1 is adsorbed next. The position of P is calculated.
Note that the processing order of the plurality of articles P detected by the article detection means is the minimum angle θ1, which will be described later, at which the suction tool 25 is closer to the center Q of the rotating body 12 than the support position 16 of each arm 20 for high-speed processing. The arm 20 is rotated at a large angle so that the arm 20 spreads more widely, so that the plurality of articles P in the article holding area C do not come into contact with the adjacent article P in the rotation trajectory of the arm 20, In addition, the suction tool 25 sequentially determines from the article P farthest in the rotation direction of the rotating body 12.
For example, when the number of the arranged articles P is 4, as shown in FIGS. 3A, 3B, and 3C, the number of the articles P to be adsorbed is in the rotation direction of the rotating body 12. From the farthest article P, while the rotating body 12 is rotating at high speed, the collision between the articles can be avoided at the moment when the article P is adsorbed or when the article P is raised.

また、物品Ｐを載置した後、アーム２０の支持位置が開始位置Ａに到るまでの間に、そのアーム２０及び吸着具２５の次の動きについて、即ち、次に吸着する物品の位置（Ｘk，Ｙk）と、その位置（Ｘk，Ｙk）までの回転体１２の中心Ｑを基点とする回動軸１６の開始位置Ａからの角度β、その位置（Ｘk，Ｙk）で物品Ｐを吸着するときのアーム２０の角度θと、吸着具２５の上昇タイミングや回転する向き等、様々な動きについて決定される。 In addition, after the article P is placed and before the support position of the arm 20 reaches the start position A, the next movement of the arm 20 and the suction tool 25, that is, the position of the article to be sucked next ( Xk, Yk) and the angle P from the starting position A of the rotating shaft 16 with the center Q of the rotating body 12 up to the position (Xk, Yk) as the base point, the article P is adsorbed at that position (Xk, Yk) Various movements are determined, such as the angle θ of the arm 20 and the ascending timing of the suction tool 25 and the rotating direction.

図４中の位置（Ｘk，Ｙk）で、例えば、物品Ｐを吸着する場合、具体的なロボット１０の動きついては、回転体１２の回動軸１６が開始位置Ａから準備完了位置Ｂに到るまでに、アーム２０の回動角、吸着具２５（及びアーム２０）の高さ、吸着具２５の向きの変更が完了している。
即ち、回転体１２の回動軸１６（アーム２０の支持位置１６）が物品保持領域Ｃより手前の準備完了位置Ｂに到るまでに、アーム２０の角度が物品保持領域Ｃへ進入後の角度に既に変更され、吸着具２５は、第１コンベア１上の物品Ｐにぶつからない程度の高さに位置が既に変更されている。
なお、本例では、回転体１２が高速回転しているため、吸着具２５が物品Ｐに接触する際に、物品Ｐが回転方向に飛び出さないように、アーム２０が吸着予定の位置（Ｘk，Ｙk）に対応する回動角θより、回転体１２の回転方向における前方側に進んだ回動角(θ＋α)(例えば、αは５°：図１（ａ）の準備完了位置Ｂ参照)に回動され、位置（Ｘk，Ｙk）で吸着する前後のタイミングで、図４に示すように、アーム２０が回動角(θ＋α)から回動角(θ−α)に、２α分回動される。このことで、吸着具２５と物品Ｐの相対速度は、相殺、あるいは低減されることになり、物品Ｐを安定して吸着し得るようになる。 For example, when the article P is adsorbed at the position (Xk, Yk) in FIG. 4, regarding a specific movement of the robot 10, the rotation shaft 16 of the rotating body 12 reaches the preparation completion position B from the start position A. By the time, the change of the rotation angle of the arm 20, the height of the suction tool 25 (and the arm 20), and the orientation of the suction tool 25 has been completed.
In other words, the angle of the arm 20 is the angle after entering the article holding area C until the rotation shaft 16 (supporting position 16 of the arm 20) of the rotating body 12 reaches the preparation completion position B before the article holding area C. Has already been changed, and the position of the suction tool 25 has already been changed to a height that does not hit the article P on the first conveyor 1.
In this example, since the rotating body 12 rotates at a high speed, the arm 20 is positioned to be attracted (Xk) so that the article P does not jump out in the rotation direction when the suction tool 25 contacts the article P. , Yk), the rotation angle (θ + α) advanced forward in the rotation direction of the rotating body 12 from the rotation angle θ corresponding to (Yk) (for example, α is 5 °: refer to the ready position B in FIG. 1A). As shown in FIG. 4, the arm 20 is rotated by 2α from the rotation angle (θ + α) to the rotation angle (θ−α) at the timing before and after the rotation at the position (Xk, Yk). Is done. As a result, the relative speed between the adsorbing tool 25 and the article P is canceled or reduced, and the article P can be adsorbed stably.

このようにアーム２０を２α分、回動しながら物品Ｐを吸着する際に、吸着具２５は吸着する位置で最も降下した後に上昇する。なお、吸着具２５が物品Ｐに接触するときには、吸着具２５は回転体１２の回転方向における前方側が遅れて接触するように、毎回、吸着具２５の向きが変更される。
このため、吸着具２５が物品Ｐに接触したとき、吸着具２５の先端が折れ曲がることなく確実に吸着することができる。さらには、吸着具２５の蛇腹状に形成された先端部分が、物品吸着によって縮んだときに、両側のバネ材２８が物品Ｐに当接して物品姿勢を安定させることによって、物品Ｐが確実に吸着される。 Thus, when adsorbing the article P while rotating the arm 20 by 2α, the adsorber 25 rises after being lowered most at the adsorbing position. When the suction tool 25 comes into contact with the article P, the orientation of the suction tool 25 is changed every time so that the suction tool 25 comes in contact with the front side in the rotational direction of the rotating body 12 with a delay.
For this reason, when the adsorbing tool 25 comes into contact with the article P, the adsorbing tool 25 can be reliably adsorbed without bending the tip. Furthermore, when the tip portion of the adsorber 25 formed in a bellows shape is contracted by adsorbing the article, the spring material 28 on both sides comes into contact with the article P to stabilize the article posture, so that the article P is surely secured. Adsorbed.

このように吸着された物品Ｐは、載置位置Ｄに向けて、物品Ｐの高さより高い位置に向けて上昇しながら運ばれる。本実施の形態では、第２コンベヤ２に、物品Ｐの高さより高い仕切り部材３０が配置されているため、物品Ｐを仕切り部材３０にぶつからない高さまで上昇させている。このとき方向性を有する物品の場合には、物品検出手段から得られた情報から載置位置Ｄで、載置されるそれぞれの物品の向きが同じ方向に向くように、吸着具２５がガイド体２４と共に回転し、アーム２０が角度θ1に変更される。 The article P sucked in this way is carried while moving upward toward a position higher than the height of the article P toward the placement position D. In the present embodiment, since the partition member 30 higher than the height of the article P is arranged on the second conveyor 2, the article P is raised to a height that does not hit the partition member 30. At this time, in the case of an article having directionality, the adsorber 25 is a guide body so that the orientation of each article placed in the placement position D is in the same direction from the information obtained from the article detection means. 24, and the arm 20 is changed to an angle θ1.

アームの角度θ1は、設定された所定角度の範囲のアーム２０の角度のうちで、アーム２０の自由端側の吸着具２５が回転体１２の中心Ｑに最も近い位置になるときのアーム２０の角度である。このため、回転体１２の中心Ｑから吸着具２５までの距離(Ｒ２)は、最も短くなり（Ｒ２＜回転体１２の中心Ｑから回動軸１６(支持位置)までの距離）、アーム２０の角度が、角度θ1における吸着具２５の回転速度は最も遅くなる。
アーム２０の角度を角度θ1にして回転速度を最も遅くする理由は、第２コンベヤ２が各物品を搬送するタイミングに同期させるためであり、且つ、第２コンベヤ２上の物品Ｐの載置位置のばらつきを低減させるために重要なことである。 The angle θ1 of the arm is the angle of the arm 20 when the suction tool 25 on the free end side of the arm 20 is closest to the center Q of the rotating body 12 among the angles of the arm 20 in the set predetermined angle range. Is an angle. For this reason, the distance (R2) from the center Q of the rotating body 12 to the suction tool 25 is the shortest (R2 <the distance from the center Q of the rotating body 12 to the rotating shaft 16 (supporting position)). The rotation speed of the suction tool 25 at the angle θ1 is the slowest.
The reason why the angle of the arm 20 is set to the angle θ1 and the rotation speed is the slowest is to synchronize with the timing when the second conveyor 2 conveys each article, and the placement position of the article P on the second conveyor 2 This is important in order to reduce the variation.

アーム２０の角度が角度θ1に変更された後に、吸着具２５は、図１(ｂ)に示すように、第２コンベヤ２の搬送方向における後方から、移動中の仕切り部材３０の上方を移動しながら追い越して降下する。降下し終えると、吸着具２５は吸着を解除して物品Ｐを開放して、前方の仕切り部材３０にぶつからないように上昇する。この間、アーム２０の角度が、角度θ1より徐々に広がり、図１に示すように、アーム２０は二点鎖線のごとく、吸着具２５の中心が、第２コンベヤ２の中心を搬送方向に向けて、その中心に沿うように直線移動する。
吸着具２５は、直線移動終了時点のアーム２０の角度θｎ（θｎはθ1より僅かに大きい角度で、回転体１２の中心Ｑから回動軸１６までの距離より短い位置に吸着具２５が位置する）を維持した状態で、回転体１２の回転によって次の物品Ｐを吸着するために、開始位置Ａに向けて移動する。
このように、それぞれの吸着具２５によって吸着された物品Ｐが、第２コンベヤ２の各仕切り部材３０の間に連続して載置されることによって、高速処理においても横形製袋充填機での空袋の発生を防ぐことができる。
また、吸着具２５の中心が第２コンベヤ２の搬送中心に沿って移動しながら、吸着具２５が吸着を解除し、物品Ｐを開放することによって、左右に位置ずれすることなく、物品Ｐを第２コンベヤ２上に載置することができる。よって、筒状フィルムの開口の大きさに余裕をもたせなくても、筒状フィルムに物品Ｐを供給して、適切にフィルムを消費しながら高速でフィルム包装することが可能になる。 After the angle of the arm 20 is changed to the angle θ1, the suction tool 25 moves above the moving partition member 30 from the rear in the transport direction of the second conveyor 2 as shown in FIG. While overtaking and descending. When the descent is completed, the adsorbing tool 25 releases the adsorbing and opens the article P, and ascends so as not to hit the front partition member 30. During this time, the angle of the arm 20 gradually increases from the angle θ1, and as shown in FIG. 1, the arm 20 has the center of the suction tool 25 facing the center of the second conveyor 2 in the transport direction as indicated by a two-dot chain line. , Move straight along the center.
The suction tool 25 is positioned at a position shorter than the angle θn of the arm 20 at the end of the linear movement (θn is slightly larger than θ1 and shorter than the distance from the center Q of the rotating body 12 to the rotation shaft 16). In order to attract the next article P by the rotation of the rotating body 12, the head moves toward the start position A.
As described above, the articles P adsorbed by the respective adsorbing tools 25 are continuously placed between the partition members 30 of the second conveyor 2, so that even in high-speed processing, Generation of empty bags can be prevented.
In addition, the suction tool 25 releases the suction and releases the article P while the center of the suction tool 25 moves along the transport center of the second conveyor 2, so that the article P is not displaced left and right. It can be placed on the second conveyor 2. Therefore, even if there is no allowance for the size of the opening of the tubular film, the article P can be supplied to the tubular film, and the film can be packaged at high speed while consuming the film appropriately.

以上のことから、以下の効果を奏する。回転体１２が回転中に、アーム２０を回動させて回転体１２の中心Ｑから吸着具２５までの距離を可変にすると共に、アーム２０の回動角を設定された所定角度の範囲のアーム２０の角度のうち、最小の回動角θ1にして、吸着具２５を第２コンベヤの搬送方向に向けて移動させることで、回転体１２が回転することにより物品Ｐに作用する遠心力が小さくなり、第２コンベヤ２の幅方向への物品の位置ずれを低減することができる。
また、物品Ｐを載置したときのアーム２０の角度θｎを基点に、物品Ｐを吸着するときは、アーム２０を該角度θｎより大きく広がるようにアーム２０を回動させることから、関節を有さないタイプの既存のロボットで物品を吸着する場合に比して、物品保持領域Ｃを広く設定することができると共に、基点θｎと物品Ｐを吸着する位置までの位置関係が、演算処理し易くなるので高速処理が可能になる。
すなわち、本実施の形態は、一定方向に常時、定速回転する回転体１２に対して回動可能なアーム２０の先端側に配設された吸着具２５で物品Ｐを吸着するロボット１０を用いるため、関節を有さないタイプの既存のロボット(アーム２０に相当する腕を有さず、回転体１２に吸着手段が配設されたロボット)に比べた場合、物品Ｐを吸着するときは、吸着具２５が第１コンベヤ１の広範囲を、高速で移動して物品Ｐを吸着し、物品Ｐを載置するときには、吸着するときの速度より減速して第２コンベヤ２に物品Ｐを確実に載置し得ることから、前後左右不規則に搬送される第１コンベヤ１上に載置の物品Ｐを、吸着して、確実に物品を第２コンベヤ２に載置して高速で包装することができる。 From the above, the following effects are obtained. While the rotating body 12 is rotating, the arm 20 is rotated to change the distance from the center Q of the rotating body 12 to the suction tool 25, and the arm within a predetermined angle range in which the rotation angle of the arm 20 is set. The centrifugal force acting on the article P is reduced by rotating the rotating body 12 by moving the suction tool 25 in the transport direction of the second conveyor with the minimum rotation angle θ1 among the 20 angles. Thus, the positional deviation of the articles in the width direction of the second conveyor 2 can be reduced.
Further, when the article P is adsorbed based on the angle θn of the arm 20 when the article P is placed, the arm 20 is rotated so that the arm 20 spreads larger than the angle θn. Compared to the case where an article is attracted by an existing type of robot, the article holding area C can be set wider, and the positional relationship between the base point θn and the position where the article P is attracted can be easily processed. Therefore, high-speed processing becomes possible.
That is, the present embodiment uses the robot 10 that sucks the article P with the suction tool 25 disposed on the distal end side of the arm 20 that can rotate with respect to the rotating body 12 that always rotates at a constant speed in a certain direction. Therefore, when adsorbing the article P, compared with an existing type of robot that does not have a joint (a robot that does not have an arm corresponding to the arm 20 and is provided with a suction means on the rotating body 12), When the adsorber 25 moves over a wide area of the first conveyor 1 at high speed to adsorb the article P and places the article P, the adsorber 25 is surely decelerated from the speed at which the adsorbing is carried, and the article P is surely placed on the second conveyor 2. Since it can be placed, the article P placed on the first conveyor 1 transported irregularly in front, rear, left, and right is adsorbed, and the article is reliably placed on the second conveyor 2 and packaged at high speed. Can do.

また、本実施の形態では、アーム２０の角度θ1を最小角度として、それぞれのアーム２０を該最小角度θ1から隣のアーム２０に干渉することがない角度だけ同じ向きに回動させて、物品保持領域Ｃの物品Ｐを吸着するように、アーム２０が回動する所定角度を規定しているので、最小角度から物品を吸着する位置までの位置関係が演算処理しや易くなるので高速処理が可能になる。また、アーム２０同士の衝突を回避できる。
また、本実施の形態では、基点における角度θｎより、大きな角度にアーム２０を回動させて、物品保持領域Ｃにおける複数の物品Ｐのうち、アーム２０の回動軌跡において隣り合う物品Ｐと接触することがなく、且つ、回転体１２の回転方向で最も遠い物品Ｐから順次、吸着具２５で吸着することから、物品Ｐを吸着する瞬間や物品Ｐを上昇させる瞬間に物品同士の衝突を回避することができる。 In the present embodiment, the angle θ1 of the arm 20 is set as the minimum angle, and each arm 20 is rotated in the same direction by an angle that does not interfere with the adjacent arm 20 from the minimum angle θ1 to hold the article. Since the predetermined angle at which the arm 20 rotates so as to attract the article P in the region C is defined, the positional relationship from the minimum angle to the position where the article is attracted becomes easy to perform arithmetic processing, so high-speed processing is possible. become. Further, the collision between the arms 20 can be avoided.
Further, in the present embodiment, the arm 20 is rotated at an angle larger than the angle θn at the base point, and among the plurality of articles P in the article holding area C, the adjacent article P is contacted in the rotation trajectory of the arm 20. Since the suction tool 25 sequentially sucks the article P from the farthest article P in the rotational direction of the rotating body 12, the collision between the articles is avoided at the moment when the article P is sucked or when the article P is raised. can do.

また、本実施の形態では、吸着具２５が物品保持領域Ｃに進入する前の準備完了位置Ｂまでに、アーム２０の回動角が変更され吸着準備が完了する。例えば、アーム２０が回転体１２によって移動するときに、物品保持領域Ｃの特定の位置、例えば、図４中の位置（Ｘk，Ｙk））にある物品Ｐを吸着具２５によって吸着することは、アーム２０の角度が所定角度の範囲内において、回転体１２の中心Ｑと支持位置１６とを結ぶ線分に対して鈍角になる場合でも、鋭角になる場合でも可能であるが、準備完了位置Ｂまでにアーム２０の角度を設定することによって、毎回、アーム２０を鋭角（同じ角度）にするなど、同じタイミングで、吸着具２５を物品Ｐに接触させることが可能になる。このことは、物品Ｐに吸着具２５が接触する際に生じる、物品Ｐの位置ずれに対し、ずれる方向が定まるので、位置ずれを起き難くする対策を講じ易い。 In the present embodiment, the rotation angle of the arm 20 is changed and the preparation for suction is completed by the preparation completion position B before the suction tool 25 enters the article holding region C. For example, when the arm 20 is moved by the rotating body 12, the article P at a specific position of the article holding region C, for example, the position (Xk, Yk) in FIG. While the angle of the arm 20 is within a predetermined angle range, the arm 20 may be obtuse or acute with respect to the line segment connecting the center Q of the rotating body 12 and the support position 16, but the ready position B By setting the angle of the arm 20 by the time, the suction tool 25 can be brought into contact with the article P at the same timing, such as making the arm 20 an acute angle (the same angle) each time. This is because the direction of displacement is determined with respect to the positional deviation of the article P that occurs when the suction tool 25 comes into contact with the article P, and it is easy to take measures to make the positional deviation difficult to occur.

また、本実施の形態では、回転体１２の中心Ｑに対して、アーム２０の支持位置（回動軸１６）より遠い位置で物品保持領域Ｃの物品Ｐを吸着具２５で吸着する際に、回転体１２の回転方向と逆方向にアーム２０を回動させて物品Ｐに対する吸着具２５の相対速度を小さくしている。このため、回転体１２の中心Ｑに対して、アーム２０の支持位置（回動軸１６）より遠い位置では、吸着具２５の移動速度が速くなることから、吸着具２５が特に軽い物品Ｐなどに接触する際に、物品Ｐの位置ずれが起き易くなるが、物品Ｐを吸着具２５で吸着する際に、回転体１２の回転方向と逆方向にアーム２０を回動させて物品Ｐに対する吸着具２５の相対速度を小さくすることで位置ずれが起き難くなる。
また、本実施の形態では、第２コンベヤ２上に物品Ｐを載置するにあたって、吸着具２５が、物品Ｐを吸着した状態で移動中の仕切り部材３０を追い越した後に、仕切り部材３０の搬送方向前方に降下することで、吸着具２５を第２コンベヤ２の搬送方向に沿って移動させて載置することができ、また、載置するまでの距離を短くすることができるので、特に、欠けやすい物品Ｐなどに有利であり、載置位置を安定させることができる。 In the present embodiment, when the article P in the article holding region C is sucked by the suction tool 25 at a position farther from the support position (rotating shaft 16) of the arm 20 with respect to the center Q of the rotating body 12, The arm 20 is rotated in the direction opposite to the rotation direction of the rotating body 12 to reduce the relative speed of the suction tool 25 with respect to the article P. For this reason, since the moving speed of the suction tool 25 increases at a position farther from the support position (rotating shaft 16) of the arm 20 with respect to the center Q of the rotating body 12, the article P or the like in which the suction tool 25 is particularly light. However, when the article P is adsorbed by the adsorber 25, the arm 20 is rotated in the direction opposite to the rotation direction of the rotating body 12 to adsorb the article P. By making the relative speed of the tool 25 small, it becomes difficult for the position shift to occur.
In the present embodiment, when the article P is placed on the second conveyor 2, after the suction tool 25 has overtaken the moving partition member 30 with the article P being sucked, the partition member 30 is transported. Since the adsorbing tool 25 can be moved and placed along the transport direction of the second conveyor 2 by lowering in the forward direction, the distance until placing can be shortened. It is advantageous for articles P that are easily chipped, and the placement position can be stabilized.

さらに、吸着具２５を降下させた後に吸着を解除することから、吸着具２５が降下しながら物品Ｐを切り離すより、吸着を早期に解除し、物品Ｐを安定して載置することができる。
また、本実施の形態では、傾斜した状態で取着されている吸着具２５をガイド体２４と共に回転可能とし、吸着具２５の先端を、回転体１２の回転方向における前方側として物品Ｐに遅れて接触するように、物品Ｐを吸着し、搬送向きの方向性を有する物品の場合には、第２コンベヤ２に載置される物品Ｐが、常に同じ向きになるように吸着具２５を回転させることで確実に物品Ｐを載置することができる。 Furthermore, since the suction is released after the suction tool 25 is lowered, it is possible to release the suction earlier and stably place the article P than to separate the article P while the suction tool 25 is lowered.
Further, in the present embodiment, the suction tool 25 attached in an inclined state can be rotated together with the guide body 24, and the tip of the suction tool 25 is delayed from the article P as the front side in the rotation direction of the rotary body 12. In the case of an article having the direction of conveyance direction so that the article P is adsorbed so as to come into contact, the adsorber 25 is rotated so that the article P placed on the second conveyor 2 is always in the same direction. By doing so, the article P can be surely placed.

尚、前記のロボット１０は例示であり、アーム２０は回転体１２に等角度に回転支持されるものであればよく、その数は限定されないし、中心Ｑに複数の回転体を設けて、それぞれの回転体にアーム２０を回転支持させ、アーム２０が等角度間隔に配置されるようにしてもよく、同種のものが好ましい。
また、回転体１２に回動支持されるそれぞれのアーム２０に、更に、別のアームを接続して、別のアームを回動駆動させて物品Ｐを吸着させてもよい。
また、第１コンベヤ１に対して第２コンベヤ２を平行して配設したが、吸着具２５の移動軌跡の接線上を支持部材が移動する関係であれば第１コンベヤ１に対して第２コンベヤ２を、例えば、直角などに向けて配置してもよい。 The robot 10 is just an example, and the arm 20 is not limited as long as the arm 20 is supported by the rotating body 12 at an equal angle. The number of the arms 20 is not limited. The arm 20 may be rotatably supported by the rotating body, and the arms 20 may be arranged at equiangular intervals, and the same kind is preferable.
Further, another arm may be further connected to each of the arms 20 that are rotatably supported by the rotating body 12, and the other arm may be rotationally driven to attract the article P.
Further, although the second conveyor 2 is arranged in parallel with the first conveyor 1, the second conveyor 2 is arranged with respect to the first conveyor 1 as long as the support member moves on the tangent line of the movement locus of the suction tool 25. For example, the conveyor 2 may be disposed at a right angle.

また、第２コンベヤ２上には、物品Ｐを一列に配置しているが、複数列に配置して搬送するように構成してもよいし、第２コンベヤ２に収納箱を載置し、その箱内に物品Ｐを配列し、収納が終了したら次の収納箱に入れるように構成してもよい。
また、アーム２０と吸着具２５を一緒に昇降させたが、吸着具２５だけを昇降させる昇降手段でもよい。この場合、サーボモータに替えて、エアシリンダなどで吸着具を昇降させてもよい。
第２コンベヤ２の仕切り部材３０のピッチを変更する場合は、アーム２０の回動角を変更して、回転体１２の中心Ｑから第２コンベヤ２の搬送中心に沿って移動する吸着具２５の中心までの距離を変更すればよい。吸着具２５の移動軌跡の接線上を仕切り部材３０が移動する関係にすればよい。
また、物品保持領域Ｃで物品Ｐを吸着する順序は、物品保持領域Ｃに置かれた物品Ｐの中で、障害となる物品がない最も外側から順に吸着すればよく、本例とは逆外側からでもよい。また、搬送方向に物品Ｐが複数個並ぶ物品保持領域Ｃにおいては、障害となる物品がない最も外側のうち、下流側から吸着すればよい。また、アーム２０の支持位置から回転体１２の中心までの距離を長くして、隣のアーム２０と干渉しないようにすれば、各アーム２０の回動する方向を自由に設定してもよい。
また、包装機は第２コンベヤ２に載置した物品Ｐを筒状フィルム中に供給して、フィルム包装する横形製袋充填機に限定されるものではなく、例えば、第２コンベヤ２によって搬送された物品Ｐを箱詰めする箱詰め包装機などでもよい。
その他、本実施の形態で例示した具体的構成については、本発明の趣旨に反しない範囲で適宜変更可能であり、種々の構成を採用し得ることができる。 Further, although the articles P are arranged in a row on the second conveyor 2, the articles P may be arranged and conveyed in a plurality of rows, or a storage box is placed on the second conveyor 2, The articles P may be arranged in the box, and when the storage is completed, the article P may be placed in the next storage box.
Further, although the arm 20 and the suction tool 25 are lifted and lowered together, a lifting means for lifting and lowering only the suction tool 25 may be used. In this case, the suction tool may be moved up and down by an air cylinder or the like instead of the servo motor.
When changing the pitch of the partition member 30 of the second conveyor 2, the rotation angle of the arm 20 is changed, and the suction tool 25 that moves from the center Q of the rotating body 12 along the transport center of the second conveyor 2. What is necessary is just to change the distance to a center. What is necessary is just to make it the relationship which the partition member 30 moves on the tangent of the movement locus | trajectory of the suction tool 25. FIG.
Further, the order of adsorbing the articles P in the article holding area C may be the order in which the articles P placed in the article holding area C are adsorbed in order from the outermost side where there are no obstacles. It may be from. Further, in the article holding region C in which a plurality of articles P are arranged in the transport direction, it may be adsorbed from the downstream side of the outermost side where there are no obstacles. Further, if the distance from the support position of the arm 20 to the center of the rotating body 12 is increased so as not to interfere with the adjacent arm 20, the direction in which each arm 20 rotates may be freely set.
The packaging machine is not limited to a horizontal bag making and filling machine that supplies articles P placed on the second conveyor 2 into a cylindrical film and wraps the film. For example, the packaging machine is conveyed by the second conveyor 2. A boxing packaging machine for boxing the articles P may be used.
In addition, the specific configuration exemplified in the present embodiment can be appropriately changed without departing from the spirit of the present invention, and various configurations can be employed.

１第１コンベヤ、２第２コンベヤ、１０ロボット、１２回転体、
１５サーボモータ、１６回動軸（支持位置）、２０アーム、２５吸着具
３０仕切り部材、Ｐ物品、Ｑ回転体中心、Ｃ物品保持領域

1 first conveyor, 2 second conveyor, 10 robot, 12 rotating body,
15 Servo motor, 16 Rotating shaft (support position), 20 Arm, 25 Suction tool 30 Partition member, P article, Q Rotating body center, C Article holding area

Claims

Based on the information obtained via the article detection means on the state of the article on the first conveyor conveyed at irregular intervals in the front, rear, left and right, the suction tool disposed on the arm of the robot is moved up and down to An article supply device in a packaging machine that adsorbs and places an article in an article holding area spread on the left and right on the conveyor on a second conveyor,
The robot has a rotating body that rotates around a vertical axis in a constant direction at a constant speed, and an arm that is supported by the rotating body at a predetermined angular interval.
Each of the arms can be rotated by a predetermined angle in a horizontal direction independently by a servo motor at each support position separated by the same distance from the center of the rotating body. , The article is adsorbed and the adsorber is moved closer to the center of the rotating body than the support position, and then moved in the transport direction of the second conveyor to place the article. The servo motor is driven and controlled so as to rotate the arm so as to be wider than the angle of the arm with respect to the line segment connecting the center of the rotating body and the support position when placed, and the article in the article holding area is sucked. are those, wherein sucker is in the packaging machine, characterized the time of adsorbing the article in the article holding region of the first conveyor, to be controlled so that drops when placing the article in a second conveyor Goods supply device.

The angle of the arm when the article is placed is the minimum angle of the predetermined angle, and each arm is rotated in a fixed direction within a range not interfering with the adjacent arm from the minimum angle, 2. The article supply device in a packaging machine according to claim 1, wherein the article in the article holding area is adsorbed.

The angle of the arm is changed to the angle after entering the article holding area until the support position of the arm reaches the preparation completion position before the article holding area. Article supply device in a packaging machine.

When the article in the article holding area is sucked by the suction tool at a position far from the arm support position with respect to the center of the rotating body, the arm is rotated in the direction opposite to the rotating direction of the rotating body. The article supply device for a packaging machine according to any one of claims 1 to 3, wherein a relative speed of the suction tool with respect to the container is reduced.

The second conveyor has partition members arranged at predetermined intervals, and after the partition member moving in the transport direction with the adsorber sucking the article overtakes the partition member forward in the transport direction. The article supply device for a packaging machine according to any one of claims 1 to 4, wherein the article is placed after releasing the suction between the suction tool and the article.

Said second conveyor, and wherein the supplies article during formed into a tubular film, a supply conveyor for horizontal bag filling machine to obtain the longitudinal seal and the transverse seal and film cutting performed packaging The article supply apparatus for a packaging machine according to any one of claims 1 to 5.

Based on the information obtained through the article detection means, the state of the article on the first conveyor is rotated and the suction arm disposed on the arm is moved up and down and spread to the left and right on the first conveyor. An article supply device in a packaging machine that adsorbs a specific article among a plurality of articles in an article holding area and conveys the specific article toward a second conveyor,
The robot is
A rotating body that rotates at a constant speed in a fixed direction around a vertical axis;
A plurality of arms that are supported so as to be horizontally rotatable with respect to the rotating body at each support position spaced apart from the center of the rotating body by a predetermined angle, and the rotating body is rotated during rotation;
When the suction tool sucks and conveys the specific article as the arm rotates, the specific article in the article holding area does not contact the article adjacent to the specific article, and When the article adsorbed in the article holding area moves in the rotation direction by the rotation of the rotating body, the articles farthest in the rotation direction of the rotating body are sequentially arranged so that no other articles exist on the front side in the moving direction of the article. An article supply device in a packaging machine, comprising: a robot controller that determines the specific article and controls the rotation of the arm and the lifting / lowering operation of the suction tool at a predetermined timing in accordance with a rotational position of the rotating body. .