JP5765652B2 - Automatic transfer device - Google Patents

Description

The present invention relates to an automatic transfer device capable of automatically transferring mushrooms such as eringi having different sizes and shapes.

  In recent years, large-scale shipments have been carried out by artificially cultivating crops such as mushrooms such as eringi and vegetables in the factory, and automation of operations associated with cultivation, harvesting and shipment of crops has been required to improve productivity in the factory. Yes.

  On the other hand, when shipping vegetables, mushrooms, etc., a combination measuring device such as a combination weigher is used to select a combination of objects to be measured that matches the allowable range of the specified weight with a specified number of objects. A plurality of selected objects to be measured are packed in a shipping member such as a foam tray and shipped.

  A combination measuring device used for such a combination work includes a measuring unit capable of measuring each of a plurality of measuring units on which the object to be measured is placed, and a large number of objects to be measured based on measurement data obtained from the measuring unit. The optimal combination of objects to be measured that matches the allowable range of the specified weight is selected from the objects to be measured, and the selected object to be measured is displayed with a lamp etc. to inform the operator. Known (for example, Patent Document 1).

JP 2008-170361 A

  However, in the conventional techniques as described above, it is necessary to accurately manage the position of the object to be measured, such as the operation of taking out the selected object to be measured from the measuring unit or the operation of supplementing the new measuring object to the empty measuring unit. Therefore, it is difficult to accurately manage the position of each object to be measured that is different in size and shape, and the operator must manually transfer the object to be measured. There was a problem that was hindering.

Therefore, in view of such a conventional problem, the present invention enables accurate position management of individual mushrooms having different sizes and shapes, such as eringi , and can automatically transfer these objects to be transferred. It was made for the purpose of providing a transfer device.

The feature of the invention according to claim 1 for solving the conventional problems as described above and achieving an intended purpose is that a temporary table placed at a transfer source and a transfer destination, and one or a plurality of hands are provided. a gripping hand unit having a moving mechanism for moving the gripping hand unit between the two temporary placement table, the grasping hand unit and a control means for controlling the moving mechanism, the temporary different mushrooms of the individual size An automatic transfer device configured to transfer between placing tables , wherein the temporary placing table is provided with a bottomed box-like temporary placing tray whose upper surface is opened, and the temporary placing tray has a center thereof. A pair of mounting parts arranged parallel to each other with a space between them to mount the central part of the mushrooms on the part, and the control means is configured to place the both mounting parts on the hand in the temporary mounting table of the transfer source. The middle of the mushrooms located between And the center part of the mushrooms is placed between the two mounting parts at the transfer destination.

  The feature of the invention described in claim 2 is that, in addition to the configuration of claim 1, the above-described rack part is formed with a mounting concave part on the upper edge part.

  According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, the moving mechanism includes one or a plurality of support members movable along the transfer rail, and the support members are independent of each other. And an operating unit to be moved, and the gripping hand unit is supported by each supporting member.

  According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, each hand is rotatably supported by the gripping hand unit.

As described above, the automatic transfer device according to the present invention includes a temporary placement table installed at a transfer source and a transfer destination, a gripping hand unit having one or a plurality of hands, and the gripping hand unit on both the temporary placement tables. An automatic transfer device comprising: a moving mechanism for moving between, and a control means for controlling the gripping hand unit and the moving mechanism , wherein mushrooms having different sizes are individually transferred between the temporary placing tables. The temporary placing table is provided with a bottomed box-like temporary placing tray having an open top surface, and the temporary placing tray is spaced apart from each other with the central portion of the mushrooms mounted on the central portion. And the control means causes the hand to grip the central part of the mushrooms located between the two placing parts in the temporary placing table of the transfer source. Together with the transfer By which is adapted to rests the central portion of the mushrooms between the two rests unit in the preceding, in the case of transferring the mushrooms over a plurality of steps, always the same position mushrooms of different shapes gripping Therefore, automation is possible.

  Further, in the present invention, the above-described rack part is formed with a mounting concave part at the upper edge part, so that the object to be transferred can be stably mounted between the rack parts. Location management can be performed.

  Furthermore, in the present invention, the moving mechanism includes one or a plurality of support members that can move along the transfer rail, and an operation unit that moves each of the support members independently. Since the gripping hand unit is supported respectively, the gripping hand unit can be moved with a simple structure.

  In the present invention, each hand is rotatably supported by the gripping hand unit so that the center of the transferred object is always gripped and position management is performed. It can be placed at the same position between trays.

It is a front view which shows the outline of an example of the combination measuring device using the automatic transfer apparatus which concerns on this invention. It is a top view same as the above. It is a top view which shows the lower half part of an apparatus same as the above. It is a top view which shows an example of the automatic conveyance apparatus in FIG. It is a top view which shows an example of the combination weigher in FIG. (A) is a top view which shows an example of the tray for temporary placement in FIG. 1, (b) is the longitudinal cross-sectional view, (c) is the sectional view on the AA line. It is a front view which shows an example of the rearrangement mechanism in FIG. (A) is a top view which shows the state which moved the tray for rearrangement same as the above to the original position, (b) is a top view which shows the state which operated the extrusion unit. It is a top view which shows an example of the holding | grip hand unit part in FIG. It is a partially broken side view same as the above. It is a rear view same as the above. (A)-(c) is a top view which shows the holding position by the hand with respect to the tray for temporary placement. It is a top view which shows another example of the automatic transfer apparatus which concerns on this invention in FIG. (A) is a partially broken back view of the above, (b) is a partially broken back view of the state in which the direction of the hand is changed. It is a top view for demonstrating the hand rotation operation | movement of the hand unit for transfer same as the above.

Next, the 1st embodiment of the automatic transfer apparatus which concerns on this invention is demonstrated based on the Example shown in FIGS. In the figure, reference numeral 1 is a combination measuring device using an automatic transfer device, and reference symbol A is a mushroom such as eringi, which is a transfer object (measurement object).

This automatic combination measuring device 1 includes a combination weigher 2 capable of measuring each of a plurality of measuring units 5, 5... On which mushrooms A, A. Then, the optimum combination of the objects to be measured that matches the allowable range of the specified weight with the specified number is appropriately selected from a large number of objects to be measured A, A. Are carried out to the temporary placing table 15 on the downstream side of the selected measuring unit 5, and new measuring objects A, A. The automatic transfer devices 201 and 202 (first embodiment) automatically transfer from the temporary table 49 to the combination table 2 and from the combination table 2 to the temporary table 15. It is supposed to be done with.

  As shown in FIG. 4, the automatic transfer devices 201 and 202 include temporary placement tables 49, 2 and 15 respectively installed at a transfer source and a transfer destination, and gripping hand units 62a, 62b and 62c each having a plurality of hands. And a moving mechanism 42 that moves the gripping hand units 62a, 62b, and 62c between the transfer source and the transfer destination, and the gripping hand units 62a, 62b, and 62c and the moving mechanism 42 include a control unit (not shown). It is automatically controlled by. The automatic transfer devices 201 and 202 are arranged symmetrically with respect to each other via the combination scale 2.

  The combination weigher 2 functions as a temporary placement table for the transfer destination in the transfer from the temporary placement table 49 to the combination balance 2, and functions as a temporary placement table for the transfer destination in the transfer from the combination scale 2 to the temporary placement table 15. It is like that.

Each temporary placement table 49, 2, 15 is provided with a plurality of temporary placement trays 113, 113 ..., and the temporary placement trays 113, 113 ... on the temporary placement tables 49, 2, 15 are provided. Since the gripping hand units 62a, 62b, and 62c are slid and moved in the same direction and on the same line, the mushroom A can be transferred between the temporary placement trays 113 and 113 at the corresponding positions. Yes.

  In the combination weigher 2, as shown in FIG. 5, a plurality of measuring units 5, 5... Are arranged in a straight line in the work line direction to form measuring unit rows a and b. a and b are arranged in parallel with each other (in this embodiment, two rows), and the temporary trays 113, 113,... Installed.

As shown in FIG. 6, the temporary placement tray 113 is formed in a bottomed box shape having an open top surface, and a pair of mounting portions 114 and 114 for mounting the central portion of the mushroom A on the central portion are spaced apart from each other. Are placed in parallel.

  Further, escape side recesses 115 are formed on both side plates of the temporary placement tray 113 so as to prevent interference with a grip portion of a holding hand, which will be described later.

  The mounting portions 114 and 114 are formed in a plate shape raised from the bottom, and a mounting recess 114a is formed on the upper edge portion thereof.

The mounting recess 114a is formed in a semicircular shape opening upward, and the lowest position of the inner edge of the semicircle is arranged in the center of the tray, so that the mushrooms A are placed on the temporary tray 113. When placed , the central part of the mushrooms placed between the two mounting parts 114 and 114 is guided to the inner edge of the mounting recessed part 114a and mounted in the most stable orientation.

In this way, the center part of the mushroom A is placed between the placing parts 114 and 114 on the temporary placement tray 113, and the hands 79a and 79b of the gripping hand units 62a, 62b and 62c are placed between the placing parts 114 and 114. it is possible to accurately perform position control based on the central portion of the constantly mushrooms a be different mushrooms sizes individually by gripping the central portion of mushrooms a located.

Further, the upstream temporary placement table 49 includes a rearrangement mechanism 41 that moves the temporary placement trays 113a, 113b, 113c in the same direction as the temporary placement trays 113, 113,. Then, the temporary placement trays 113a, 113b, and 113c are rearranged to positions corresponding to the temporary placement tray 113 that is empty in the combination scale 2, and the resulting mushroom A is transferred.

  As shown in FIGS. 7 and 8, the rearrangement mechanism 41 includes a plurality of rearrangement slide units 47 a, 47 b, 47 c having sliders 46 that can move along the track members 45, and each rearrangement slide unit. The rearrangement trays 113a, 113b, and 113c are supported by the sliders 46a, 47b, and 47c via the support portions 48a, 48b, and 48c, respectively.

  The rearrangement slide units 47a, 47b, 47c are provided on the temporary placement table 49 in such a manner that the length direction of the track member 45 is directed in the direction between the measurement unit rows and parallel to each other.

  The rearrangement slide units 47a, 47b, 47c are provided with a ball screw (not shown) oriented in the length direction in the track member 45, and a nut constituting the ball screw by rotating the ball screw by a servo motor. The slider 46 integrated with the portion moves in a direction along the track member 45.

  The support portion 48a on the measuring means side is made of I-shaped steel or the like, and the bottom surface of the rearrangement tray 113a is fixed to the upper end thereof, and the rearrangement tray 113a supported by the rearrangement slide unit 47a on the measurement means side. Can be moved only in the direction between measurement unit rows.

  On the other hand, the other support portions 48b and 48c are provided with push-out units 50b and 50c for moving the rearrangement trays 40b and 40c in the measurement unit row direction, and as shown in FIG. The rear trays 40a and 40b supported by the slide units 47a and 47b can be moved to the positions aligned in the direction between the origin positions and the measurement unit rows a and b.

  For the extrusion units 50b and 50c, for example, an air cylinder having a shaft 52 that can be freely inserted into and removed from the cylinder body 51 is used, and the air cylinder body 51 is fixed to the slider 46 in the direction of the measurement unit row. At the same time, the rearrangement trays 113b and 113c are supported by the frame 53 fixed to the shaft 52 so that the rearrangement trays 113b and 113c can move in the direction of the measurement unit row.

  The air cylinders 50b and 50c are attached by fixing the cylinder body 51 to the slider 46 via fixing members 54b and 54c having different heights, and lowering the position of the side 50b closer to the measuring means to the other 50c. By doing so, even if both air cylinders 50b and 50c are simultaneously operated at the same position in the direction between the measurement unit rows, they do not interfere with each other.

  The rearrangement means 41 configured in this manner rearranges the respective rearrangement trays 113a, 113b, 113c, and thereby the measurement unit 5 (hereinafter referred to as the empty measurement unit) in which the object A is taken out and becomes empty. The rearrangement trays 113a, 113b, 113c are moved to positions corresponding to the temporary placement tray 113, i.e., positions on the downstream extension line of any of the measurement unit rows a, b with the empty measurement unit 5. Thus, the automatic transfer device 201 can be easily transferred, and can be transferred between the temporary placement trays 113 and 113 easily and accurately using the automatic transfer device 201 formed of a slide mechanism.

  On the other hand, the temporary placement table 15 on the downstream side includes a plurality of temporary placement trays 113, 113... Facing the same direction as the temporary placement trays 113, 113 on the combination scale 2. It is arranged side by side in the extension direction.

  As shown in FIGS. 9 to 11, the moving mechanism 42 includes a transfer rail 60 directed in the measurement unit row direction, and a plurality of support members 61, 61... Movable along the transfer rail 60. Each supporting member 61 is provided with an operation unit 63a, 63b, 63c that moves the supporting member 61 independently, and the gripping hand units 62a, 62b, 62c are supported by the supporting members 61, 61.

  The transfer rail 60 is installed on the upper side of the combination scale 2 in the measurement chamber 3 along the side surface portion of the beam member 64 that is supported by the ceiling portion of the measurement chamber 3 in the direction of the measurement unit row. .. Are fixed to a plurality of slide members 65, 65... Movably supported by 60.

    The support member 61 includes a rectangular plate-like base portion 61a that is long in the vertical direction, and side plates 61b and 61b that are raised from the both side edges of the base portion 61a to the front side, and are directed vertically to the lower surface side of the base portion 61a. The vertical movement rail 66 is fixed via a fixing member 61c.

  A vertically moving rail 66 is fixed on the lower surface side of the support member 61, and one end of an arm portion 67 constituting the gripping hand units 62 a, 62 b, 62 c can be moved up and down on the vertically moving rail 66. It is supported.

  One end of an arm portion 68 that constitutes the gripping hand units 62a, 62b, and 62c is supported by the vertical movement rail 66 via a slide member 67 that can move along the rail so as to be movable up and down.

  Further, a shaft portion 69a of a cylinder 69 fixed to the base portion 61a via a fixing plate 61d is connected to the upper surface portion of the end portion of the arm portion 68, and the gripping hand unit 62a is operated by operating the cylinder 69. , 62b, 62c are supported by the vertical movement rail 66 with respect to the support member 61 so as to move up and down. Reference numeral 70 in the figure denotes a floating joint.

  The cylinder 69 has, for example, a shaft 69a that can enter and exit from one end side of the cylinder main body 69, and the shaft 69a operates in conjunction with the operation of the servo motor 69b.

  On the other hand, one end side of the connecting members 71a, 71b, 71c is fixed to the upper end portion of each support member 61, and the power from the operation units 63a, 63b, 63c is transmitted through the connecting members 71a, 71b, 71c. It has become.

  The operation units 63a, 63b, and 63c are configured by a slide unit having a slider 73 that moves along a track member 72 directed in the direction of the measurement unit row, and the slider 73 and each support member 61 of each operation unit 63a, 63b, and 63c. Are connected by connecting members 71a, 71b, 71c, and the support members 61 are moved in conjunction with the movement of the slider 73.

  The operation units 63a, 63b, and 63c include a ball screw oriented in the length direction in the race member 72, and the ball screw is rotated by a servo motor 74 to be integrated with a nut portion constituting the ball screw. The slider 73 exposed on the upper surface of the track member moves to an arbitrary position in the direction along the track member 72.

  Each operation unit 63a, 63b, 63c is installed in an arrangement adjacent to each other while being supported on the ceiling portion of the measurement chamber 3 via beam members 75, 75. Further, each operation unit 63a, 63b, 63c is installed with its position slightly shifted in the length direction, that is, the measurement unit row direction, and the same slide amount by each support member 61 arranged along the transfer rail 60. Is secured.

  The connecting members 71a, 71b, 71c are constituted by a support member side member 76 fixed to the upper end portion of the support member 61 and a slider side member 77 fixed to the slider upper surface portion of the slide unit. Are slidably connected via a floating joint 78 in the sliding direction.

  Further, the connecting members 71b and 71c are formed so as to straddle the inner slide unit so that the operations of the operation units 63b and 63c can be transmitted to the support members 61 without interfering with each other.

The gripping hand units 62a, 62b, and 62c include a beam-like arm portion 68 that faces in the direction between the measurement unit rows, and a plurality of hands 79a that are fixed to the lower surface of the arm unit 68 at intervals in the direction between the measurement unit rows. 79b so that the hands 79a and 79b can grip the mushrooms A on the temporary tray 113.

  For the hands 79a and 79b, for example, an air chuck in which the claw portions 80 and 80 are opened and closed by compressed air in the direction between the measurement unit rows is used, and the gripping portion 81 fixed to the claw portion 80 by opening and closing the claw portions 80 and 80 is used. 81 hold the object A or open it.

  In the automatic transfer devices 201 and 202 configured as described above, the selection signals indicating the selected measuring unit 5 outputted from the combination scale 2 each of the hands 79a and 79b, the vertical movement cylinder 69 and the operation units 63a, 63b and 63c. Based on the control, the control means controls the operation based on the command signal from the control means.

In the automatic transfer device 201, as shown in FIG. 12, the central portion of the mushroom A is placed between the two support portions 114, 114 in the temporary storage trays 113a, 113b, 113c of the temporary storage table 49 of the transfer source. The control means moves the gripping hand units 62a, 62b, and 62c onto the rearranged temporary placement trays 113a, 113b, and 113c on the temporary placement base 49 of the transfer source, and operates them at the positions. The gripping portions 81, 81 of the hands 79a, 79b are caused to grip the central portion of the mushroom A located between the mounting portions 114, 114.

Then, in this state, the control means selects the holding hand units 62a, 62b, 62c based on the selection signal, corresponding temporary placement trays 113, 113 ... corresponding to the transfer destination temporary placement table 2, that is, empty temporary placement trays. 113, 113... Are moved up, the gripping hand units 62 a, 62 b, 62 c are moved down at that position and the hands 79 a, 79 b are operated to release the gripping portions 81, 81 from the mushrooms A The central part of the mushroom A is placed between the two loading parts 114 of the tray 113 for use.

As a result, the central portion of the mushroom A is placed in the same state between the placement portions 114 and 114 in the temporary placement tray 113 as the transfer source and the temporary placement tray 113 as the transfer destination.

Further, in the automatic transfer device 202, the gripping hand units 62a, 62b, 62c are moved onto the corresponding temporary storage trays 113, 113... The gripping hand units 62a, 62b, 62c are lowered and the hands 79a, 79b are operated so that the gripping portions 81, 81 of the hands 79a, 79b are connected to the center portion of the mushroom A located between the mounting portions 114, 114. To hold.

In this state, the control means moves the gripping hand units 62a, 62b, 62c onto the corresponding temporary placement trays 113, 113... 62 a, 62 b, 62 c are lowered and the hands 79 a, 79 b are operated to release the gripping portions 81, 81 from the mushroom A , and the center of the mushroom A is placed between the two mounting portions 114, 114 of each temporary storage tray 113. Mount the part.

As a result, the central portion of the mushroom A is mounted between the mounting portions 114 and 114 in the temporary placement tray 113 as the transfer source and the temporary placement tray 113 as the transfer destination.

That is, the mushrooms A are always placed on the temporary placement tray 113 in the same state when the temporary placement table 49 to the temporary placement table 2 to the temporary placement table 15 are transferred. The position control of the measurement objects A having different sizes can be performed accurately.

  Next, a second embodiment according to the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the part same as the above-mentioned Example, and description is abbreviate | omitted.

  In the combination measuring apparatus 1, new objects to be measured are sequentially supplied from the outside of the measurement chamber 3 by the supply conveyor 43, and the automatic transfer device (second embodiment) 211 transfers the conveyor 43 to the temporary table 49. This is done automatically.

  The automatic transfer device 211 includes temporary placement tables 212 and 49 installed at a transfer source and a transfer destination, a gripping hand unit 87 having one or a plurality of hands, and a gripping hand unit 87 between a transfer source and a transfer destination. The gripping hand unit 87 and the moving mechanism are automatically controlled by a control means including a control unit (not shown).

The mushrooms A are placed and supplied on the conveyor belt 43 in a state of being placed on the temporary placement tray 113. In addition, the supply conveyor 43 includes a stop mechanism at a position adjacent to the temporary placement table 49, and this stop mechanism portion functions as the temporary placement table 212 of the transfer source.

  The stop mechanism is provided with a plurality of cylinders 83, 83... In a direction orthogonal to the traveling direction of the conveyor on the side of the conveyor, and the cylinders 83, 83. By projecting 84 to the conveyor side, both ends in the flow direction of the temporary placement tray 113 can be suppressed, and each temporary placement tray 113 can be stopped.

  On the other hand, the temporary placement table 49 of the transfer destination includes the rearrangement mechanism 41 as described above, and the temporary placement trays 113a, 113b, and 113c are shown in FIG. 8A at the time of transfer from the conveyor 43 to the temporary placement table 49. As shown in the figure, they can be rearranged to positions (origin positions) arranged in a state where the positions are shifted from each other in the direction between the measurement unit rows.

  The moving mechanism includes a transfer rail 85 directed in the direction between the measurement unit rows, a support member 86 supported by the transfer rail 85, and an operation unit 88 that moves the support member 86. The unit 87 is supported so as to be movable up and down.

  The transfer rail 85 is installed along the side surface portion of the beam 89 facing the direction between the measurement unit rows supported by the ceiling portion of the measurement chamber 3, and is a slide member that is movably supported by the transfer rail 85. The back surface portion of the support member 86 is fixed to 90.

  On the lower surface side of the support member 86, a vertical movement rail 91 is fixed via a fixing member 86c, and a gripping hand unit 87 is moved via a guide member 90 movable along the vertical movement rail 91. One end of the arm portion 93 is supported so as to be movable up and down.

  Further, a shaft portion 94a of a cylinder 94 fixed to a base portion 86a via a fixing plate 86d is connected to the upper surface portion of the end portion of the arm portion 93, and the gripping hand unit 87 is operated by operating the cylinder 94. Is supported by the vertical movement rail 91 with respect to the support member 86 so as to move up and down. In the figure, reference numeral 95 denotes a floating joint.

  The cylinder 94 has a shaft 94 a that can enter and exit from one end side of the cylinder body 94, and the shaft 94 a is operated in the entry and exit direction in conjunction with the operation of the servo motor 96.

  On the other hand, one end side of the connecting member 97 is fixed to the upper end portion of each support member 86, and the power by the operation unit 88 is transmitted through the connecting member 97.

  The operation unit 88 includes a track member 98 directed in the direction of the measurement unit row and a slider 99 that moves along the track member 98, and the slider 99 and the support member 86 of the operation unit 88 are respectively connected by a connecting member 97. The grasping hand unit 87 supported by the support member 86 moves in conjunction with the movement of the slider 99.

  The operation unit 88 includes a ball screw oriented in the length direction in the track member 98, and the ball screw is rotated by a servo motor so as to be integrated with a nut portion constituting the ball screw. The slider 99 exposed to is moved to an arbitrary position in the direction along the track member 98.

  The connecting member 97 includes a supporting member side member 100 fixed to the upper end portion of the supporting member 86 and a slider side member 101 fixed to the slider upper surface portion of the operation unit 88. Both members 100 and 101 are slidable. It is connected through a floating joint 102 oriented in a swingable manner.

  The gripping hand unit 87 includes a beam-shaped arm portion 93 directed in the direction between the measurement unit rows, and a plurality of hands 103, 103... Fixed to the lower surface portion of the arm unit 93 at intervals in the direction between the measurement unit rows. .., Each of the hands 103, 103... Grips the object A to be measured on the temporary placement tray 113.

  For example, an air chuck that opens and closes the claw portions 104 and 104 by compressed air is used for the hand 103, and the gripping portions 105 and 105 fixed to the claw portion 104 by opening and closing the claw portions 104 and 104 hold the object A to be measured. It can be gripped or released.

  Further, the hands 103, 103... Are fixed to the arm portion 93 via a rotating shaft 106 directed in the vertical direction, and the rotating shafts 106, 106 are connected to each other by a crank mechanism 107, and FIG. As shown, the other hands 103b and 103b rotate 90 degrees in conjunction with the rotation of the center hand 103a.

  Further, the hands 103b and 103b on both sides are arranged so as to be shifted from the rotating shaft 106 through the frame 109, and as shown in FIGS. 14B and 15B, the opening and closing directions of the gripping portions 105 and 105 are measured. When facing in the direction of the part rows, the hands 106, 106... Are arranged so as to be displaced from each other in the direction between the measurement part rows, so that the gripping parts 105, 105 do not interfere with each other.

  In addition, a rotating unit 108 including a rotary actuator or the like directly connected to the rotating shaft of the center hand 103a is provided on the upper portion of the arm portion 93.

In the automatic transfer device 211 configured as described above, as shown in FIG. 12, the central part of the mushroom A is placed between the two support parts 114 , 114 in the temporary storage tray 113 of the temporary storage base 212 of the transfer source. The control means moves the gripping hand unit 87 onto the temporary placement trays 113, 113... On the temporary placement base 212 of the transfer source and operates them so that both gripping portions 105 of the hand 103 are moved. , 105 is caused to grip the central part of the mushroom A located between the mounting parts 114, 114.

In this state, the control means moves the gripping hand unit 87 onto the temporary placement table 49 of the transfer destination and rotates each hand 103, 103. The hands 103, 103... Are aligned and aligned with the trays 113a, 113b, 113c, and the gripping hand unit 87 is lowered at that position and the hand 103 is operated to move the gripping portions 105, 105 from the mushrooms A. The center part of the mushroom A is mounted between the mounting parts 114 and 114 of the temporary storage trays 113a, 113b, and 113c.

As a result , even if the orientation of the mushrooms A is rotated by 90 degrees, the position management is performed with reference to the central part of the mushrooms A. Therefore, the position of the mushrooms A with respect to the temporary storage tray 113 of the transfer source It can be placed on the temporary placement tray 113 on the temporary placement stand 49 of the transfer destination at the same position.

  In the above-described embodiment, the example in which the automatic transfer device according to the present invention is used in the combination measuring device has been described. However, the use example of the automatic transfer device is not limited to the above-described embodiment. In the above-described embodiment, an example in which a slide mechanism is mainly used as a moving mechanism has been described. However, the moving mechanism includes three axial directions (xyz axes) orthogonal to each other, such as an articulated robot such as a SCARA robot. The gripping hand unit may be moved to any position in the (direction).

A object to be measured 1 combination measuring device 2 combination weigher 3 measuring chamber 4 refilling chamber 5 measuring unit 15 temporary placing table 41 rearranging mechanism 42 moving mechanism 43 supply conveyor 45 track member 46 slider 47 rearranging slide unit 48 support unit 49 Installation base 50 Extruding unit 51 Slider main body 52 Shaft 53 Frame 54 Fixing member 60 Transfer rail 61 Support member 62 Holding hand unit 63 Operation unit 64 Beam material 65 Slide member 66 Vertical motion rail 67 Slide member 68 Arm portion 69 Cylinder 70 Floating joint 71 Connecting member 72 Track member 73 Slider 74 Servo motor 75 Beam member 76 Support member side member 77 Slider side member 78 Floating joint 79 Hand 80 Claw portion 81 Holding portion 8 Stopper cylinder 84 Stopper 85 Transfer rail 86 Support member 87 Holding hand unit 88 Operation unit 89 Beam member 90 Slide member 91 Vertical motion rail 92 Slide member 93 Arm portion 94 Cylinder 95 Floating joint 96 Servo motor 97 Connecting member 98 Track member 99 Slider 100 Supporting member side member 101 Slider side member 102 Floating joint 103 Hand 104 Claw portion 105 Holding portion 106 Rotating shaft 107 Crank mechanism 108 Rotating unit 109 Frame 113 Temporary placement tray 114 Mounting portion 115 Escape recess 201, 202 Automatic transfer Device 211 Automatic transfer device 212 Temporary table

Claims (4)

Temporary placement tables installed at the transfer source and the transfer destination, a gripping hand unit having one or a plurality of hands, a moving mechanism for moving the gripping hand unit between the temporary placement tables, the gripping hand unit and the movement An automatic transfer device comprising a control means for controlling the mechanism and configured to transfer mushrooms of different sizes between the temporary placement tables ,
The temporary placement table includes a bottomed box-shaped temporary placement tray whose upper surface is open,
The temporary tray is provided with a pair of mounting parts arranged parallel to each other with a distance from each other to mount the central part of the mushrooms at the central part thereof,
The control means causes the hand to grip the central part of the mushrooms located between the two mount parts in the temporary stand of the transfer source, and between the two mount parts at the transfer destination. An automatic transfer device characterized in that the central part of the mushrooms is mounted. The automatic transfer device according to claim 1 , wherein the rack portion has a mounting recess formed on an upper edge portion.   The moving mechanism includes one or a plurality of support members that can move along the transfer rail, and an operation unit that moves each of the support members independently. The automatic transfer device according to claim 1 or 2, wherein the automatic transfer device is supported.   The automatic transfer device according to claim 3, wherein each of the hands is rotatably supported by the gripping hand unit.

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