JP5756393B2 - Article conveying method and article conveying apparatus - Google Patents
Article conveying method and article conveying apparatus Download PDFInfo
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- JP5756393B2 JP5756393B2 JP2011246799A JP2011246799A JP5756393B2 JP 5756393 B2 JP5756393 B2 JP 5756393B2 JP 2011246799 A JP2011246799 A JP 2011246799A JP 2011246799 A JP2011246799 A JP 2011246799A JP 5756393 B2 JP5756393 B2 JP 5756393B2
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- 238000000034 method Methods 0.000 title claims description 10
- 230000032258 transport Effects 0.000 claims description 110
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 4
- 230000004308 accommodation Effects 0.000 claims description 3
- 241000080590 Niso Species 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
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- 238000006073 displacement reaction Methods 0.000 description 1
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Description
本発明は容器に物品を供給する物品搬送方法及び物品搬送装置に関する。 The present invention relates to an article conveying method and an article conveying apparatus for supplying an article to a container.
従来、コンベヤ上の物品をロボットハンドによって箱やトレイ等の容器に移載する技術が知られている。例えば、下記の特許文献１には、コンベヤから物品を容器に順次落下させて波形マルチトレイの各トレイ部分に載置した後、各トレイ部分上の物品を吸着具によりまとめて吸着して刺身重ね状に並べた状態で箱詰めすることが示されている。 Conventionally, a technique for transferring articles on a conveyor to a container such as a box or a tray by a robot hand is known. For example, in the following Patent Document 1, articles are sequentially dropped from a conveyor onto containers and placed on each tray portion of a corrugated multi-tray, and then the articles on each tray portion are collectively sucked by an adsorber and stacked with sashimi It is shown that they are packed in a box.
しかし、これらの装置では、物品や容器のサイズ或いは容器内への物品の詰め合わせ状態などのニーズに応じて吸着具を交換するといったような部品交換が必要とされており、複数のニーズに兼用し得る物品搬送形態の検討が十分ではなかった。 However, these devices require parts replacement such as replacement of the suction tool according to the needs such as the size of the article or container or the state of assembling of the article in the container. The examination of the article conveyance form to obtain was not enough.
この発明は、物品や容器のサイズ或いは容器内への物品の詰め合わせ状態などに応じた複数の物品の供給形態に対応可能な物品搬送方法及び物品搬送装置を提供することを目的としている。 An object of the present invention is to provide an article conveying method and an article conveying apparatus that can correspond to a plurality of article supply modes according to the size of an article or a container or the state of assembling of articles into a container.
請求項１の発明に係る物品搬送方法においては、所定間隔毎に並べて一列で搬送される物品搬送コンベヤ（２）上の複数の物品（１）を吸着手段（９Ａ）で吸着し、複数の容器（３）を一定間隔で容器搬送方向（Ｘ）に一列に並べるとともに、容器搬送方向（Ｘ）と交差する方向（Ｙ）に位置決めをして待機状態とした容器搬送コンベヤ（４）上の前記複数の容器（３）に、吸着された夫々の物品（１）を移載手段（９）で載置して、該複数の容器（３）と共に物品（１）を搬送する物品搬送方法であって、指定手段により制御プログラムが第一の制御プログラムに切り替えられた際には、前記物品搬送コンベヤ（４）上の複数の物品（１）の夫々に対応した位置に配備された前記吸着手段（９Ａ）の複数の吸着具（２９）が各物品（１）を夫々吸着すると共に、吸着具（２９）の間隔を狭めて、前記容器搬送コンベヤ（４）上で待機している一つの容器（３）に収容されるようにその物品（１）同士を部分的に重ねた状態で同時に載置して収容し、当該載置する動作を繰り返して一つの容器（３）に所定数の物品（１）の収容を完了したら、容器搬送コンベア（４）上で待機状態の他の容器（３）に物品（１）の収容を繰り返し行い、前記複数の容器（３）への物品（１）の収容を完了し、指定手段により制御プログラムが第二の制御プログラムに切り替えられた際には、前記物品（１）を夫々吸着している前記複数の吸着具（２９）の間隔を前記容器搬送コンベヤ（４）上に一定間隔で一列に並んで待機した状態の容器（３）間の間隔に合わせて、該各吸着具（２９）の間隔を離して、当該吸着具（２９）が夫々保持している物品（１）を前記複数の容器（３）の夫々に分けて同時に載置して収容し、当該載置する動作を繰り返して前記複数の容器（３）に同時に所定数の物品（１）の収容を完了し、第一の制御プログラム若しくは第二の制御プログラムにより前記複数の容器（３）に収容が完了した物品（１）を該複数の容器（３）とともに搬送する。 In the article conveying method according to the first aspect of the present invention, the plurality of articles (1) on the article conveying conveyor (2) conveyed in a line at a predetermined interval are adsorbed by the adsorbing means (9A), and a plurality of containers are collected. (3) arranged in a row in the vessel conveying direction (X) at regular intervals Rutotomoni, vessel conveying direction (X) and a container conveyor which is a standby state in the positioning direction (Y) intersecting (4) on the said plurality of containers (3), adsorbed respective article (1) is then placed in a transfer means (9), an article transporting method for transporting with the article of (1) said plurality of containers (3) When the control program is switched to the first control program by the designating means, the suction means arranged at a position corresponding to each of the plurality of articles (1) on the article transport conveyor (4). The plurality of adsorbers (29) of (9A) S as well as adsorption, by narrowing the interval between the suction device (29), the article of Niso as to be accommodated in a single container (3) which is waiting on which container transport conveyor (4) (1) portion to each other accommodated by placing simultaneously to overlapping state, when repeating the operation for the placing on one of the container (3) to complete the housing of a predetermined number of articles (1), on the container conveyor (4) The storage of the article (1) in the other containers (3) in the standby state is repeatedly performed, and the storage of the article (1) in the plurality of containers (3) is completed. In the state where the intervals of the plurality of adsorbing tools (29) adsorbing the articles (1) are queued in a line at regular intervals on the container transport conveyor (4) . in accordance with the spacing between the container (3), each of said suction devices the spacing (29) To the person adsorption member (29) is housed by placing simultaneously separately article (1) which are respectively held in each of the plurality of containers (3), by repeating the operation of the mounting A plurality of containers (3) are simultaneously accommodated with a predetermined number of articles (1), and an article (1) that has been accommodated in the plurality of containers (3) by the first control program or the second control program. It conveys with this some container (3).
請求項１の発明では、吸着手段（９Ａ）の吸着具（２９）を交換することなく、指定手段により制御プログラムを切り替えることにより、物品（１）や容器（３）のサイズ或いは容器内への物品（１）の詰め合わせ状態などに応じて各種の供給状態で物品（１）を容器（３）に供給することができる。 In the first aspect of the present invention, the size of the article (1) or the container (3) or the size of the container (3) can be changed by switching the control program by the designation means without replacing the suction tool (29) of the suction means (9A). The article (1) can be supplied to the container (3) in various supply states according to the assorted state of the article (1).
請求項２の発明に係る物品搬送装置は、物品（１）を物品搬送方向（Ｘ）に傾けて所定間隔毎に並べて一列で搬送する物品搬送コンベヤ（２）と、複数の容器（３）を一定間隔になるように位置決め部材（１４）で容器搬送方向（Ｘ）に一列に並べるとともに、容器搬送方向（Ｘ）と交差する方向（Ｙ）に前記複数の容器（３）を傾斜させて該方向（Ｙ）の位置決めをして所定位置で待機状態として物品（１）を載置させ、収容が完了したら前記複数の容器（３）とともに物品（１）を搬送する容器搬送コンベヤ（４）と、前記物品（３）の傾きに対応するよう物品搬送方向（Ｘ）に傾けた複数の吸着具（２９）を物品搬送方向（Ｘ）に並んだ物品（１）の間隔に合わせて配備し、前記複数の吸着具（２９）により前記物品搬送コンベヤ（２）上の物品（１）を夫々吸着する吸着手段（９Ａ）と、前記物品（１）を夫々吸着している前記複数の吸着具（２９）の間隔を変更して、該各吸着具（２９）により吸着された夫々の物品（１）を前記容器搬送コンベヤ（４）上の前記複数の容器（３）に載置する移載手段（９）と、前記各吸着具（２９）が保持している物品（１）同士を部分的に重ねた状態で前記容器搬送コンベヤ（４）上の待機状態の前記複数の容器（３）のうちの一つの容器（３）にまとめて載置し、当該載置する動作を繰り返して一つの容器（３）に所定数の物品（１）の収容を完了したら、前記容器搬送コンベア（４）上で待機状態の前記複数の容器（３）のうちの他の容器（３）に物品（１）の収容を繰り返して物品（１）の収容を完了するよう前記移載手段（９）を駆動する第一の制御プログラムと、前記各吸着具（２９）が保持している物品（１）同士を前記容器搬送コンベヤ（４）上での一定間隔で一列に並んでいる待機状態の前記複数の容器（３）の間隔に前記複数の吸着具（２９）の間隔を合わせて該各吸着具（２９）が夫々保持している物品（１）を前記複数の容器（３）に夫々分けて同時に載置して収容し、当該載置する動作を繰り返して前記複数の容器（３）に同時に所定数の物品（１）の収容を完了するよう前記移載手段（９）を駆動する第二の制御プログラムと、これらの制御プログラムへの切り替えを選択し得る指定手段とを備える。 The article conveying apparatus according to the invention of claim 2 includes an article conveying conveyor (2) that conveys the articles (1) in a line by being inclined at predetermined intervals by tilting the articles (1) in the article conveying direction (X), and a plurality of containers (3) . Rutotomoni arranged in a row in the vessel conveying direction (X) by the positioning member (14) so as to be constant intervals, by inclining the plurality of containers (3) in the direction (Y) intersecting the container transport direction (X) A container transport conveyor (4) which positions in the direction (Y) and places the article (1) in a standby state at a predetermined position and transports the article (1) together with the plurality of containers (3) when the storage is completed. And a plurality of suction tools (29) inclined in the article conveyance direction (X) so as to correspond to the inclination of the article (3), are arranged in accordance with the interval between the articles (1) arranged in the article conveyance direction (X). The article conveying conveyor (2) by the plurality of suction tools (29) By changing the interval between the adsorbing means (9A) for adsorbing the upper article (1) and the plural adsorbing tools (29) adsorbing the article (1), the respective adsorbing tools (29) Each of the articles (1) adsorbed by the transfer means (9) for placing the articles (1) on the plurality of containers (3) on the container transport conveyor (4), and each adsorbing tool (29) Placed in a single container (3) of the plurality of containers (3) in a standby state on the container transport conveyor (4) with the articles (1) being partially overlapped, When the placement operation is repeated and the storage of a predetermined number of articles (1) in one container (3) is completed, the other of the plurality of containers (3) in a standby state on the container transport conveyor (4) The transfer means (3) so as to complete the accommodation of the article (1) by repeatedly accommodating the article (1) in the container (3). ) And the articles (1) held by the respective suction tools (29) are arranged in a line at regular intervals on the container transport conveyor (4). The articles (1) respectively held by the respective suction tools (29) with the intervals between the plurality of suction tools (29) being adjusted to the intervals between the plurality of containers (3) are stored in the plurality of containers (3), respectively. The transfer means (9) is driven so that the predetermined number of articles (1) are accommodated simultaneously in the plurality of containers (3) by repeating the placement operation. A second control program; and designation means capable of selecting switching to these control programs.
請求項２の発明では、吸着手段（９Ａ）の吸着具（２９）を交換することなく、指定手段により制御プログラムを切り替えることにより、物品（１）や容器（３）のサイズ或いは容器内への物品（１）の詰め合わせ状態などに応じて各種の供給状態で物品（１）を容器（３）に供給することができる。また、物品（１）の傾きに対応するよう傾けた吸着具（２９）が夫々吸着した物品（１）の間隔を調節することから、移載手段（９Ａ）を簡素に構成して、一つの容器（３）にまとめて物品（１）を載置する際に、例えば物品（１）同士を部分的に重ねた状態にするなどの供給形態で物品（１）を容器（３）に供給することができる。 According to the second aspect of the present invention, the size of the article (1) or the container (3) or the size of the container (3) can be changed by switching the control program by the specifying means without replacing the suction tool (29) of the suction means (9A). The article (1) can be supplied to the container (3) in various supply states according to the assorted state of the article (1). Further, since the suction tool (29) tilted so as to correspond to the tilt of the article (1) adjusts the interval between the articles (1) sucked, the transfer means (9A) is simply configured, When the articles (1) are placed together in the container (3), the articles (1) are supplied to the container (3), for example, in a supply form such that the articles (1) are partially overlapped with each other. be able to.
請求項２の発明を前提とする請求項３の発明において、前記容器搬送コンベヤ（４）は前記物品搬送コンベヤ（２）に隣接して前記物品搬送方向（Ｘ）と平行に容器（３）を搬送する搬送部（１５）を備え、前記移載手段（９Ａ）は該搬送部（１５）の容器（３）に対して前記吸着した物品（１）を載置する。 In the invention of claim 3 premised on the invention of claim 2, the container transport conveyor (4) is disposed adjacent to the article transport conveyor (2) and in parallel with the article transport direction (X). A transfer unit (15) for transferring is provided, and the transfer means (9A) places the adsorbed article (1) on the container (3) of the transfer unit (15).
請求項３の発明では、容器搬送コンベヤ（４）の搬送部（１５）は、物品搬送コンベヤ（２）に隣接し、物品（１）と容器（３）を物品搬送方向（Ｘ）と平行に搬送するよう配設されていることから、移載手段（９Ａ）が物品搬送コンベヤ（２）と搬送部（１５）の間を直線的に移動する距離が短くなり、このため移載手段（９Ａ）の処理能力を高くすることができる。 In the invention of claim 3, the transport section (15) of the container transport conveyor (4) is adjacent to the article transport conveyor (2), and the article (1) and the container (3) are parallel to the article transport direction (X). Since the transfer means (9A) is linearly moved between the article transfer conveyor (2) and the transfer section (15), the transfer means (9A) is shortened. ) Can be increased.
請求項２または請求項３の発明を前提とする請求項４の発明において、前記物品搬送コンベヤ（２）は、無端索体（１０）の外周に所定間隔で配設されて、物品搬送方向（Ｘ）の下流側が該無端索体（１０）に接近する傾斜姿勢で物品（１）を支持する支持体（１１）を有している。 In the invention of claim 4 based on the invention of claim 2 or claim 3, the article transporting conveyor (2) is disposed on the outer periphery of the endless cord (10) at a predetermined interval, and the article transporting direction ( The downstream side of X) has a support body (11) that supports the article (1) in an inclined posture approaching the endless cord body (10).
請求項４の発明では、支持体（１１）により該傾斜姿勢で支持された物品（１）に吸着具（２９）を確実に当接させて物品（１）を円滑に吸着することができる。
請求項２〜４のうちいずれか一つの発明を前提とする請求項５の発明において、前記容器搬送コンベヤ（４）は、容器搬送方向（Ｘ）に交差する方向（Ｙ）に傾斜した載置面（１６ａ）を有し、該載置面（１６ａ）で該容器（３）を傾けた状態で搬送する搬送部（１５）を備え、前記移載手段（９Ａ）は該搬送部（１５）にて前記容器（３）に前記物品（１）が部分的に重なるよう該物品（１）を前記載置面（１６ａ）の傾斜方向に沿って順次積み重ねて載置する。
In the invention of claim 4, the article (1) can be smoothly adsorbed by reliably bringing the suction tool (29) into contact with the article (1) supported in the inclined posture by the support (11).
The invention according to claim 5, which presupposes any one of claims 2 to 4, wherein the container transport conveyor (4) is inclined in a direction (Y) intersecting the container transport direction (X). The transfer means (9A) has a surface (16a) and conveys the container (3) in an inclined state on the placement surface (16a), and the transfer means (9A) includes the transfer portion (15). The articles (1) are sequentially stacked and placed along the inclination direction of the placement surface (16a) so that the articles (1) partially overlap the containers (3).
請求項５の発明では、容器搬送コンベヤ（４）の搬送部（１５）は、容器搬送方向（Ｘ）に交差する方向（Ｙ）に傾斜した載置面（１６ａ）で容器（３）を傾けた状態で搬送し、その搬送部（１５）における各容器（３）に対し、移載手段（９Ａ）は載置面（１６ａ）の傾斜方向に沿って、物品（１）が部分的に重なるよう順次積み重ねて載置する等、物品（１）を重ねて載置することで、移載手段（９Ａ）を簡素にして、物品（１）を刺身重ね状に載置するなど所要の詰め合わせを行うことができる。 In the invention of claim 5, the transport section (15) of the container transport conveyor (4) tilts the container (3) with the mounting surface (16 a) tilted in the direction (Y) intersecting the container transport direction (X). The transfer means (9A) partially overlaps the article (1) along the inclination direction of the placement surface (16a) with respect to each container (3) in the transfer section (15). By stacking and placing the articles (1), such as sequentially stacking, the transfer means (9A) is simplified, and the required assortment such as placing the articles (1) in a sashimi-stacked form is performed. It can be carried out.
請求項５の発明を前提とする請求項６の発明において、前記容器搬送コンベヤ（４）は、物品（１）が載置された容器（３）を傾けた状態から略水平状態に変換する姿勢変換部（１７）を前記搬送部（１５）より下流に有している。 In the invention of claim 6 premised on the invention of claim 5, the container transport conveyor (4) is adapted to convert the container (3) on which the article (1) is placed from a tilted state into a substantially horizontal state. A conversion unit (17) is provided downstream of the transport unit (15).
請求項６の発明では、容器搬送方向（Ｘ）に交差する方向（Ｙ）に傾斜した容器（３）を姿勢変換部（１７）で略水平状態にすることから、物品（１）の自重によって容器（３）に対する夫々の物品（１）の位置を適切にすることができる。 In the invention of claim 6, since the container (3) inclined in the direction (Y) intersecting the container transport direction (X) is brought into a substantially horizontal state by the posture changing section (17), the weight of the article (1) is The position of each article (1) relative to the container (3) can be made appropriate.
請求項６の発明を前提とする請求項７の発明において、前記容器搬送コンベヤ（４）は、前記搬送部（１５）と前記姿勢変換部（１７）を有する第一コンベヤ（５）と、該第一コンベヤ（５）に並設されて第一コンベヤ（５）とは逆向きに容器（３）を搬送する第二コンベヤ（６）と、該第一コンベヤ（５）の姿勢変換部（１７）より下流で該第二コンベヤ（６）に容器（３）を受け渡す受渡手段（１８，２２）を備えている。 In the invention of claim 7, premised on the invention of claim 6, the container transport conveyor (4) includes the first conveyor (5) having the transport section (15) and the attitude changing section (17), A second conveyor (6) that is juxtaposed to the first conveyor (5) and conveys the containers (3) in the opposite direction to the first conveyor (5), and an attitude changer (17) of the first conveyor (5) ) Is provided with delivery means (18, 22) for delivering the container (3) to the second conveyor (6) downstream.
請求項７の発明では、搬送部（１５）と前記姿勢変換部（１７）を有する第一コンベヤ（５）と、第二搬送部（２１）を有する第二コンベヤ（６）とを受渡手段（１８，２２）を介して接続したことから、物品搬送装置をコンパクトに構成することができる。 In the invention of claim 7, the first conveyor (5) having the transport section (15) and the posture changing section (17), and the second conveyor (6) having the second transport section (21) are delivered. 18 and 22), the article conveying apparatus can be made compact.
本発明は、物品や容器のサイズ或いは容器内への物品の詰め合わせ状態などに応じた複数の物品の供給形態に対応可能な物品搬送方法及び物品搬送装置を提供することができる。 The present invention can provide an article conveying method and an article conveying apparatus that can correspond to a plurality of article supply modes according to the size of an article or a container or the state of assortment of articles in a container.
図１に示すように、物品１を所定間隔毎に搬送する物品搬送コンベヤ２と、容器３を所定間隔毎に搬送する容器搬送コンベヤ４とが並設されている。容器搬送コンベヤ４は、物品搬送方向Ｘに直交する幅方向Ｙに、物品搬送コンベヤ２の隣に並設された第一コンベヤ５と、第一コンベヤ５の隣に並設された第二コンベヤ６と、第二コンベヤ６の隣に並設された第三コンベヤ７を備えている。これらのコンベヤ２，４の上方には、第三コンベヤ７上から第一コンベヤ５上へ容器３を供給する容器移載手段８（図３参照）の移載部８Ａと、物品搬送コンベヤ２から第一コンベヤ５上の容器３へ物品１を移載するロボット９（図２参照）のハンド９Ａとが配備されている。物品１が載置された容器３は第一コンベヤ５から第二コンベヤ６へ搬送される。なお、図１，２中の白抜き矢印は各コンベヤ２，５，６，７の搬送向きを示している。 As shown in FIG. 1, an article conveying conveyor 2 that conveys articles 1 at predetermined intervals and a container conveying conveyor 4 that conveys containers 3 at predetermined intervals are arranged side by side. The container conveyor 4 includes a first conveyor 5 that is arranged next to the article conveyor 2 in a width direction Y orthogonal to the article conveyance direction X, and a second conveyor 6 that is arranged next to the first conveyor 5. And a third conveyor 7 arranged side by side next to the second conveyor 6. Above these conveyors 2 and 4, from the transfer section 8 </ b> A of the container transfer means 8 (see FIG. 3) for supplying the containers 3 from the third conveyor 7 to the first conveyor 5, A hand 9A of a robot 9 (see FIG. 2) for transferring the article 1 to the container 3 on the first conveyor 5 is provided. The container 3 on which the article 1 is placed is conveyed from the first conveyor 5 to the second conveyor 6. In addition, the white arrow in FIG. 1,2 has shown the conveyance direction of each conveyor 2,5,6,7.
前記物品搬送コンベヤ２においては、図２の如く、無端索体１０の外周に所定間隔で支持体１１が配設され、各支持体１１は物品搬送方向Ｘの下流側が該無端索体１０に接近するよう傾斜する載置面１１ａを有している。物品搬送コンベヤ２の上流端の上方には物品供給ベルト１２が配設されている。物品供給ベルト１２は、無端索体１０の回転に伴い順次接近する各支持体１１の載置面１１ａの傾斜角度に合わせて傾斜する物品吸引面１２ａを有している。物品吸引面１２ａには順次供給される物品１が吸着されて待機する。不図示の物品検出手段等による物品供給ベルト１２から物品搬送コンベヤ２への物品１の受渡しに関連する情報に基づき、支持体１１が順次一つずつ回転して物品供給ベルト１２の下流端側に位置すると、物品１が載置面１１ａに対し物品搬送方向Ｘに傾いた傾斜姿勢で搬入される。各支持体１１に搬入された物品１は物品搬送コンベヤ２の下流端に向けて搬送される。 In the article transporting conveyor 2, as shown in FIG. 2, supports 11 are arranged at predetermined intervals on the outer periphery of the endless cord 10, and each support 11 approaches the endless cord 10 on the downstream side in the article transport direction X. It has the mounting surface 11a inclined so that it may do. An article supply belt 12 is disposed above the upstream end of the article transport conveyor 2. The article supply belt 12 has an article suction surface 12 a that is inclined according to the inclination angle of the mounting surface 11 a of each support body 11 that sequentially approaches as the endless cord body 10 rotates. The articles 1 that are sequentially supplied are adsorbed on the article suction surface 12a and stand by. Based on information related to the delivery of the article 1 from the article supply belt 12 to the article conveyor 2 by an article detection means (not shown), the support 11 is rotated one by one sequentially to the downstream end side of the article supply belt 12. When positioned, the article 1 is carried in an inclined posture inclined in the article transport direction X with respect to the placement surface 11a. The articles 1 carried into the respective supports 11 are conveyed toward the downstream end of the article conveying conveyor 2.
前記第一コンベヤ５においては、図３の如く、無端索体１３の外周に所定間隔で送り爪１４が配設され、無端索体１３の上方に無端索体１３の上流端から下流端にわたり載置板１６を有する第一搬送部１５が設けられている。第一搬送部１５上の上流端と下流端は夫々物品搬送コンベヤ２上の下流端と上流端に隣接し、物品搬送コンベヤ２上の各支持体１１と第一コンベヤ５上の各送り爪１４は互いに逆向きに移動する。載置板１６は、図３における容器搬送方向Ｘに交差する幅方向Ｙで水平面Ｈに対し物品搬送コンベヤ２側へ傾斜した載置面１６ａと、載置面１６ａを幅方向Ｙで二分割する通路１６ｂと、載置面１６ａの下端縁で立ち上がる側面１６ｃを有している。各送り爪１４は載置板１６から上方に突出した状態で通路１６ｂを移動する。載置板１６の載置面１６ａ及び側面１６ｃによって容器３が支持される。容器３は、図４〜６に示すように底部３ａと底部３ａの外周に設けられた側部３ｂと底部３ａの上方に設けられた開口３ｃを有し、載置面１６ａ及び側面１６ｃによって、図４（ａ）に示す開口３ｃが物品搬送コンベヤ２側に向く傾斜姿勢を維持しつつ、送り爪１４によって搬送される。 In the first conveyor 5, as shown in FIG. 3, feed claws 14 are arranged at predetermined intervals on the outer periphery of the endless cable body 13, and are placed above the endless cable body 13 from the upstream end to the downstream end. A first transport unit 15 having a mounting plate 16 is provided. The upstream end and the downstream end on the first transport unit 15 are adjacent to the downstream end and the upstream end on the article transport conveyor 2, respectively, and each support 11 on the article transport conveyor 2 and each feed claw 14 on the first conveyor 5. Move in opposite directions. The mounting plate 16 divides the mounting surface 16a into two in the width direction Y and the mounting surface 16a inclined to the article transporting conveyor 2 side with respect to the horizontal plane H in the width direction Y intersecting the container transport direction X in FIG. It has a channel 16b and a side surface 16c that rises at the lower edge of the mounting surface 16a. Each feed claw 14 moves in the passage 16b in a state of protruding upward from the placement plate 16. The container 3 is supported by the placement surface 16 a and the side surface 16 c of the placement plate 16. As shown in FIGS. 4 to 6, the container 3 has a bottom 3 a, a side 3 b provided on the outer periphery of the bottom 3 a, and an opening 3 c provided above the bottom 3 a, and the placement surface 16 a and the side 16 c The opening 3c shown in FIG. 4A is conveyed by the feed claw 14 while maintaining an inclined posture toward the article conveying conveyor 2 side.
また、前記第一コンベヤ５においては、第一搬送部１５より下流に隣接して第一姿勢変換部１７が設けられ、第一姿勢変換部１７より下流に隣接して第一コンベヤ５上の下流端には平坦な載置面１８ａを有する受渡部１８（第二搬送部の受渡手段）が設けられている。第一姿勢変換部１７は、多数の棒状のローラ１９からなるコンベヤであり、容器３が載置板１６の載置面１６ａから受渡部１８の載置面１８ａへ搬送されるに従い容器３の姿勢が傾斜状態から略水平状態に変換されるよう、多数の棒状のローラ１９がその傾斜角度を次第に小さくするよう並設されている。受渡部１８には第一姿勢変換部１７より下流に搬送された容器３を停止させるストッパ２０が設けられている。 Further, in the first conveyor 5, a first posture conversion unit 17 is provided adjacent to the downstream side of the first transport unit 15, and downstream of the first conveyor 5 adjacent to the downstream side of the first posture conversion unit 17. At the end, a delivery unit 18 (delivery means of the second transport unit) having a flat placement surface 18a is provided. The first attitude conversion unit 17 is a conveyor composed of a large number of bar-shaped rollers 19, and the attitude of the container 3 as the container 3 is conveyed from the mounting surface 16 a of the mounting plate 16 to the mounting surface 18 a of the delivery unit 18. A large number of rod-shaped rollers 19 are arranged side by side so as to gradually reduce the inclination angle so that the angle is converted from the inclined state to the substantially horizontal state. The delivery unit 18 is provided with a stopper 20 for stopping the container 3 conveyed downstream from the first posture conversion unit 17.
前記第二コンベヤ６においては、その上流端から下流端にわたり平坦な載置面２１ａを有する搬送ベルト２１が第二搬送部として掛け渡され、第一コンベヤ５の下流端に隣接する搬送ベルト２１の上流端で受渡部２２（第二搬送部の受渡手段）が設けられている。第二コンベヤ６は第一コンベヤ５が容器３を搬送する向きとは逆の向きに容器３を搬送する。図４（ａ）に示すように、その受渡部２２の載置面２１ａは第一コンベヤ５の受渡部１８の載置面１８ａより少し低くなっており、それらの載置面１８ａ，２１ａ間には段差状をなす第二姿勢変換部２３が設けられている。それらの受渡部１８，２２間には容器３を載置面１８ａから載置面２１ａに送り出すプッシャ２４が幅方向Ｙへ往復動可能に設けられている。受渡部２２にはプッシャ２４により送り出された容器３を停止させるストッパ２５が設けられている。容器３は、それらの受渡部１８，２２間の受渡経路で載置面１８ａから載置面２１ａに搬送される際に、第二姿勢変換部２３で水平面Ｈに対し載置面２１ａ側に少し傾斜する。 In the second conveyor 6, a transport belt 21 having a flat placement surface 21 a is stretched as a second transport section from the upstream end to the downstream end of the transport belt 21 adjacent to the downstream end of the first conveyor 5. A delivery unit 22 (delivery means of the second transport unit) is provided at the upstream end. The second conveyor 6 conveys the containers 3 in a direction opposite to the direction in which the first conveyor 5 conveys the containers 3. As shown in FIG. 4 (a), the placement surface 21a of the delivery unit 22 is slightly lower than the placement surface 18a of the delivery unit 18 of the first conveyor 5, and between these placement surfaces 18a and 21a. Is provided with a second posture converting portion 23 having a stepped shape. A pusher 24 for feeding the container 3 from the placement surface 18a to the placement surface 21a is provided between the delivery portions 18 and 22 so as to be reciprocally movable in the width direction Y. The delivery unit 22 is provided with a stopper 25 for stopping the container 3 sent out by the pusher 24. When the container 3 is transported from the placement surface 18a to the placement surface 21a through the delivery path between the delivery units 18 and 22, the second posture conversion unit 23 slightly moves toward the placement surface 21a with respect to the horizontal plane H. Tilt.
前記第三コンベヤ７は、無端状の搬送ベルト２６が掛け渡され、その搬送ベルト２６と、搬送ベルト２６の下流端に直列状に配列された二つのベルトコンベヤ２７を備えており、容器３を同じ向きに搬送する各ベルトコンベヤ２７では、不図示の容器検出手段による検知情報に基づき、搬送ベルト２６が搬送する際の容器３の間隔より広がるように各ベルトコンベヤ２７の速度制御が行なわれると共に、各ストッパ２７ａが搬送路に進退可能とされて、その各ストッパ２７ａの出現により後続の容器３と非接触状態とされる。 The third conveyor 7 is provided with an endless transport belt 26, and includes a transport belt 26 and two belt conveyors 27 arranged in series at the downstream end of the transport belt 26. In each belt conveyor 27 transported in the same direction, the speed of each belt conveyor 27 is controlled so as to be wider than the interval of the containers 3 when the transport belt 26 transports based on detection information by a container detection unit (not shown). Each stopper 27a can be moved forward and backward in the transport path, and the subsequent container 3 is brought into a non-contact state by the appearance of each stopper 27a.
前記容器移載手段８の移載部８Ａは、第三コンベヤ７の各ベルトコンベヤ２７上で待機する容器３の側部３ｂの各四箇所を把持する把持腕２８を有しており、各把持腕２８で把持した各容器３を同時に上昇させて、第一コンベヤ５の載置板１６上に移動させた後に、その位置で各容器３を載置面１６ａの近くまで降下させてから、把持腕２８による把持状態を解除することで、夫々の送り爪１４の間に各容器３を同時に落下させて載置する。 The transfer part 8A of the container transfer means 8 has gripping arms 28 for gripping the four portions of the side 3b of the container 3 waiting on the belt conveyors 27 of the third conveyor 7, The containers 3 gripped by the arms 28 are simultaneously lifted and moved onto the mounting plate 16 of the first conveyor 5, and then the containers 3 are lowered to the vicinity of the mounting surface 16a at that position, and then gripped. By releasing the gripping state by the arms 28, the containers 3 are simultaneously dropped and placed between the feeding claws 14.
前記ロボット９は、三次元の自由度を有するパラレルリンクロボットであって、不図示のサーボモータを駆動することによって、例えば雌雄ねじ機構やラック及びピニオンなどにより、互いに間隔を変更することができる複数の吸着具２９を有するハンド９Ａを備えている。各吸着具２９は、物品搬送コンベヤ２の所定の各支持体１１の斜面に対応して傾けられて取着されており、各支持体１１に支持された物品１を同時に吸着して第一コンベヤ５上の容器３に搬送する。 The robot 9 is a parallel link robot having a three-dimensional degree of freedom, and a plurality of robots whose distances can be changed from each other by, for example, a male and female screw mechanism, a rack, and a pinion by driving a servo motor (not shown). The hand 9A having the suction tool 29 is provided. Each suction tool 29 is attached to be inclined corresponding to the slope of each predetermined support 11 of the article transporting conveyor 2, and simultaneously sucks the articles 1 supported by each support 11 to the first conveyor. 5 to the upper container 3.
物品搬送装置の駆動系を制御するコントローラ（不図示）には、物品１の種類や容器３の種類等の仕様変更に応じて物品１を容器３に各種の供給形態で供給する制御プログラムと、各種制御プログラムへの切り替えを選択可能とした指定手段としてのプログラムが記憶されており、指定手段の一部を構成するタッチ画面（不図示）などを介して、物品１や容器３等の仕様変更情報若しくは切り替え指令情報を受けることで、制御プログラムの切り替えを実行するよう設定されている。特定の一つの第一の制御プログラムが選択されると、第一の制御プログラムに応じた動作パターンで前記物品搬送コンベヤ２や容器搬送コンベヤ４（第一コンベヤ５と第二コンベヤ６と第三コンベヤ７）や容器移載手段８やロボット９などが駆動される。 A controller (not shown) for controlling the drive system of the article conveying apparatus includes a control program for supplying the article 1 to the container 3 in various supply forms in accordance with changes in specifications such as the type of the article 1 and the type of the container 3; Stores a program as a designation means that can select switching to various control programs, and changes specifications of the article 1 and the container 3 via a touch screen (not shown) constituting a part of the designation means. The control program is set to be switched by receiving information or switching command information. When one specific first control program is selected, the article transport conveyor 2 and the container transport conveyor 4 (first conveyor 5, second conveyor 6, and third conveyor) are operated in an operation pattern according to the first control program. 7), the container transfer means 8, the robot 9, etc. are driven.
例えば、図５に示すように容器３への物品１の供給形態に応じた第一の制御プログラムでは、下記のようにして、容器３に対する物品１の供給が行なわれる。
先ず、第一コンベヤ５上の第一搬送部１５に容器３が複数個載置され、第一コンベヤ５が待機している状態で、ロボット９は、物品搬送コンベヤ２への物品１の受け入れ情報とエンコーダ等のパルス等による物品搬送コンべヤ２の駆動情報によって、物品１が物品搬送コンベヤ２上に所定個数載置されている際に、物品搬送コンベヤ２の下流側の物品１とその物品１の隣りの物品１の位置に各吸着具２９が位置し得るよう、吸着手段としてのハンド９Ａを移動させると共に吸着具２９の間隔を物品１の間隔に合わせてそれらの物品１を同時に吸着する。
For example, as shown in FIG. 5, in the first control program corresponding to the supply mode of the article 1 to the container 3, the article 1 is supplied to the container 3 as follows.
First, in a state where a plurality of containers 3 are placed on the first conveyance unit 15 on the first conveyor 5 and the first conveyor 5 is waiting, the robot 9 receives information on the receipt of the article 1 on the article conveyance conveyor 2. When a predetermined number of articles 1 are placed on the article transport conveyor 2 by the drive information of the article transport conveyor 2 by pulses such as encoders and the like, the article 1 on the downstream side of the article transport conveyor 2 and the article The hand 9A as the suction means is moved so that each suction tool 29 can be positioned at the position of one adjacent article 1, and the articles 1 are simultaneously sucked by adjusting the distance between the suction tools 29 to the distance between the articles 1. .
物品吸着後、移載手段としてのハンド９Ａを上昇させ、第一搬送部１５のエンコーダ等のパルス等による駆動情報に基づき、第一搬送部１５上の最下流側に載置された先頭の容器３に物品１を載置し得るよう、ハンド９Ａを上下軸周りに回転させることなくその容器３に向けて直線的に平行移動させると共に吸着具２９の間隔調整を行って容器３内に物品１を載置する。 After adsorbing the article, the hand 9A as the transfer means is raised, and the first container placed on the most downstream side on the first transport unit 15 based on drive information by pulses of the encoder of the first transport unit 15 and the like 3, the hand 9 </ b> A is linearly translated toward the container 3 without rotating around the vertical axis so that the article 1 can be placed on the container 3. Is placed.
なお、各容器３は、図４（ａ）に示すように、第一搬送部１５の載置板１６の載置面１６ａ及び側面１６ｃに支持されて、開口３ｃが物品搬送コンべヤ２側に向く傾斜姿勢になっており、ハンド９Ａは、降下して、載置板１６の側面１６ｃに当接した容器３の側部３ｂの上端と底部３ａの二箇所で物品１が支持されるよう、図４（ｂ）のＩの物品１の如く、吸着した物品１を上方から二個同時に一つ容器３内に載置する。 As shown in FIG. 4A, each container 3 is supported by the mounting surface 16a and the side surface 16c of the mounting plate 16 of the first transport unit 15, and the opening 3c is on the article transport conveyor 2 side. The hand 9A descends so that the article 1 is supported at two locations, the upper end of the side portion 3b of the container 3 that is in contact with the side surface 16c of the placement plate 16 and the bottom portion 3a. Like the article 1 of I in FIG. 4B, two adsorbed articles 1 are placed in the container 3 at the same time from above.
容器３へＩの物品１が切り離されると、ハンド９Ａは、物品搬送コンベヤ２の下流側の物品１とその物品１に隣接する次の物品１の位置に向けて直線的に平行移動して同様に各吸着具２９の間隔を調整し、各物品１を同時に吸着した後、第一搬送部１５上のＩの物品１が載置された容器３の上方に向けて直線的に平行移動して、図４（ｂ）のIIの物品１の如く、物品１を上方から二個同時にＩの物品１に部分的に重なるように刺身重ね状に載置する。 When the article 1 of I is cut into the container 3, the hand 9 </ b> A linearly translates toward the position of the article 1 on the downstream side of the article conveyor 2 and the next article 1 adjacent to the article 1. The distance between the suction tools 29 is adjusted and the articles 1 are sucked at the same time, and then linearly translates toward the upper side of the container 3 on which the I article 1 on the first transport unit 15 is placed. Like the article 1 of II in FIG. 4B, two articles 1 from the upper side are simultaneously placed in a sashimi shape so as to partially overlap the article 1 of I.
図４（ｂ）のIIIの物品１についても、ロボット９は、IIの物品１を載置するときと同様の処理を行い、先頭の容器３内に計６個の物品１を載置する。
そして、先頭の容器３への物品１の載置が完了すると、その容器３の隣りの容器３に計６個の物品１が同様に載置される。
For the III item 1 in FIG. 4B, the robot 9 performs the same process as that for placing the II item 1 and places a total of six items 1 in the top container 3.
When the placement of the articles 1 in the top container 3 is completed, a total of six articles 1 are similarly placed in the container 3 adjacent to the container 3.
二つの容器３への物品１の載置が完了すると、これらの容器３は第一姿勢変換部１７に押送されるよう第一搬送部１５が駆動される。
二つの容器３が押送されると、その押送に関する第一搬送部１５の駆動情報に基づき、第一搬送部１５の上方位置で二つの容器３を把持して待機していた容器移載手段８が、第一搬送部１５の上流の夫々の送り爪１４の間に新たな容器３を二つ同時に載置した後、ベルトコンべヤ２７側に移動し、ベルトコンべヤ２７上の容器３を把持して、再度、第一搬送部１５の上方位置で待機する。即ち、以上のようなロボット９及び容器移載手段８の動作は、第一搬送部１５上の二つの容器３に物品１が載置される毎に繰り返される。
When the placement of the article 1 on the two containers 3 is completed, the first transport unit 15 is driven so that these containers 3 are pushed to the first posture changing unit 17.
When the two containers 3 are pushed, the container transfer means 8 that holds the two containers 3 at the upper position of the first conveyance unit 15 and is on standby based on the driving information of the first conveyance unit 15 related to the feeding. However, after two new containers 3 are simultaneously placed between the respective feed claws 14 upstream of the first transport unit 15, the two containers 3 are moved to the belt conveyor 27 side to grip the containers 3 on the belt conveyor 27. Then, it again stands by at a position above the first transport unit 15. That is, the operations of the robot 9 and the container transfer means 8 as described above are repeated each time the article 1 is placed on the two containers 3 on the first transport unit 15.
物品１の載置が完了した容器３は、第一姿勢変換部１７にて傾斜姿勢から序々に水平状態となり、受渡部１８の載置面１８ａに到達すると、水平状態（図４（ｃ）の状態）とされる。 The container 3 on which the placement of the article 1 is completed is gradually in a horizontal state from the inclined posture in the first posture conversion unit 17 and reaches the placement surface 18a of the delivery unit 18 to reach a horizontal state (in FIG. 4C). State).
受渡部１８のストッパ２０に当接した容器３を検知する不図示の検知手段が配設されており、その検知情報に基づきプッシャ２４が作動して容器３がストッパ２５に向けて送り出される。 A detection means (not shown) for detecting the container 3 in contact with the stopper 20 of the delivery unit 18 is disposed, and the pusher 24 is operated based on the detection information to send the container 3 toward the stopper 25.
ストッパ２５に当接した容器３は受渡部１８より低い位置に配設された受渡部２２に載置され、搬送ベルト２１によって図５（ｂ）の状態で搬送される。
図５（ｂ）の状態では、Ｉ乃至IIIの物品１は、一部重なるように吸着具２９の間隔を狭めて、容器３内に載置されることにより、Ｉ乃至IIIの夫々の物品１同士で刺身重ね状に載置され、また、ＩからIIIの物品１の列並びにおいても、刺身重ね状に載置されている。
The container 3 in contact with the stopper 25 is placed on the delivery section 22 disposed at a position lower than the delivery section 18 and is transported by the transport belt 21 in the state shown in FIG.
In the state of FIG. 5B, the articles 1 of I to III are placed in the container 3 with the interval between the adsorbing tools 29 narrowed so that they partially overlap, so that the articles 1 of I to III are placed. They are placed in a sashimi stack, and also in the row arrangement of articles 1 from I to III, they are placed in a sashimi stack.
なお、図４及び図５（ａ）には、容器３の底部３ａに形成された突起３ｄが説明の便宜を図るために示されている。この突起３ｄは、容器３が水平状態になり水平面Ｈに対し物品１のなす角度がαからβ（α＜β）に変化する際等に、物品１の端部に当接して物品１の位置ずれを規制するものであり、容器３または物品１の性状等によって物品１が滑り易く、刺身重ね状態を維持し難い場合に採用することが好ましい。 4 and 5A, a protrusion 3d formed on the bottom 3a of the container 3 is shown for convenience of explanation. The protrusion 3d contacts the end of the article 1 when the container 3 is in a horizontal state and the angle of the article 1 with respect to the horizontal plane H changes from α to β (α <β). It is intended to restrict the displacement, and is preferably used when the article 1 is slippery due to the property of the container 3 or the article 1 and the like, and it is difficult to maintain the sashimi-stacked state.
一方、図６の如く、図５の物品１より長いサイズの物品１を、その物品１に対応したサイズの容器３に供給する際には、その供給形態に対応した第二の制御プログラムに指定手段により切り替えられる。 On the other hand, as shown in FIG. 6, when an article 1 having a size longer than the article 1 shown in FIG. 5 is supplied to the container 3 having a size corresponding to the article 1, it is designated in the second control program corresponding to the supply form. It is switched by means.
第二の制御プログラムでは、物品搬送方向Ｘにおける吸着具２９の間隔を調節し、物品搬送コンベヤ２上の前後二つの物品１を第一の制御プログラムと同様に同時に吸着して、ハンド９Ａを上下軸周りに回転させることなく上昇し、第一搬送部１５の下流側に向けて直線的に平行移動するが、ハンド９Ａは吸着した二つの物品１の間隔を第一コンベヤ５上に載置された隣り合う前後の容器３の間隔に対応するよう拡げて降下し、第一コンベヤ５上の下流で隣り合う二つの容器３にＩの物品１として物品１を一個ずつ上方から同時に載置する点で、第一の制御プログラムとは相違している。 In the second control program, the interval between the suction tools 29 in the article transport direction X is adjusted, and the two articles 1 on the front and rear of the article transport conveyor 2 are sucked at the same time as in the first control program, and the hand 9A is moved up and down. Ascending without rotating around the axis and moving linearly toward the downstream side of the first conveying unit 15, the hand 9 </ b> A is placed on the first conveyor 5 with the interval between the two adsorbed articles 1. A point that the articles 1 are simultaneously lowered from the upper side to the two adjacent containers 3 on the downstream side of the first conveyor 5 one by one from the upper side. Thus, it is different from the first control program.
また、Ｉの物品１と同様にII乃至IVの物品１を吸着移送して載置する点においても相違しているが、各容器３に載置された物品１に部分的に重なるように、II乃至IVの物品１を順次載置する点では第一の制御プログラムと類似し、二つの容器３にIVの物品１が同時に載置された後、それらの容器３は第一姿勢変換部１７と第二姿勢変換部２３を経て搬送ベルト２１上にて水平状態で搬送される。この時、容器３内の物品は刺身重ね状に載置されている。 Moreover, although it differs also in the point which adsorbs and conveys the articles | goods II thru | or IV similarly to the articles | goods 1 of I, and is mounted, it overlaps with the articles | goods 1 mounted in each container 3 partially, Similar to the first control program in that the II to IV articles 1 are sequentially placed, after the IV articles 1 are placed on the two containers 3 at the same time, the containers 3 are moved to the first posture changing unit 17. Then, it is transported in a horizontal state on the transport belt 21 through the second posture conversion unit 23. At this time, the article in the container 3 is placed in a sashimi stack.
IVの物品１が載置された二つの容器３が第一姿勢変換部１７に向けて移動するに伴い、次の容器３が第一搬送部１５の下流側に向けて送られ、ＩからIVの物品１が同様に順次載置される。 As the two containers 3 on which the IV articles 1 are placed move toward the first posture changing unit 17, the next container 3 is sent toward the downstream side of the first conveying unit 15. The articles 1 are sequentially placed in the same manner.
本実施形態は下記の効果を有する。
（１） 物品１の傾きに対応するよう物品搬送方向Ｘに傾けた複数の吸着具２９により、物品搬送方向Ｘに傾いた状態で所定間隔毎に並んだ物品搬送コンベヤ２上の複数の物品１を吸着保持する吸着手段（ロボット９のハンド９Ａ）と、物品１を吸着保持している吸着具２９を容器搬送方向Ｘに並べると共にそれらの吸着具２９の間隔を変更して各吸着具２９により吸着された夫々の物品１を容器３に載置する移載手段（ロボット９のハンド９Ａ）を備え、指定手段により切り替えられた制御プログラムに基づき、吸着具２９が保持している各物品１をまとめて一つの容器３に載置するか、或いは容器搬送コンベヤ４上で隣り合う容器３の間隔に吸着具２９の間隔を合わせて、それらの容器３に物品１を夫々一つずつ載置することができる。従って、吸着具２９を交換することなく、制御プログラムを切り替えるだけで、物品１や容器３のサイズ或いは容器３内への物品１の詰め合わせ状態などに応じて、各種の供給形態で物品１を容器３に供給することができる。
This embodiment has the following effects.
(1) A plurality of articles 1 on the article conveyance conveyor 2 arranged at predetermined intervals while being inclined in the article conveyance direction X by a plurality of suction tools 29 inclined in the article conveyance direction X so as to correspond to the inclination of the article 1 The adsorbing means (the hand 9A of the robot 9) for adsorbing and holding the adsorbing device 29 and the adsorbing device 29 for adsorbing and holding the article 1 are arranged in the container transport direction X and the interval between the adsorbing devices 29 is changed by the respective adsorbing devices 29. Each article 1 held by the suction tool 29 is provided on the basis of a control program switched by the designation means, provided with transfer means (a hand 9A of the robot 9) for placing each sucked article 1 on the container 3. Place them together in one container 3, or place the articles 1 on the containers 3 one by one by matching the distance between the adsorbing tools 29 to the distance between adjacent containers 3 on the container conveyor 4. be able to. Therefore, by switching the control program without replacing the adsorber 29, the article 1 can be supplied in various supply forms depending on the size of the article 1 or the container 3 or the assortment state of the article 1 in the container 3. 3 can be supplied.
また、物品搬送方向Ｘの下流側が無端索体１０に接近する傾斜姿勢で搬送される物品１を物品搬送方向Ｘに傾けて配備された各吸着具２９が複数同時に吸着し、それらの物品間隔を調整することから、ロボット９のハンド９Ａに大掛かりな装置を装着することなく、ロボット９のハンド９Ａを簡素にして、一つの容器３にまとめて物品１を載置する際に、物品１同士を部分的に重ねた状態にする詰め合わせニーズにも対応させることができる。 Further, a plurality of adsorbing tools 29 arranged by inclining the article 1 conveyed in an inclined posture in which the downstream side in the article conveying direction X approaches the endless cable body 10 in the article conveying direction X are simultaneously adsorbed, and the interval between the articles is set. Since the adjustment is made, the hand 9A of the robot 9 is simplified without mounting a large-scale device on the hand 9A of the robot 9, and when the articles 1 are placed together in one container 3, It is possible to meet the assortment needs to be partially overlapped.
（２） 容器搬送コンベヤ４の搬送部１５は、物品搬送コンベヤ２に隣接し、物品１と容器３を物品搬送方向Ｘと平行に搬送するよう配設されていることから、ロボット９のハンド９Ａが物品搬送コンベヤ２と搬送部１５の間を直線的に移動する距離が短くなり、このためロボット９のハンド９Ａの処理能力を高くすることができる。 (2) Since the transport unit 15 of the container transport conveyor 4 is disposed adjacent to the article transport conveyor 2 and transports the article 1 and the container 3 in parallel with the article transport direction X, the hand 9A of the robot 9 However, the distance of linear movement between the article transporting conveyor 2 and the transporting unit 15 is shortened, so that the processing capability of the hand 9A of the robot 9 can be increased.
（３） 物品搬送コンベヤ２の支持体１１によって物品１が傾斜姿勢で支持されて搬送されることから、物品１に吸着具２９を確実に当接させて物品１を円滑に吸着することができる。 (3) Since the article 1 is supported and conveyed in an inclined posture by the support 11 of the article conveying conveyor 2, the article 1 can be smoothly adsorbed by reliably bringing the suction tool 29 into contact with the article 1. .
（４） 容器搬送コンベヤ４の搬送部１５は、幅方向Ｙに傾斜した載置面１６ａで容器３を傾けた状態で搬送し、その搬送部１５における各容器３に対し、ロボット９のハンド９Ａは載置面１６ａの傾斜方向に沿って、物品１が部分的に重なるよう順次積み重ねて載置する等、物品１を重ねて載置することで、ロボット９のハンド９Ａを簡素にして、物品１を刺身重ね状に載置するなど所要の詰め合わせを行うことができる。また、幅方向Ｙに傾斜した容器３を第一姿勢変換部１７で略水平状態にすることから、物品１の自重によって容器３に対する夫々の物品１の位置を適切にすることができる。 (4) The transport unit 15 of the container transport conveyor 4 transports the container 3 in a state where the container 3 is tilted by the mounting surface 16a inclined in the width direction Y, and the robot 9 has a hand 9A for each container 3 in the transport unit 15. In this case, the hand 9A of the robot 9 is simplified by placing the articles 1 in a stacked manner, such as sequentially stacking and placing the articles 1 so as to partially overlap each other along the inclination direction of the placement surface 16a. Necessary assortment such as placing 1 in a sashimi stack can be performed. Moreover, since the container 3 inclined in the width direction Y is brought into a substantially horizontal state by the first posture changing unit 17, the position of each article 1 relative to the container 3 can be made appropriate by the weight of the article 1.
（５） 第一搬送部１５及び第一姿勢変換部１７を有する第一コンベヤ５と、第一コンベヤ５とは逆向きに容器３を搬送するよう第二搬送部としての搬送ベルト２１を有する第二コンベヤ６とを受渡部１８，２２を介して接続したことから、物品搬送装置をコンパクトに構成することができる。 (5) A first conveyor 5 having a first conveying unit 15 and a first attitude changing unit 17, and a first conveyor 5 having a conveying belt 21 as a second conveying unit so as to convey containers 3 in the opposite direction to the first conveyor 5. Since the two conveyors 6 are connected via the delivery units 18 and 22, the article conveying device can be configured compactly.
本発明の趣旨に反しない範囲で前記実施形態以外にも適宜変更可能であり、例えば下記のような構成を採用することができる。
・ 移載手段としては、三次元の自由度を有するパラレルリンクロボットに代えて、物品を各方向に直線的に移動させて容器に搬送して載置する装置を採用してもよい。
The present invention can be modified as appropriate in addition to the above-described embodiment without departing from the spirit of the present invention. For example, the following configuration can be employed.
As the transfer means, instead of the parallel link robot having a three-dimensional degree of freedom, an apparatus that linearly moves the article in each direction and conveys and places it on the container may be employed.
・ 物品搬送コンベヤ２において、無端索体１０の外周に所定間隔で配設された支持体１１に物品１を略水平状態で支持するようにしてもよい。
・ 第一搬送部１５において、容器３を略水平状態で支持するようにしてもよい。
In the article conveyance conveyor 2, the article 1 may be supported in a substantially horizontal state on a support body 11 disposed at a predetermined interval on the outer periphery of the endless cord body 10.
-In the 1st conveyance part 15, you may make it support the container 3 in a substantially horizontal state.
・ 物品搬送コンベヤ２または容器搬送コンベヤ４としては、搬送される物品１または容器３の間隔が一定であることが好ましいが、物品１または容器３が搬送されるタイミング等が判れば、物品１または容器３がランダムに搬送されるコンベヤであってもよい。 As the article conveying conveyor 2 or the container conveying conveyor 4, it is preferable that the interval between the articles 1 or the containers 3 to be conveyed is constant, but if the timing at which the articles 1 or the containers 3 are conveyed is known, the article 1 or It may be a conveyor on which the containers 3 are conveyed at random.
・ 容器搬送コンベヤ４の第一搬送部１５は、容器３の開口３ｃが物品搬送コンベヤ２に対する反対側に向く傾斜姿勢で容器３を搬送することも可能である。
・ 容器３への物品１の供給形態の一つとして、一つの容器３内で物品１同士が重ならないように物品１を詰め合わせてもよい。
The first transport unit 15 of the container transport conveyor 4 can transport the container 3 in an inclined posture in which the opening 3c of the container 3 is directed to the opposite side with respect to the article transport conveyor 2.
-As one form of supplying the articles 1 to the containers 3, the articles 1 may be packed so that the articles 1 do not overlap each other in one container 3.
１…物品、２…物品搬送コンベヤ、３…容器、４…容器搬送コンベヤ、５…第一コンベヤ、６…第二コンベヤ、９…ロボット、９Ａ…ロボットのハンド（吸着手段、移載手段）、１０…無端索体、１１…支持体、１５…第一搬送部、１６ａ…載置面、１７…第一姿勢変換部、１８，２２…受渡部（受渡手段）、２９…吸着具、Ｘ…物品搬送方向及び容器搬送方向、Ｙ…幅方向、Ｈ…水平面。 DESCRIPTION OF SYMBOLS 1 ... Article, 2 ... Article conveyance conveyor, 3 ... Container, 4 ... Container conveyance conveyor, 5 ... 1st conveyor, 6 ... 2nd conveyor, 9 ... Robot, 9A ... Robot hand (adsorption means, transfer means), DESCRIPTION OF SYMBOLS 10 ... Endless cord body, 11 ... Support body, 15 ... 1st conveyance part, 16a ... Mounting surface, 17 ... 1st attitude | position conversion part, 18, 22 ... Delivery part (delivery means), 29 ... Adsorption tool, X ... Article conveying direction and container conveying direction, Y: width direction, H: horizontal plane.
Claims (7)
複数の容器を一定間隔で容器搬送方向に一列に並べるとともに、容器搬送方向と交差する方向に位置決めをして待機状態とした容器搬送コンベヤ上の前記複数の容器に、吸着された夫々の物品を移載手段で載置して、該複数の容器と共に物品を搬送する物品搬送方法であって、
指定手段により制御プログラムが第一の制御プログラムに切り替えられた際には、前記物品搬送コンベヤ上の複数の物品の夫々に対応した位置に配備された前記吸着手段の複数の吸着具が各物品を夫々吸着すると共に、吸着具の間隔を狭めて、前記容器搬送コンベヤ上で待機している一つの容器に収容されるようにその物品同士を部分的に重ねた状態で同時に載置して収容し、当該載置する動作を繰り返して一つの容器に所定数の物品の収容を完了したら、容器搬送コンベア上で待機状態の他の容器に物品の収容を繰り返し行い、前記複数の容器への物品の収容を完了し、
指定手段により制御プログラムが第二の制御プログラムに切り替えられた際には、前記物品を夫々吸着している前記複数の吸着具の間隔を前記容器搬送コンベヤ上に一定間隔で一列に並んで待機した状態の容器間の間隔に合わせて、該各吸着具の間隔を離して、当該吸着具が夫々保持している物品を前記複数の容器の夫々に分けて同時に載置して収容し、当該載置する動作を繰り返して前記複数の容器に同時に所定数の物品の収容を完了し、
第一の制御プログラム若しくは第二の制御プログラムにより前記複数の容器に収容が完了した物品を該複数の容器とともに搬送することを特徴とする物品搬送方法。 Adsorbing a plurality of articles on an article transporting conveyor arranged in a row at predetermined intervals with a suction means,
Rutotomoni arranging a plurality of containers in a row in the vessel conveying direction at predetermined intervals, the plurality of containers on the container transport conveyor and a positioning in a direction intersecting the container transport direction and standby state, the article of each adsorbed the is placed in the transfer unit, an article transporting method for transporting articles with said plurality of containers,
When the control program is switched to the first control program by the designating means, the plurality of suction tools of the suction means arranged at positions corresponding to the plurality of articles on the article transport conveyor each well as adsorption, by narrowing the interval between the suction device, accommodated by placing simultaneously in a state in which the article together partially superimposed in Niso to be accommodated in one container waiting on the container conveyor Then, after the placement operation is repeated and the storage of a predetermined number of articles in one container is completed, the articles are repeatedly stored in other containers in a standby state on the container transport conveyor, and the articles are stored in the plurality of containers. Complete the containment of
When the control program is switched to the second control program by the designation means, the intervals between the plurality of adsorbers that respectively adsorb the articles are waited in a line at regular intervals on the container transport conveyor . in accordance with the spacing between the container states, apart the distance between the respective suction device, those adsorption device is housed by placing simultaneously divide the articles that are respectively held in each of the plurality of containers, the Repeating the placement operation to complete the storage of a predetermined number of articles simultaneously in the plurality of containers,
An article transporting method, comprising transporting an article that has been accommodated in the plurality of containers by the first control program or the second control program together with the plurality of containers .
複数の容器を一定間隔になるように位置決め部材で容器搬送方向に一列に並べるとともに、容器搬送方向と交差する方向に前記複数の容器を傾斜させて該方向の位置決めをして所定位置で待機状態として物品を載置させ、収容が完了したら前記複数の容器とともに物品を搬送する容器搬送コンベヤと、
前記物品の傾きに対応するよう物品搬送方向に傾けた複数の吸着具を物品搬送方向に並んだ物品の間隔に合わせて配備し、前記複数の吸着具により前記物品搬送コンベヤ上の物品を夫々吸着する吸着手段と、
前記物品を夫々吸着している前記複数の吸着具の間隔を変更して、該各吸着具により吸着された夫々の物品を前記容器搬送コンベヤ上の前記複数の容器に載置する移載手段と、
前記各吸着具が保持している物品同士を部分的に重ねた状態で前記容器搬送コンベヤ上の待機状態の前記複数の容器のうちの一つの容器にまとめて載置し、当該載置する動作を繰り返して一つの容器に所定数の物品の収容を完了したら、前記容器搬送コンベア上で待機状態の前記複数の容器のうちの他の容器に物品の収容を繰り返して物品の収容を完了するよう前記移載手段を駆動する第一の制御プログラムと、
前記各吸着具が保持している物品同士を前記容器搬送コンベヤ上で一定間隔で一列に並んでいる待機状態の前記複数の容器の間隔に前記複数の吸着具の間隔を合わせて該各吸着具が夫々保持している物品を前記複数の容器に夫々分けて同時に載置して収容し、当該載置する動作を繰り返して前記複数の容器に同時に所定数の物品の収容を完了するよう前記移載手段を駆動する第二の制御プログラムと、
これらの制御プログラムへの切り替えを選択し得る指定手段とを備えることを特徴とする物品搬送装置。 An article conveying conveyor that inclines the articles in the article conveying direction and arranges the articles at predetermined intervals and conveys them in a row;
Waiting a predetermined position Rutotomoni arranging a plurality of containers in a row in the vessel conveying direction by the positioning member so as to be constant intervals, by inclining the plurality of containers in a direction intersecting the container transport direction positioning of the direction A container conveying conveyor for placing the article as a state and conveying the article together with the plurality of containers when the accommodation is completed ;
A plurality of suction tools inclined in the article transport direction so as to correspond to the inclination of the article are arranged in accordance with the interval between the articles arranged in the article transport direction, and the articles on the article transport conveyor are sucked by the plurality of suction tools, respectively. Adsorbing means to
Transfer means for changing intervals between the plurality of adsorbers that respectively adsorb the articles, and placing the articles adsorbed by the adsorbers on the containers on the container transport conveyor; ,
The operation of placing the articles held by each of the suction tools together in one of the plurality of containers in the standby state on the container transport conveyor in a state where the articles are partially overlapped with each other. To complete the storage of the article by repeating the storage of the article in another container among the plurality of containers in the standby state on the container transport conveyor. A first control program for driving the transfer means;
The adsorbers are arranged by aligning the intervals of the plurality of adsorbers with the intervals between the plurality of containers in a standby state in which articles held by the adsorbers are arranged in a line at regular intervals on the container transport conveyor. Each of the articles held by the container is placed in the plurality of containers and placed and accommodated at the same time, and the placement operation is repeated to complete the accommodation of the predetermined number of articles in the plurality of containers at the same time. A second control program for driving the loading means;
Article carrying apparatus, characterized in that it comprises a designation unit which can be selected to switch to these control programs.
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