JP6475144B2 - Boxing equipment - Google Patents

Description

  The present invention relates to a boxing device, and more particularly to a device suitable for a device having a plurality of arrangement patterns of products to be boxed.

  As one of the packaging forms, for example, there is one in which products that are individually packaged packages are stored in a predetermined layout in an outer box. In this case, the product to be packaged is, for example, food such as candy, and for example, the package is made of baked confectionery such as cookies or biscuits, or a flat shape such as rice crackers. In the case of such a flat article to be packaged, a plurality of products are supplied to the outer box in a stacked state, and further, a plurality of such product groups in a stacked state are arranged side by side.

  In this way, when the stacked product groups are supplied side by side and packed in a box, for example, a packaging machine for manufacturing the product is arranged on the upstream side, and the products sequentially transported from the packaging machine are placed in a boxing device. Supplying to an outer box in a desired state is performed.

  On the other hand, when food products such as sweets are boxed, they may be provided as souvenirs or gifts for personal use or for others. In such a case, the number of products stored in one outer box varies from a small amount to a large amount, and different sizes of outer boxes are prepared. Box.

  In addition, when boxing food products such as sweets, there are also products in which different types of food products called assortments are set in the same outer box. In such a case, different food products are transported from the upstream packaging machine, and each product is placed in a predetermined position in the outer box so that the different food products have a predetermined arrangement pattern. Move and box.

  As a boxing apparatus for performing such boxing, for example, there is an apparatus using a robot / parallel robot disclosed in Patent Document 1. Boxing using a parallel robot, for example, recognizes the direction and type of the product being conveyed on the conveyor, picks up and holds the appropriate type of package, and holds the product along a predetermined path while holding it. It moves onto the outer box, rotates so that the direction of the product is in the correct direction, etc. and moves downward to supply it into the outer box. Thereby, a plurality of products can be stacked in the correct orientation. In addition, by using a parallel robot, the number and arrangement of product groups arranged horizontally can be arbitrarily adjusted in accordance with the dimensions and shape of the outer box, and the types of products stored in the same outer box Can be appropriately combined and changed.

JP 2014-108868 A

  In the method of picking up one by one with a conventional parallel robot and packing it after converting it to a predetermined direction, for example, if high-speed operation is performed to increase the number of production per unit time, there is no room for the operation of the parallel robot, and stable operation is difficult Become. This becomes a bottleneck in speeding up.

In order to solve the above-described problems, the boxing device of the present invention is (1) a boxing device that boxes products to a plurality of boxes at the same time , in the standby area of the product to be transferred to the box, A plurality of products, each having a plurality of products arranged and waiting in line with an arrangement pattern of products to be boxed; and a transfer means for holding the plurality of products that have been waiting and moving to the box, wherein the transfer means includes n It is equipped with a robot that can move in a three-dimensional space, and it is possible to change the interval between adjacent suction nozzles arranged in a row, The suction nozzle sucks and holds a plurality of the products in the standby area at intervals set in accordance with the arrangement pattern of the products to be packed, and moves to the box and transfers the sucked and held products in a batch. ,Previous Serial suction nozzle is linked to the robot via the moving stand, before Symbol movable carriage has a movable table A to the suction nozzle one attachment, the moving base B to the suction nozzle 2 attached, Arranged in the order of the moving table B, the moving table A, the moving table A, the moving table B, the moving table B, the moving table A, the moving table A, the moving table B along the direction of the row. Then, by moving the suction nozzles in the direction aligned in the row in units of each of the moving bases, the suction nozzles are moved relative to each other, and the interval between the adjacent suction nozzles aligned in the row is changed. The arrangement pitch of the products stored in the box is adjusted . In the embodiment, the movable table corresponds to each mounting block.

  The product arrangement pattern includes, for example, a method of arranging different types of products and a change in the number of products to be stored. Therefore, for example, 2 × 2 4 places, 2 × 4 8 places, the number of items to be stored changes, and the placement position of each product changes accordingly. There are cases where the placement position of each product in the box changes even when it is put in a rectangular box like 1 × 4. 2 × 2, 2 × 4, and 1 × 4 are the respective arrangement patterns. In addition, for example, even when the same number of 2 × 2 is stored, for example, when storing the same product in all four places, when storing one product in two places, and another type of product in two places, There are also layout patterns that assume the type of product. There are also combinations of number and type. Further, according to the present invention, it is not always necessary to set all the pairs of adjacent suction nozzles that can change the interval, and it is only necessary that the interval between arbitrary suction nozzles can be changed.

  According to the present invention, since the products are waiting in line in the arrangement pattern of the products to be boxed in the standby area, a plurality of products are sucked and held at a time by a plurality of suction nozzles and transferred to a box at once. Can be done. Since they are arranged in an arrangement pattern, there is no need to change the posture and relative position while moving the sucked and held product, and it is possible to cope with high speed with a simple configuration. For example, when the arrangement pattern with the number changes, the relative position of the product waiting in the waiting area may change.In such a case, the appropriate position of each product can be changed by changing the interval between the desired adjacent suction nozzles. Can be adsorbed.

  (2) The suction nozzle is configured to be movable up and down, and the tip position of the suction nozzle that cannot be normally suctioned may be moved higher than the tip positions of the other suction nozzles. If it does in that way, when a certain suction nozzle cannot adsorb a product normally, the tip position of the said suction nozzle will be located above other suction nozzles which adsorb a product normally. Therefore, in a state where another suction nozzle is in contact with the product, the suction nozzle located above is located above the product and does not contact the product. Since the suction nozzle moved upward in this way does not contact the product thereafter, it is possible to prevent the product from being damaged.

To enable sorting transferred the product at a time to the box multiple, because of the structure wherein to set the interval of the suction nozzle in accordance with the arrangement pitch of the product of each box, sorting collective for multiple boxes Can be done at high speed. When the boxes are arranged with respect to the arrangement pattern with a small number of lines, if the boxes are carried out one by one, unused suction nozzles are generated, which is wasted. Therefore, if the products are transferred together for a plurality of boxes, the suction nozzle can be used efficiently, and higher-speed processing becomes possible. In addition, when the number of m is matched with the maximum number of rows in a plurality of types of boxes with different arrangement patterns to be boxed, when transferring products to the maximum box, the boxing is one box. Will be done one by one. Then, the number of m may be set to twice or more of the maximum value, in this case, collectively be processed and that Do for a plurality of boxes.

Before Symbol moving base, said a movable table A to the suction nozzle one attachment has a moving base B of the suction nozzle 2 mounted, along a direction of the one row, the moving base B, the moving base A, the moving table A, the moving table B, the moving table B, the moving table A, the moving table A, and the moving table B are arranged in this order. As described in the embodiment, when the arrangement patterns are limited to two, three, four, six, etc. in a row, it is possible to cope with a pitch change with respect to the arrangement pattern even if they are moved together. Therefore, the configuration may be simplified by moving the plurality of suction nozzles at once.

  According to the present invention, the boxing process can be performed at high speed regardless of the arrangement pattern of the products when the products are stored in the outer box.

1 is an overall view showing a first embodiment of a boxing device according to the present invention. It is an expansion perspective view which shows the part which performs the process of stacking a product in a free bucket and conveying. It is an expansion perspective view which shows the part which performs a stacking process. It is an expansion perspective view which shows the part which performs the process of conveying mainly the free bucket in which the product was accommodated. It is a perspective view which shows the part which aligns a free bucket. It is an expansion perspective view which shows the part which aligns a free bucket. It is a perspective view which shows the part which performs the conveyance process of the aligned free bucket. It is a perspective view which shows a product supply part. It is an expansion perspective view which shows a product supply part. It is a perspective view which shows a product supply part. It is a figure explaining the supply process of a product. It is a perspective view which shows the part which mainly performs the process after product supply. It is a perspective view which shows the process of reusing a defective article. It is a perspective view which shows the process of reusing a defective article. It is a figure which shows the adsorption | suction means etc. which are attached to the front-end | tip of the robot which transfers a product.

  Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the present invention is not construed as being limited thereto, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

  FIG. 1 shows a preferred first embodiment of a boxing apparatus according to the present invention. In this embodiment, it is a boxing device for combining two types of products such as the first product 1 and the second product 2 and packing them in an outer box. In the present embodiment, the first product 1 and the second product 2 are both baked confectionery such as flat cookies, and the types of flavor, taste, material, and the like are different. The first product 1 and the second product have the same outer dimensions and shape as packaging, and the design and color of the appearance are different for each type.

  The boxing device includes a first product transport conveyor 11 that transports the first product 1 and a second product transport conveyor 12 that transports the second product 2. The 1st product conveyance conveyor 11 and the 2nd product conveyance conveyor 12 are arrange | positioned in parallel at predetermined intervals. Although not shown, a packaging machine for manufacturing the first product 1 and the second product 2 is installed on the upstream side of the first product transport conveyor 11 and the second product transport conveyor 12, respectively. The products that are sequentially manufactured and carried out by the packaging machine are transported by the respective product transport conveyors. The first product transporting conveyor 11 and the second product transporting conveyor 12 may be an unloading conveyor of an upstream packaging machine, or may be provided separately on the downstream side thereof. The packaging machine is, for example, a pillow packaging machine, and the first product 1 and the second product 2 are both pillow packaging bodies. The top sealed ears 1a and 2a are formed at the front and rear ends of the pillow package.

  Below the first product transport conveyor 11, a first free bucket transport conveyor 13 is arranged in a state of partially overlapping the first product transport conveyor 11 in the vertical direction. Similarly, the 2nd free bucket conveyance conveyor 14 is arrange | positioned under the 2nd product conveyance conveyor 12 in the state partially overlapped with the 2nd product conveyance conveyor 12 in the up-down direction.

  The 1st free bucket conveyance conveyor 13 and the 2nd free bucket conveyance conveyor 14 convey the free bucket 15 set | placed on the said conveyance surface with the movement of a conveyance surface, respectively. In addition, the first free bucket conveyor 13 and the second free bucket conveyor 14 are each provided with a stopper (not shown) in a predetermined position on the conveyance path so as to protrude on the conveyance surface. In the operation state in which the stopper protrudes on the transport surface, the stopper comes into contact with the free bucket 15 that has moved on the first free bucket transport conveyor 13 and the second free bucket transport conveyor 14 to suppress forward movement. As a result, the free bucket 15 temporarily stops at the position where the stopper is provided. When the stopper is detached from the conveying surface and is not in contact with the free bucket 15 during the temporary stop, the free bucket 15 receives the conveying force from the conveying surface again and starts moving forward.

  As shown in an enlarged view in FIG. 2 and the like, the first free bucket conveyor 13 and the second free bucket conveyor 14 are sequentially overlapped in the conveying direction with the above-described overlapping product receiving sections 13a and 14a and width. It is provided with shift sections 13b and 14b and free bucket alignment sections 13c and 14c. The product receiving sections 13a and 14a overlap the first product transport conveyor 11 and the second product transport conveyor 12, respectively, and are arranged in parallel at a predetermined interval. The width-adjusting sections 13b and 14b are arranged so as to advance in a direction inclined by a predetermined angle with respect to the conveying direction of the product receiving sections 13a and 14a so that the distance between the sections gradually decreases in the forward direction of the traveling direction. The The free bucket alignment sections 13c and 14c are parallel to the product receiving sections 13a and 14a, and the distance between them is narrower than that between the product receiving sections 13a and 14a. A pattern alignment free bucket conveyor 17 is disposed between the free bucket alignment sections 13c and 14c.

  The 1st free bucket conveyance conveyor 13 and the 2nd free bucket conveyance conveyor 14 convey the empty free bucket 15 in the product receiving area 13a, 14a, and the downstream end of the 1st product conveyance conveyor 11 and the 2nd product conveyance conveyor 12 Then, the free bucket 15 in which a predetermined number of the first product 1 and the second product 2 are stacked and stored in the empty free bucket 15 is conveyed to the width adjusting sections 13b and 14b.

  As shown in FIG. 2, FIG. 3, etc., the free bucket 15 is open at the top and front and rear side surfaces in the traveling direction, and includes a bottom portion 15a and left and right side walls 15b. The first product 1 is transported on the first product transporting conveyor 11 in a posture with the ear portion 1a being front and rear, and is transferred into the free bucket 15 in that posture. Since the free bucket 15 is opened at the front and rear in the transport direction, the ear portions 1a of the first product 1 are set on the free bucket 15 in a posture positioned at the front and rear openings, respectively. The same applies to the second product 2.

  A stacking device 16 is provided at each downstream end of the first product conveyor 11. The stacking device 16 sandwiches and holds the top first product 1 moving on the first product transporting conveyor 11 from the left and right, and moves the first product 1 downward while waiting and waits downward. A function of supplying the first product 1 into the free bucket 15 from the upper opening of the free bucket 15. The first product 1 is held in the stacking device 16 by, for example, arranging a pair of endless belts swirling in a vertical plane on the left and right sides of the first product transport conveyor 11, and using the endless belts on both the left and right sides of the first product 1. Or a fin for supporting the lower surface of the first product 1 is provided on the side surface of the endless belt so that the left and right fins support the vicinity of the left and right ends of the lower surface of the first product 1. Various configurations can be taken. In the present embodiment, the stacking device 16 can hold a plurality of first products 1 up and down, but may be transferred one by one.

  In this way, for example, as shown in FIG. 3, the first free bucket transport conveyor 13 transports the empty free bucket 15 on the product receiving section 13 a and is omitted when it reaches the lower side of the stacking device 16. The transport of the empty free bucket 15 is temporarily stopped by the stopper. In this temporarily stopped state, the stacking device 16 sequentially receives the first products 1 that are transported on the first product transport conveyor 11 and sequentially transported, and supplies the first product 1 into the free bucket 15. . By repeating this supply, a predetermined number of first products 1 are stacked in the free bucket 15. When a predetermined number of sheets are stacked in the free bucket 15, the first free bucket transport conveyor 13 resumes the transport of the free bucket 15 filled with the plurality of first products 1. Thereby, as shown in FIG. 4 etc., the free bucket 15 with which the 1st product 1 was filled is conveyed to the free bucket alignment area 13c via the width alignment area 13b.

  A stopper (not shown) is provided on the carry-out side of the free bucket alignment section 13c. When the free bucket 15 moves to the most downstream side of the free bucket alignment section 13c, the free bucket 15 comes into contact with the stopper and moves forward. Is suppressed. Thereby, in the free bucket alignment section 13c, the free buckets 15 stored in a state in which a predetermined number of first products 1 are stacked stand by in a state where they are aligned in the front-rear direction.

  Note that the temporary suspension of the free bucket 15 at the installation position of the stacking device 16 is not provided with a stopper as described above, but the first free bucket conveyor 13 is intermittently driven so that the empty free bucket 15 is stepped. It may be temporarily stopped when the installation position of the loading device 16 is reached, and the conveyance may be resumed when a predetermined number of products are stacked.

  Further, a stacking device 16 having the same configuration is also provided at the downstream end of the second product conveying conveyor 12. Thereby, in the free bucket alignment section 14c of the second free bucket transport conveyor 14, the free buckets 15 stored in a state where a predetermined number of the second products 2 are stacked stand by in a state where they are aligned in the front-rear direction. That is, as shown in FIG. 5, the free bucket 15 in which the first product 1 is stored is arranged on one of the left and right sides of the pattern alignment free bucket transport conveyor 17, and the second product 2 is stored on the other side. The free bucket 15 is arranged.

  The free bucket alignment section 20 in which the free bucket alignment sections 13c and 14c and the pattern alignment free bucket transport conveyor 17 are arranged includes a free bucket 15 storing the first product 1 and a free bucket 15 storing the second product 2. It has a function to rearrange the product pattern when packing in production. In this embodiment, the bucket transfer mechanism provided with the pusher etc. is provided in the outer side of the free bucket alignment area 13c of the 1st free bucket conveyance conveyor 13. FIG. This bucket transfer mechanism transfers the free bucket 15 on the free bucket alignment section 13 c onto the pattern alignment free bucket transport conveyor 17. For example, a mechanism in which a pusher is provided at the tip of a cylinder may be realized with a simple configuration. In this embodiment, since the side wall 15b of the free bucket 15 is located outside the conveyor device, the pusher contacts, for example, the side wall 15b and pushes out (see the arrow in FIG. 6). The pattern can be transferred onto the free bucket conveyor 17.

  Similarly, a bucket transfer mechanism such as a pusher is provided outside the free bucket alignment section 14 c of the second free bucket transport conveyor 14. This bucket transfer mechanism transfers the free bucket 15 on the free bucket alignment section 14c onto the pattern alignment free bucket transport conveyor 17 (see arrows in FIG. 6).

The bucket transfer mechanism is appropriately driven so that the free bucket 15 storing the first product 1 and the free bucket 15 storing the second product 2 are arranged in an appropriate order on the pattern alignment free bucket conveyor 17. To. This appropriate order is made to match the order in which the products are lined up when finally packed in the outer box. Further, the types of outer boxes to be boxed in the present embodiment include those in which a product group obtained by stacking and stacking a plurality of products is arranged in a line and stored in two lines. Therefore, when packing in an outer box of a type that is stored in a row, the pattern is adapted to the arrangement in the row.

  For example, when arranging three product groups in a row in the order of the first product 1, the second product 2, and the first product 1, the first product 1, the second product 2, A predetermined product is appropriately transferred from each of the free bucket alignment sections 13c and 14c so that the first product 1, the first product 1, the second product 2, the first product 1,. Therefore, in this case, the first product 1 is used twice.

  In addition, for example, a total of 8 (2 × 4) groups of 4 products in 2 rows, the first product 1, the second product 2, the first product 1, the second product 2 in the first example, When the second product 2, the first product 1, the second product 2, and the first product 1 are arranged in this order in the second row, on the pattern alignment free bucket transport conveyor 17, first the first row for constituting the first row is arranged. 1 product 1, second product 2, first product 1, second product 2 are transferred in that order, and then second product 2, first product 1, product 2, first to form the second row Transfer product 1 in that order. Therefore, in this case, the first product 1 and the second product 2 are alternately arranged on the pattern alignment free bucket conveyor 17 (see FIG. 5 and the like).

  A product supply unit 25 is disposed on the downstream side of the pattern alignment free bucket conveyor 17. As shown in FIGS. 7 to 11, the product supply unit 25 arranges the free buckets 15 that have been transported in a desired arrangement pattern on the pattern alignment free bucket transport conveyor 17 in a pattern that is stored in the outer box 26. And a transfer device 28 for transferring the products in the plurality of free buckets 15 waiting on the storage conveyor 27 to a predetermined position in the outer box 26. In the storage conveyor 27, a stopper (not shown) is installed at a predetermined position on the transport path so as to protrude on the transport surface. In the operating state in which the stopper protrudes on the transport surface, the stopper contacts the free bucket 15 and suppresses forward movement. As a result, the free bucket 15 temporarily stops at the position where the stopper is provided. As the free buckets 15 are temporarily stopped in this manner, each free bucket 15 is positioned and stored on the side of the outer box 26.

  In this embodiment, a plurality of stoppers are provided at appropriate positions in the front and rear, and as shown in FIGS. 8 and 10, the free buckets 15 of products stored in the same outer box 26 are in contact with the front and rear. The group is in a standby state, and waits with a gap in the front and rear direction from the group of free buckets 15 of products stored in different outer boxes 26. From the relationship of the outer peripheral wall of the outer box, etc., if the outer peripheral wall adjacent to the outer box is temporarily brought into contact with each other on the outer box conveyor 29 at the product supply position, and ready for product supply, Compared to the pitch / interval of adjacent products arranged in the same outer box, the distance between the products stored on the adjacent outer peripheral walls of different outer boxes becomes longer. The arrangement pitch of the products stored in the same outer box 26 is equal to the arrangement pitch of the products in the free bucket 15 when the free bucket 15 is in contact. Therefore, by bringing the free bucket 15 into contact, the arrangement pitch of products to be transferred to the same outer box can be matched with that in the outer box 26. Moreover, it can match | combine with the arrangement | positioning space | interval of the product transferred to the adjacent different outer box 26 by opening the space | interval of the adjacent free bucket 15 suitably. Therefore, as will be described later, using a plurality of suction nozzles, the products in the free bucket 15 are sucked together one by one, moved directly onto the outer box, and then removed and sucked at high speed and easily. Can be replaced.

  Further, a sorting conveyor or the like that can switch the carry-out direction and position is disposed at the downstream end of the pattern alignment free bucket conveyor 17. In other words, the storage conveyor 27 has such a size that the buckets storing a plurality of product groups to be supplied to at least one outer box 26 can be collectively arranged. That is, the lateral width in the direction orthogonal to the transport direction has a width of at least two buckets.

  And when using it for the outer box corresponding to one row, the distribution conveyor does not perform the distribution process, and the outer bucket of the storage conveyor 27 always waits for the free bucket 15 conveyed by the pattern alignment free bucket conveyance conveyor 17. Each free bucket 15 is supplied. On the other hand, when used for an outer box corresponding to two rows, the sorting conveyor switches the transport destination for each free bucket corresponding to each row. For example, as described above, when four product groups in two rows correspond to a total of 8 (2 × 4), the four free buckets 15 in the first example are on the side where the outer box of the storage conveyor 27 stands by. The four free buckets 15 in the next second row are supplied to the side opposite to the side where the outer box of the storage conveyor 27 stands by (the position away from the side waiting). Thereby, as shown in FIG. 8 etc., each free bucket 15 waits on the storage conveyor 27 by a double row column. In the present embodiment, the total length of the storage conveyor 27 can be lengthened and twelve free buckets 15 can be arranged on the front and rear sides. Therefore, as shown in FIG. It is possible to arrange three sets.

  On the other hand, an outer box 26 in an open state is disposed on one side of the storage conveyor 27. The outer box 26 used in the present embodiment is a paper carton, and is integrally formed with a lid 26b that opens and closes an opening of a main body 26a that is open at the top. The outer box 26 is transported in the state of being lined up and down by the outer box transport conveyor 29, and temporarily stops when it reaches the side of the storage conveyor 27. The outer box 26 stands by with the lid 26b open.

  Further, in the present embodiment, the first product 1 and the second product 2 are not stored directly in the outer box 26, but the first product 1 and the second product 2 are stored in the inner tray set in the outer box 26. . Therefore, as shown in FIG. 10 and the like, the boxing apparatus of the present embodiment includes an inner tray transporting conveyor 33, and the inner tray 32 is transported to the vicinity of the storage conveyor 27 by the inner tray transporting conveyor 33. Further, the inner tray 32 includes a recess 32a for storing products. The first product 1 and the second product 2 are stored in the recess 32a.

  As shown in FIG. 10 and the like, the transfer device 28 includes a plurality of arms 28a, and uses a robot in which a tip hand portion 28b can move in a three-dimensional space. Although not specifically shown in FIG. 10, the hand portion 28b includes a plurality of suction nozzles that are suction means and a moving mechanism that moves the suction nozzles. Each suction nozzle can suck and hold one product. Therefore, the transfer device 28 sucks and holds the product of the number of suction nozzles at the same time, moves a plurality of products in a state of being sucked and held, and moves the product by releasing the suction there. It will be replaced.

  As described above, in this embodiment, the inner tray 32 is set in the outer box 26, and this setting is also performed by the transfer device 28. That is, prior to the transfer of the product by the transfer device 28 described later, the transfer device 28 moves the hand portion 28b onto the inner tray 32, sucks and holds the inner tray 32 with the suction nozzle, and in that state While moving the tray 32 onto the outer box 26, the tray 32 is accommodated in the outer box 26, and suction is stopped. As a result, the inner tray 32 is set in each outer box 26. After completing the setting of the inner tray 32, the transfer device 28 transfers the products shown below as the next step.

  As described above, in the storage conveyor 27, since the products are waiting in line with the arrangement pattern stored in the outer box 26, the transfer device 28 moves the hand portion 28 b above the storage conveyor 27, Each suction nozzle provided in the portion 28 b faces the product in each free bucket 15. Next, by the operation of the arm 28a or the mechanism for moving the suction nozzle provided in the hand portion 28b, each suction nozzle is moved downward, and the lower end of the suction nozzle is brought into contact with the uppermost product in the opposing free bucket 15, Suction. Thereby, the uppermost one of the products stacked in each free bucket 15 is sucked and held. Thereafter, the transfer device 28 operates the arm 28 a to move the hand portion 28 b in the three-dimensional space, and positions each suction nozzle at a predetermined position above the concave portion 32 a of the inner tray 32 set in the outer box 26. . Then, the suction nozzle is moved down and the suction is finished to release the product, and the product is transferred into the recess 32a (see FIG. 11 and the like: the illustration of the inner tray is omitted in FIG. 11). .

  The transfer device 28 of the present embodiment includes a plurality of suction nozzles and transfers a plurality of products supplied to one outer box at a time, so that high-speed processing is possible. Further, the first product 1 and the second product 2 are rearranged so as to have a predetermined pattern while moving the respective conveyors, and in the present embodiment, the rearrangement is also performed by the cylinder. Therefore, high-speed processing can be supported.

  As shown in FIG. 10, a third free bucket transport conveyor 35 is disposed on the downstream side of the storage conveyor 27. Although not shown, the downstream side of the third free bucket transport conveyor 35 is connected to the first free bucket transport conveyor 13 and the second free bucket transport conveyor 14 through a predetermined path. That is, the first product 1 and the second product 2 are transferred by the transfer device 28, and the free bucket 15 emptied moves along the flow of the storage conveyor 27 when the stopper of the storage conveyor 27 is opened. The third free bucket transport conveyor 35 on the downstream side is reached. And it moves along the flow of the 3rd free bucket conveyance conveyor 35, and is supplied to either the 1st free bucket conveyance conveyor 13 or the 2nd free bucket conveyance conveyor 14. FIG. In this way, the free bucket 15 circulates and acts as a free bucket 15 for transferring the next product.

  In the embodiment described above, the free buckets 15 in which the products are stored are transported by the transport conveyor, the rearrangement is rearranged by the free bucket aligning unit 20 in the middle of the transport, and the product placement pattern is stored in the outer box. When the product supply unit 25 for transferring the product from the free bucket 15 to the outer box 26 is reached, each of the free buckets 15 is configured such that the stored products are in a desired row. As a result, the products can be transferred by transferring a plurality of products from the free bucket 15 to the outer box 26 at a time by suction means or the like. Furthermore, the rearrangement of the free buckets 15 can be performed, for example, by simply moving the desired free bucket 15 in the horizontal direction, and can be handled at high speed with a simple configuration.

  Further, in the above-described embodiment, the free bucket 15 moves on each conveyor with the front and rear surfaces open and the side walls 15b are positioned on the left and right sides in the conveyance direction. Since it is made to slide to the orthogonal | vertical horizontal direction, when it arrives at the product supply part 25, it is set as the same attitude | position. Therefore, the product is transferred to the outer box 26 and the inner tray 32 in a state where the ears of the product are positioned before and after the conveyance direction.

  FIG. 15 shows a suction head attached to the hand portion 28b. In the present embodiment, the hand portion 28b includes a plurality of suction nozzles 50 arranged in n rows × m. Specifically, n × m is, for example, 2 × 12. FIG. 15 shows one row of suction nozzles 50.

  The arrangement pattern of products on the outer box 26 used in the description of the present embodiment exemplifies 2 rows × 4 pieces, and as shown in FIGS. 1, 10, 11, etc., The product group to be transferred to the outer box for 3 boxes is arranged. As is apparent from the figure, on the storage conveyor 27, two rows of twelve free buckets 15 arranged in front and rear are formed in a row, and stand by in front of the corresponding outer box 26, respectively. Therefore, since the hand portion 28b of the present embodiment is provided with the 2 × 12 suction FIG. 50, the products for three boxes can be sucked and held at a time and transferred.

  Further, each suction nozzle 50 is attached to a predetermined attachment block. This mounting block has a function of moving the suction nozzle 50 up and down and moving it left and right. For the movement, for example, the suction nozzle 50 itself may be moved, or the suction nozzle integrated as a result of the movement of the mounting block may also be moved.

  Specifically, the mounting blocks in FIG. 15 are shown in order from the left side in the drawing, first mounting block 51a, second mounting block 51b, third mounting block 51c, fourth mounting block 51d, fifth mounting block 51e, A sixth mounting block 51f, a seventh mounting block 51g, and an eighth mounting block 51h are provided. The first attachment block 51a, the fourth attachment block 51d, the fifth attachment block 51e, and the eighth attachment block 51h are provided with two suction nozzles 50, the second attachment block 51b, the third attachment block 51c, and the sixth attachment block 51h. One suction nozzle 50 is provided in each of the attachment block 51f and the seventh attachment block 51g. Each mounting block has a function of moving up and down and moving in the left-right direction (the direction in which the eight mounting blocks are arranged) in units of mounting blocks.

  Adjacent free buckets 15 are in contact with products supplied to the same outer box, and free buckets supplied to different outer boxes are spaced apart from each other. Therefore, in the present embodiment, each mounting block is appropriately moved in the left-right direction so that the relative positional relationship of the plurality of suction nozzles 50 matches the arrangement of the standby free bucket 15 (product).

  Specifically, for example, when 2 × 4 products are stored in one outer box 26, four pieces are collected in a row, so that the first mounting block 51a is formed as shown in FIG. The second mounting block 51b and the third mounting block 51c are close to each other, and the third mounting block 51c and the fourth mounting block 51d are slightly separated. Then, the fourth mounting block 51d and the fifth mounting block 51e approach each other, and the fifth mounting block 51e and the sixth mounting block 51f are slightly separated. And it controls so that the 6th attachment block 51f, the 7th attachment block 51g, and the 8th attachment block 51h adjoin. Thus, when viewed in a row, the suction nozzle 50 approaches in units of four, so that an appropriate location such as the center of each waiting product can be sucked.

  Further, for example, when storing 2 × 2 products in one outer box 26, two pieces are collected in one row, so that one suction nozzle 50 is provided as shown in FIG. The second mounting block 51b and the third mounting block 51c are moved closer to each other, and the sixth mounting block 51f and the seventh mounting block 51g are moved closer to each other. The other mounting blocks are separated by a predetermined distance. As a result, it is possible to transfer six boxes at a time to the outer box 26 that stores 2 × 2 products.

  Similarly, for example, when 2 × 3 products are stored in one outer box 26, three pieces are collected in one row, so that one suction nozzle 50 is provided as shown in FIG. The second mounting block 51b, the third mounting block 51c, the sixth mounting block 51f, and the seventh mounting block 51g are brought close to the mounting blocks each having two adjacent suction nozzles. As a result, four boxes can be transferred in a batch with respect to the outer box 26 storing 2 × 3 products.

  Although not shown in detail, the first mounting block 51a, the second mounting block 51b, the third mounting block 51c, and the fourth mounting block 51d are brought close together so that the fourth mounting block 51d and the fifth mounting block 51d. The mounting blocks 51e are separated from each other, and the fifth mounting block 51e, the sixth mounting block 51f, the seventh mounting block 51g, and the eighth mounting block 51h come close together. Thereby, it is possible to transfer two boxes at a time with respect to the outer box 26 that stores 2 × 6 products.

  Thus, in this embodiment, the number of products arranged in a horizontal row can cope with variations different from 2, 3, 4, and 6. Furthermore, in this embodiment, since each mounting block can be moved up and down independently, for example, when the outer box accommodates one row of products, the mounting blocks for one row are raised, and the suction nozzle 50 that has not been raised is brought into contact with the product. In this state, the raised suction nozzle does not reach the height position of the product. When the outer box stores one row of products, the product does not stand by at the position of the suction nozzle that was originally raised, so even if it is not raised, it does not hit the product at the position where the product is attracted, Since there exists a possibility of contacting the outer peripheral wall of an outer box when accommodating in a box, it is raising. And when it is with respect to the outer case which accommodates only one row, although a suction nozzle is raised as mentioned above, it is good not to perform suction processing itself at this time.

  Further, the number of the first product 1 and the second product 2 stacked in the free bucket 15 may be changed according to the type of box to be stored. In this case, the time during which the free bucket 15 is temporarily stopped below the stacking device 16 is adjusted, and the set number of first products 1 and second products 2 are stored in the free bucket 15. Further, the product stored in the free bucket 15 is repeatedly sucked and held a predetermined number of times by the transfer device 28 and transferred to a predetermined position in the outer box 26.

  Further, in the present embodiment, the suction nozzle can be raised by the mounting block. For example, when the suction force / pressure is monitored and the suction abnormality occurs, the suction nozzle that has become abnormal by the corresponding mounting block is retracted upward. A structure that prevents contact with the product can be taken.

  The present invention is not limited to the above-described embodiment. For example, the mechanism includes a mechanism for rotating the free bucket 15 by 90 degrees in a horizontal plane. The free bucket 15 may be rotated 90 degrees in a horizontal plane. In this case, it is possible to deal with a pattern in which the direction of the product stored in the outer box 26 is changed. Since the rotation is performed on a horizontal plane, for example, a plurality of conveyors are arranged on the front and rear sides, and a rotary table is arranged between the front and rear conveyors. In the upstream conveyor, the free bucket is transported in a posture in which the front and rear are opened and transferred onto the rotary table. When the front and rear sides may remain open as in the above-described embodiment, they pass through the rotary table, move to the downstream conveyor, and continue the conveyance. On the other hand, when the posture is rotated, the rotary table is rotated 90 degrees. Thereby, the side wall 15b is located before and behind in the conveyance direction. Next, by moving to the downstream conveyor and continuing the conveyance, when the product supply unit 25 is reached, the posture of the free bucket 15 is rotated 90 degrees in the horizontal plane.

  13 and 14 show the configuration of the main part of a second embodiment of the boxing device to which the present invention is applied. This embodiment is based on the first embodiment and has a defective product reuse function. That is, after the installation position of the stacking device 16 in the first free bucket transport conveyor 13 and the second free bucket transport conveyor 14, a defective product detection device (not shown), each first free bucket transport conveyor 13, and the second free bucket transport conveyor 13. A defective product conveyor 40 that branches from the bucket conveyor 14 and conveys defective products is provided. The defective product detection device detects whether a desired product is correctly stored in the free bucket 15. For example, an image is taken by a video camera, and it is determined by image analysis whether the product orientation and the number of stacked products are correct. The defective product detection device outputs a detection signal when a defective product is detected.

  The branch path to the defective product conveyor 40 is provided with a discharge mechanism that receives the detection signal, changes the course of the free bucket 15 that has been determined as a defective product, and discharges the defective bucket to the defective product conveyor 40. This discharge mechanism may be pushed out by, for example, a pusher, or the path of the free bucket transfer conveyor is blocked by a shutter or the like arranged obliquely with respect to the transfer direction and guided to the defective item transfer conveyor 40. Various mechanisms can be taken.

  Further, a restacking portion 41 is provided on the downstream side of the defective product conveyor 40. The reloading unit 41 temporarily stores the free bucket 15 determined to be defective, and the reloading device for reloading the product in the free bucket 15 stored in the storage area 42 into a normal state. 43. The reloading device 43 may be constituted by a parallel robot, for example. Since the number of free buckets 15 determined to be defective and transported to the storage area 42 is not so large, even if the processing speed on the main body side of the boxing device is increased, reloading work by the parallel robot is not much. Because there is no need to make it faster, it is possible to respond sufficiently. Even if many items are sent as defective products, there is no need to make them faster than the processing speed on the main body side.

  Moreover, the parallel robot is equipped with a vision sensor to detect the free bucket 15 and the posture / orientation of the product so that proper loading can be performed. Then, after performing the reloading process, the product supply state is confirmed using a sensor or a camera, and when the stack is correctly stacked, the free bucket is moved to the non-defective return conveyor 45.

  The non-defective product return transport conveyor 45 is connected to a predetermined section of the first free bucket transport conveyor 13 and the second free bucket transport conveyor 14 on the downstream side, and the re-loaded free bucket 15 is returned to the main stream (good product). . By doing so, the product can be used without waste.

  Moreover, in the example shown in FIG. 13, FIG. 14, the line which manufactures the 1st product 1 and the line which manufactures the 2nd product 2 are provided, and the parallel is located. Accordingly, a plurality of rows of the first product conveyor 11, the second product conveyor 12, the first free bucket conveyor 13, the second free bucket conveyor 14 and the like are arranged. In this way, production efficiency is increased. The defective product re-stacking function may be applied to the configuration shown in the first embodiment. In addition, since another structure and effect are the same as that of 1st embodiment and the modification which were mentioned above, the same code | symbol is attached | subjected to a corresponding member and the detailed description is abbreviate | omitted.

  In the above-described embodiment, the free bucket is placed in a free state on the conveyor, moves following the movement of the conveyor conveyance surface, and when an urging force such as a pusher is applied to the free bucket from the outside, It moves in the direction of the urging force and stops when the path is blocked by the stopper. So, for example, when the free bucket reaches the product transfer position, the stopper protrudes to block the path of the free bucket, pauses, and when the transfer is completed, the stopper retracts and the empty free bucket moves. In addition, the free bucket was mechanically suspended. The present invention is not limited to this. For example, a linear motor may be used.

  As an application example of the linear motor, for example, a permanent magnet is attached to the free bucket 15 and electromagnetic coils are arranged side by side at the product transfer position of the storage conveyor 27. When the free bucket reaches the position, a predetermined electromagnetic coil is energized, and the free bucket 15 is stopped at a position corresponding to the arrangement pattern of the products stored in the outer box. Thereafter, transfer by the transfer device 28 is performed. In this case, the structure may be simplified as compared with the case where the stopper is mechanically used.

  Moreover, it is preferable to provide a dedicated transshipment device at the transfer position. This transshipment apparatus includes a plurality of buckets that can be independently moved by a linear motor, and after transferring a product from a free bucket, the pitch of the bucket is adjusted in accordance with the specifications of the outer box. And the product of this transshipment apparatus is supplied to an outer box with a robot. In this way, the free bucket stop time may be reduced. Furthermore, the structure of the free bucket itself can be simplified as compared with the case where a permanent magnet is attached to the free bucket.

  Other components of the boxing device to which the transfer device 28 including the plurality of suction nozzles 50 of the present invention is applied may be as shown below, for example, but the application of the present invention is not limited thereto. And applicable to various configurations. For example, it may be one that does not use a free bucket, or may be boxed for a box that stores the same product.

  (1) A boxing apparatus for packing a plurality of types of products, wherein a plurality of product transport conveyors for transporting products are provided, and at least one of the plurality of product transport conveyors transports a product different from the others. A free bucket transport conveyor for transporting free buckets for storing products to the product transport conveyor, and supplying the products transported by the product transport conveyor to the free buckets in a stacked state The free bucket in which the stacked products are stored according to the type of the product, and the free bucket in which the stacked products are stored to match the arrangement pattern of the products when stored in the outer box, A transfer hand for transferring the product in the free bucket arranged in the arrangement pattern of the product when stored in the outer box into the outer box. It was to prepare for the.

  If it does in this way, using a free bucket, it will align so that each free bucket conveyed with the free bucket conveyance conveyor of multiple rows may correspond to the arrangement pattern of the product at the time of accommodating in an outer box. Then, when the product is transferred to the outer box, the products stored in stages in the plurality of free buckets are placed in the arrangement pattern in the outer box and stand by. Therefore, the products in each free bucket can be transferred to the outer box at high speed. Moreover, what is necessary is just to align a free bucket according to it, when the arrangement pattern of the product accommodated in an outer box changes.

  (2) A transport conveyor having sections respectively running in parallel with the plurality of rows of free bucket transport conveyors, wherein the free bucket aligning means horizontally moves a predetermined type of product transported by the plurality of rows of free bucket transport conveyors. It is good to move and move on the said conveyance conveyor, and to make the arrangement | sequence order of the product along the conveyance direction on the conveyance conveyor become the arrangement pattern of the said product. If it does in this way, it can arrange in a desired arrangement by simple processing called horizontal movement of a free bucket, and it can respond at high speed.

  (3) The transfer means includes a plurality of suction nozzles and a robot capable of moving the plurality of suction nozzles in a three-dimensional space, and the plurality of products are collectively collected in the outer box by the plurality of suction nozzles. It is better to move to. In this way, transfer can be performed at high speed.

  (4) It is good to provide the means to rotate the attitude | position of the said free bucket within a horizontal plane. In this way, for example, the orientation of the product stored in the outer box can correspond to the orientation of the product when it is transferred by the stacking means, and it is simple because only the free bucket needs to be rotated. This is preferable.

  (5) Judgment means for judging whether or not the product stored in the free bucket by the stacking means is in a correct stacked state, and a defective article conveyor for conveying the free bucket judged as defective by the judgment means And means for reloading the products in the free buckets transported by the defective article transport conveyor into a correct stacked state, and means for returning the reloaded free buckets to the free bucket transport conveyor. In this way, what is determined to be a defective product is not discarded as it is, but can be converted into a non-defective product and stored in the outer box in a series of flows.

1 First Product 2 Second Product 11 First Product Conveyor 12 Second Product Conveyor 13 First Free Bucket Conveyor 14 Second Free Bucket Conveyor 15 Free Bucket 16 Stacker 17 Pattern Alignment Free Bucket Conveyor 20 Free Bucket alignment unit 25 Product supply unit 26 Outer box 27 Storage conveyor 28 Transfer device 28a Arm 28b Hand unit 29 Outer box transport conveyor 32 Inner tray 32a Recess 33 Inner tray transport conveyor 35 Third free bucket transport conveyor 40 Defective product transport conveyor 41 Reloading part 42 Storage area 43 Reloading device 45 Non-defective return conveyor 50 Suction nozzle 51a First mounting block (moving base)
51b Second mounting block (moving base)
51c Third mounting block (moving base)
51d Fourth mounting block (moving base)
51e Fifth mounting block (moving base)
51f Sixth mounting block (moving base)
51g Seventh mounting block (moving base)
51h Eighth mounting block (moving base)

Claims (2)

A boxing device for packing products in a plurality of boxes at the same time,
In standby area of the product to perform re transferred to the box, and means for waiting a plurality of said products, arranged at the arrangement pattern of the product to be packed,
A transfer means for holding the plurality of the waiting products and moving them to the box;
The transfer means includes an n-row × m suction nozzle and a robot capable of moving the entire n-row × m suction nozzle in a three-dimensional space,
The interval between adjacent suction nozzles arranged in a row is configured to be changeable, and the suction nozzle sucks and holds a plurality of the products in the standby area with the interval set according to the arrangement pattern of the products to be boxed, Move the product that has been moved to the box and sucked and held in a batch,
The suction nozzle is linked to the robot via a moving table ,
Before Symbol moving base, said a movable table A to the suction nozzle one attachment has a moving base B of the suction nozzle 2 mounted, along a direction of the one row, the moving base B, the moving base A, moving table A, moving table B, moving table B, moving table A, moving table A, moving table B are arranged in this order,
By moving the suction nozzles in the direction aligned in a row in units of each of these moving platforms, the suction nozzles move relative to each other, and the interval between the adjacent suction nozzles aligned in the row is changed to change the box A boxing device characterized by being adapted to the arrangement pitch of the products to be stored in the box.   2. The box packing according to claim 1, wherein the suction nozzle is configured to be movable up and down, and the tip position of the suction nozzle that cannot be normally sucked is moved higher than the tip positions of the other suction nozzles. apparatus.