JP6765120B2

JP6765120B2 - Transfer device

Info

Publication number: JP6765120B2
Application number: JP2017065313A
Authority: JP
Inventors: 齋藤　勲; 勲齋藤
Original assignee: 株式会社フジキカイ
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2020-10-07
Anticipated expiration: 2037-03-29
Also published as: JP2018167342A

Description

本発明は、コンベヤの搬送面に載置されて搬送中の物品を、移載するための移載装置に関する。 The present invention relates to a transfer device for transferring an article placed on a transfer surface of a conveyor and being conveyed.

無端状のベルトからなるベルトコンベヤの搬送面に置かれて搬送されている物品を、ロボットのハンド部に設けた吸着手段又は把時手段によって、他のコンベヤに移載する技術が知られている。 A technique is known in which an article placed on a transport surface of a belt conveyor made of an endless belt and transported is transferred to another conveyor by a suction means or a gripping means provided on the hand portion of the robot. ..

例えば、先行文献１には、ハンド部に設けた吸着手段によって搬送中の物品を吸着し保持した後、物品を持ち上げて、別のコンベヤに移載することが示されている。 For example, Prior Document 1 shows that an article being transported is adsorbed and held by a suction means provided on the hand portion, and then the article is lifted and transferred to another conveyor.

特許第６００２４９４号公報Japanese Patent No. 6002494

しかし、上述した特許文献１に示される移載装置は、コンベヤの搬送速度や物品の単位時間当たりの処理量の増加に関連してロボットの処理速度を高める程、ハンド部による物品の取りこぼしや移送中の物品の落下などが起こり易いという問題がある。この問題は、特に、物品表面に凹凸を有した煎餅などの不定形の物品を移載する際に顕著に生じる。このため、移載対象となる物品に対応した吸着手段や把時手段の構造などについて、様々な検討がなされているが、吸着手段や把時手段の構造を複雑にすることなく、物品の取りこぼしや、移送中の物品の落下などを、低減することには限りがある。 However, in the transfer device shown in Patent Document 1 described above, the more the processing speed of the robot is increased in relation to the increase in the transport speed of the conveyor and the processing amount of the article per unit time, the more the article is dropped or transferred by the hand portion. There is a problem that the items inside are likely to fall. This problem is particularly noticeable when transferring irregularly shaped articles such as rice crackers having irregularities on the surface of the articles. For this reason, various studies have been made on the structure of the suction means and the gripping means corresponding to the article to be transferred, but the article is missed without complicating the structure of the suction means and the gripping means. There is a limit to reducing the fall of goods during transportation.

本発明は、コンベヤの搬送面に載置されて搬送中の物品を、当該コンベヤの搬送面以外の目標位置に確実に移載し得る移載装置を提供することを目的とする。 An object of the present invention is to provide a transfer device capable of reliably transferring an article placed on a transport surface of a conveyor and being transported to a target position other than the transport surface of the conveyor.

上記の目的を達成するため、本発明の移載装置は、次の手段をとる。 In order to achieve the above object, the transfer device of the present invention takes the following means.

先ず、本発明の第１の発明の移載装置の発明は、物品（Ｗ）を搬送面（１２Ｔ）に載置して搬送するコンベヤ（１２）と、前記コンベヤ（１２）における搬送中の前記物品（Ｗ）の位置に関する情報を取得する位置情報取得手段（Ｓ）と、該位置情報取得手段（Ｓ）により得た前記物品（Ｗ）の位置に関する情報に基づき、ハンド部（２０）を上下、前後、左右の各方向やそれらの方向を合成した様々な方向に向けて直線又は曲線的に自由移動し得るように支持する回動支持部（３０）を駆動制御して、該ハンド部（２０）によって前記コンベヤ（１２）における搬送中の各物品（Ｗ）を順次前記搬送面（１２Ｔ）から外れた位置に設定した目標位置（Ｐ）に移載するロボット（４０）と、前記ハンド部（２０）には前記物品（Ｗ）の大きさより大きい凹部（１７）が設けられており、該凹部（１７）は前記コンベヤ（１２）によって搬送中の前記物品（Ｗ）に向けて前記ハンド部（２０）を下降させた際に、前記物品（Ｗ）から離間して前記物品（Ｗ）の上面を覆う閉塞部材（２４）と、前記物品（Ｗ）の側周面から離間して前記物品（Ｗ）の側周面を囲って前記物品（Ｗ）を拘束し得る支持部（２２）によって構成されており、前記ロボット（４０）は、前記回動支持部（３０）の駆動制御によって、前記コンベヤ（１２）による搬送中の前記物品（Ｗ）に向けた前記ハンド部（２０）の降下によって当該物品（Ｗ）の下部より高く上部より低い高さ位置におかれた前記支持部（２２）の下端部（２２Ａ）と前記物品（Ｗ）の高さ位置の関係を維持しながら、前記目標位置（Ｐ）に向けて前記物品（Ｗ）を引き摺りながら移動させて、前記物品（Ｗ）を移載するよう構成したことを特徴とする。
First, the invention of the transfer device of the first invention of the present invention includes a conveyor (12) in which an article (W) is placed on a transport surface (12T) and transported, and the conveyor (12) during transport. The hand portion (20) is moved up and down based on the position information acquisition means (S) for acquiring information on the position of the article (W) and the information on the position of the article (W) obtained by the position information acquisition means (S). The hand unit (30) is driven and controlled to support the rotation support unit (30) so that it can move freely in a straight line or a curve toward each direction of front / rear, left / right, and various directions in which those directions are combined. A robot (40) and a hand unit that sequentially transfer each article (W) being transported on the conveyor (12) to a target position (P) set at a position deviated from the transport surface (12T) by the 20). (20) is larger recesses than the magnitude (17) is provided in the article (W), the recess (17) the hand section toward the article (W) being transported by the conveyor (12) When the (20) is lowered , the closing member (24) that is separated from the article (W) and covers the upper surface of the article (W) and the article that is separated from the side peripheral surface of the article (W). The robot (40) is composed of a support portion (22) that surrounds the side peripheral surface of the (W) and can restrain the article (W), and the robot (40) is controlled by the drive of the rotation support portion (30). The support portion (22) placed at a height higher than the lower part of the article (W) and lower than the upper part by the descent of the hand portion (20) toward the article (W) being conveyed by the conveyor (12). ) While maintaining the relationship between the height position of the article (W) and the lower end portion (22A) of the article (W), the article (W) is dragged and moved toward the target position (P) to move the article (W). It is characterized in that it is configured to be reprinted.

上記第１の発明によれば、ハンド部（２０）がコンベヤ（１２）から目標位置（Ｐ）に物品（Ｗ）を引き摺りながら移載することから、従来の、例えば、物品（Ｗ）を吸着して搬送する場合のように、物品（Ｗ）を落下させることなく、確実に移載することができる。特に、煎餅、おかきなど不定型形状の物品（Ｗ）、即ち、吸着や把持が困難な物品（Ｗ）を移載する際や、物品処理速度が速い高速処理の際に、その効果は顕著に得られる。 According to the first invention, since the hand portion (20) is transferred from the conveyor (12) to the target position (P) while dragging the article (W), the conventional article (W) is adsorbed, for example. The article (W) can be reliably transferred without dropping, as in the case of transporting the article (W). In particular, the effect is remarkable when transferring an article (W) having an irregular shape such as rice cracker or okaki, that is, an article (W) which is difficult to be adsorbed or grasped, or when high-speed processing with a high article processing speed. can get.

特に、物品（Ｗ）を目標位置（Ｐ）に引き摺りながら移載する際、ハンド部（２０）に設けられた支持部（２２）により物品（Ｗ）の側周面を囲って、物品（Ｗ）を拘束して行うので、確実に物品（Ｗ）を目標位置（Ｐ）に移載することができる。更に、支持部（２２）が当該支持部（２２）の下端部（２２Ａ）の高さ位置を物品（Ｗ）の下部より高く上部より低い状態に維持しながら目標位置（Ｐ）に向けて移動することで、搬送面（１２Ｔ）などを擦って損傷させてしまうようなことを防ぐことができ、物品（Ｗ）の移動は確実に行われる。 In particular, when the article (W) is transferred while being dragged to the target position (P), the side peripheral surface of the article (W) is surrounded by the support portion (22) provided in the hand portion (20), and the article (W) is surrounded. ) Is restrained, so that the article (W) can be reliably transferred to the target position (P). Further, the support portion (22) moves toward the target position (P) while maintaining the height position of the lower end portion (22A) of the support portion (22) higher than the lower portion of the article (W) and lower than the upper portion. By doing so, it is possible to prevent the transport surface (12T) and the like from being rubbed and damaged, and the article (W) can be reliably moved.

また、第１の発明によれば、ハンド部（２０）における吸着装置又は把持装置の配備が必須でないため、これらを配備しない構造を採用する場合には、構造がシンプルとなり、ハンド部（２２）の清掃作業などのメンテナンス作業が簡易になる。 Further, according to the first invention, it is not essential to deploy the suction device or the gripping device in the hand portion (20). Therefore, when a structure in which these are not deployed is adopted, the structure is simplified and the hand portion (22) Maintenance work such as cleaning work is simplified.

次に、本発明の第２の発明は、上述した第１の発明の移載装置において、前記コンベヤ（１２）に並設されていると共に前記物品（Ｗ）を所定間隔毎に搬送する第２コンベヤ（１４）を備えており、前記目標位置（Ｐ）は、前記第２コンベヤ（１４）における搬送路（１４Ｔ）に設定されており、前記ロボット（４０）は、前記第２コンベヤ（１４）の搬送方向に沿って前記物品（Ｗ）が所定間隔毎に整列するよう前記物品（Ｗ）を搬送路（１４Ｔ）に移載するよう構成したことを特徴とする。 Next, in the second invention of the present invention, in the transfer device of the first invention described above, the second invention is arranged side by side on the conveyor (12) and conveys the article (W) at predetermined intervals. A conveyor (14) is provided, the target position (P) is set to a transport path (14T) in the second conveyor (14), and the robot (40) is the second conveyor (14). It is characterized in that the article (W) is transferred to the transport path (14T) so that the article (W) is aligned at predetermined intervals along the transport direction of the above.

上記第２の発明によれば、目標位置（Ｐ）が第２コンベヤ（１４）における搬送路（１４Ｔ）に設定されており、ロボット（４０）により第２コンベヤ（１４）における搬送方向に沿って物品（Ｗ）が所定間隔毎に整列するよう物品（Ｗ）を搬送路（１４Ｔ）に移載される。 According to the second invention, the target position (P) is set in the transport path (14T) in the second conveyor (14), and the robot (40) follows the transport direction in the second conveyor (14). The article (W) is transferred to the transport path (14T) so that the article (W) is aligned at predetermined intervals.

次に、本発明の第３の発明は、上述した第１の発明又は第２の発明の移載装置において、前記支持部（２２）は、該支持部（２２）の下端部（２２Ａ）の高さ位置が前記物品（Ｗ）の下部より高く上部より低く維持される際に該物品（Ｗ）の側周面全域に接触することなく、該側周面から離れた位置で該側周面を囲い得る環状の壁面（２３）で構成されていることを特徴とする。 Next, in the third invention of the present invention, in the transfer device of the first invention or the second invention described above, the support portion (22) is the lower end portion (22A) of the support portion (22). When the height position is maintained higher than the lower part of the article (W) and lower than the upper part, the side peripheral surface is separated from the side peripheral surface without contacting the entire side peripheral surface of the article (W). It is characterized in that it is composed of an annular wall surface (23) that can enclose.

上記第３の発明によれば、ハンド部（２０）の支持部（２２）は、環状に形成された壁面（２３）であるため、物品（Ｗ）を引き摺りながら移動させる際に、環状の壁面（２３）内から物品（Ｗ）が逃げ出すことがなく、物品（Ｗ）を確実に移載することができる。 According to the third invention, since the support portion (22) of the hand portion (20) is a wall surface (23) formed in an annular shape, the annular wall surface is used when the article (W) is moved while being dragged. The article (W) does not escape from the inside (23), and the article (W) can be reliably transferred.

次に、本発明の第４の発明は、上述した第１の発明から第３の発明のいずれかの発明の移載装置において、前記物品（Ｗ）は方向性を有しており、前記ハンド部（２０）は、該ハンド部（２０）と、該本体（２１）に対し回動可能に支持されると共に前記物品（Ｗ）に対応して方向性を有するように形成された前記支持部（２２）を備えており、前記コンベヤ（１２）の搬送面（１２Ｔ）に載置されている物品（Ｗ）の向きに対応して、前記ハンド部（２０）が降下し終える前に前記本体（２１）に対して前記支持部（２２）が回動し終えてから前記物品（Ｗ）を囲うと共に、前記目標位置（Ｐ）において、前後の前記物品（Ｗ）の向きが揃うように前記本体（２１）に対して前記支持部（２２）を回動することを特徴とする。 Next, in the fourth invention of the present invention, in the transfer device of any of the first to third inventions described above, the article (W) has directionality, and the hand The portion (20) is rotatably supported by the hand portion (20) and the main body (21), and the support portion is formed so as to have directionality corresponding to the article (W). (22) is provided, and the main body corresponds to the direction of the article (W) placed on the transport surface (12T) of the conveyor (12) before the hand portion (20) finishes descending. After the support portion (22) has finished rotating with respect to (21), the article (W) is surrounded, and at the target position (P), the directions of the front and rear articles (W) are aligned. The support portion (22) is rotated with respect to the main body (21).

上記第４の発明によれば、ハンド部（２０）の支持部（２２）は、物品（Ｗ）が、例えば、小判形状等の方向性を有する場合でも、該物品（Ｗ）に対応して方向性を有するように構成されていると共に本体（２１）に対しても回動可能に支持されているので、ハンド部（２０）は、物品（Ｗ）に降下し終える前に物品（Ｗ）の向きに対応して回動し終えることにより、支持部（２２）の下端部（２２Ａ）が物品（Ｗ）の上部に接触することなく、支持部（２２）によって物品（Ｗ）を囲うことができ、また、第２コンベヤ（１４）等の目標位置（Ｐ）において、前後の物品（Ｗ）の向きを揃えて、物品（Ｗ）を載置することができる。 According to the fourth invention, the support portion (22) of the hand portion (20) corresponds to the article (W) even when the article (W) has a directionality such as an oval shape. Since it is configured to have directional properties and is rotatably supported with respect to the main body (21), the hand portion (20) is moved to the article (W) before it finishes descending to the article (W). The lower end portion (22A) of the support portion (22) surrounds the article (W) by the support portion (22) without contacting the upper portion of the article (W) by completing the rotation corresponding to the direction of. In addition, the articles (W) can be placed at the target position (P) of the second conveyor (14) or the like by aligning the directions of the front and rear articles (W).

次に、本発明の第５の発明は、上述した第１の発明から第４の発明のいずれかの発明の移載装置において、前記コンベヤ（１２）が前記目標位置（Ｐ）に引き摺られて移動する前記物品（Ｗ）の移送径路（Ｍ）には、前記物品（Ｗ）の高さ寸法より小さな高低差が設けられており、前記回動支持部（３０）は、前記高低差による前記移送径路（１６）における高さ変化に応じて前記支持部（２２）を上下方向に移動して、前記支持部（２２）の下端部（２２Ａ）の前記高さ位置を前記物品（Ｗ）の下部より高く上部より低く維持するよう構成されていることを特徴とする。 Next, in the fifth invention of the present invention, the conveyor (12) is dragged to the target position (P) in the transfer device according to any one of the first to fourth inventions described above. The transfer path (M) of the moving article (W) is provided with a height difference smaller than the height dimension of the article (W), and the rotation support portion (30) has the height difference due to the height difference. The support portion (22) is moved in the vertical direction according to the height change in the transfer path (16), and the height position of the lower end portion (22A) of the support portion (22) is set to the height position of the article (W). It is characterized in that it is configured to be maintained higher than the lower part and lower than the upper part.

上記第５の発明によれば、コンベヤ（１２）と目標位置（Ｐ）に引き摺られて移動する物品（Ｗ）の移送径路（Ｍ）に物品（Ｗ）の高さ寸法より小さな高低差があっても、高低差による移送経路（Ｍ）における高さ変化に対応して回動支持部（３０）が支持部（２２）を上下方向に移動して、支持部（２２）の下端部（２２Ａ）の高さ位置を物品（Ｗ）の下部より高く上部より低く維持することから、支持部（２２）が物品（Ｗ）を逃がすことなく物品（Ｗ）を囲った状態を維持することができる。 According to the fifth invention, there is a height difference smaller than the height dimension of the article (W) in the transfer path (M) of the article (W) that is dragged and moved to the conveyor (12) and the target position (P). However, the rotating support portion (30) moves vertically in the support portion (22) in response to the height change in the transfer path (M) due to the height difference, and the lower end portion (22A) of the support portion (22). ) Is maintained higher than the lower part of the article (W) and lower than the upper part, so that the support portion (22) can maintain the state of surrounding the article (W) without letting the article (W) escape. ..

上記した本発明によれば、コンベヤの搬送面に載置されて搬送中の物品を、当該コンベヤの搬送面以外の目標位置に引き摺りながら移動させて、確実に移載し得る移載装置を提供することができる。 According to the present invention described above, there is provided a transfer device capable of reliably transferring an article placed on a conveyor surface and being transported by dragging it to a target position other than the conveyor surface. can do.

本実施形態の移載装置を表す略体正面図である。It is a schematic front view which shows the transfer apparatus of this embodiment. 図１におけるロボットの移動範囲における搬送面を示した略体平面図である。It is a schematic plan view which showed the transport surface in the moving range of a robot in FIG. 物品の搬送方向における下流側から図２を示した略体側面図である。It is a schematic side view which showed FIG. 2 from the downstream side in the transport direction of an article.

以下、本発明に係る移載装置の実施形態を、図面を参照して説明する。本実施形態の移載装置は、図１乃至図３に示すように、第１コンベヤ１２と、第２コンベヤ１４と、搬送ベッド１６と、ロボット４０などを備える。 Hereinafter, embodiments of the transfer device according to the present invention will be described with reference to the drawings. As shown in FIGS. 1 to 3, the transfer device of the present embodiment includes a first conveyor 12, a second conveyor 14, a transfer bed 16, a robot 40, and the like.

搬送ベッド１６を介して並設された第１コンベヤ１２と第２コンベヤ１４は、図１、２中に白抜き矢印が指す向きを前方とする搬送方向に物品を搬送する。よって、第１コンベヤ１２と第２コンベヤ１４の搬送方向における上流側は、図２において、紙面上側（白抜き矢印が指す方向とは逆側）となる。また、図２において、各コンベヤ１２，１４における左右方向とは、搬送方向に対し直交する水平方向を指し、上下方向とは搬送方向に対して直交する鉛直方向（紙面を貫通する奥行方向）を示す。 The first conveyor 12 and the second conveyor 14 arranged side by side via the transport bed 16 transport the articles in the transport direction with the direction indicated by the white arrow in FIGS. 1 and 2 as the front. Therefore, the upstream side of the first conveyor 12 and the second conveyor 14 in the transport direction is the upper side of the paper surface (the side opposite to the direction indicated by the white arrow) in FIG. Further, in FIG. 2, the horizontal direction in each of the conveyors 12 and 14 refers to a horizontal direction orthogonal to the transport direction, and the vertical direction is a vertical direction (depth direction penetrating the paper surface) orthogonal to the transport direction. Shown.

第１コンベヤ１２は、無端状のベルトで搬送面１２Ｔを構成したベルトコンベヤであって本発明のコンベヤに相当するものであり、前後方向（搬送方向）と左右方向に不規則な間隔で搬送面１２Ｔに載置された各物品を一定の速度で搬送する。 The first conveyor 12 is a belt conveyor in which the transport surface 12T is composed of an endless belt and corresponds to the conveyor of the present invention, and the transport surface is irregularly spaced in the front-rear direction (convey direction) and the left-right direction. Each article placed on the 12T is conveyed at a constant speed.

なお、本実施形態の物品Ｗは、不定形であることから各物品Ｗの形状が互いに異なっており、特に各物品Ｗにおける表裏の面や側周面に凹凸があることにより吸着及び把時し難い形状の煎餅である。これらの煎餅の外観形状は縦横の長さ寸法が異なった略小判形であることから、各煎餅自体は方向性を有しており、各物品Ｗは不規則な間隔で搬送面１２Ｔに置かれているものの物品Ｗの長手方向が概ね前後方向に沿うように置かれている。 Since the article W of the present embodiment has an irregular shape, the shapes of the articles W are different from each other, and in particular, the front and back surfaces and the side peripheral surfaces of the articles W are uneven, so that the articles W are attracted and gripped. It is a rice cracker with a difficult shape. Since the appearance shape of these rice crackers is a substantially oval shape with different vertical and horizontal length dimensions, each rice cracker itself has directionality, and each article W is placed on the transport surface 12T at irregular intervals. However, the article W is placed so that the longitudinal direction of the article W is approximately along the front-back direction.

第１コンベヤ１２はサーボモータ２５によって走行駆動される。サーボモータ２５には、エンコーダ２６が付設されている。エンコーダ２６から出力されるパルス情報がロボット４０の制御部（不図示）に出力される。 The first conveyor 12 is driven by the servomotor 25. An encoder 26 is attached to the servomotor 25. The pulse information output from the encoder 26 is output to the control unit (not shown) of the robot 40.

第１コンベヤ１２より上方には撮像手段としてのカメラ１８が配設されている。カメラ１８は、第１コンベヤ１２の搬送方向上流側となる搬送面１２Ｔの所定領域を、その搬送面１２Ｔの左右両端まで含むように所定タイミング毎に撮影する。 A camera 18 as an imaging means is arranged above the first conveyor 12. The camera 18 takes pictures at predetermined timings so as to include a predetermined area of the transport surface 12T on the upstream side in the transport direction of the first conveyor 12 up to the left and right ends of the transport surface 12T.

カメラ１８で撮影された画像データは、撮影ごとに順次、ロボット４０の制御部（不図示）に送られる。該制御部では、前記所定領域における搬送面１２Ｔ上に置かれた物品Ｗの夫々を特定する処理がなされると共に物品Ｗごとに物品Ｗの位置と向き、物品Ｗ同士の距離を求める処理分析がなされる。更に、処理分析によって特定された夫々の物品Ｗは第１コンベヤ１２による搬送によって刻々位置が変化することから、ロボット４０の制御部ではエンコーダ２６から得たパルス情報に基づき夫々の物品Ｗの位置を追跡する処理がなされる。このように物品Ｗの位置を追跡する処理が本発明の位置情報取得手段Ｓに相当する。 The image data captured by the camera 18 is sequentially sent to the control unit (not shown) of the robot 40 for each capture. In the control unit, processing is performed to identify each of the articles W placed on the transport surface 12T in the predetermined region, and processing analysis is performed to determine the position and orientation of the articles W for each article W and the distance between the articles W. Be done. Further, since the positions of the respective articles W identified by the processing analysis change every moment due to the transfer by the first conveyor 12, the control unit of the robot 40 determines the positions of the respective articles W based on the pulse information obtained from the encoder 26. The process of tracking is done. The process of tracking the position of the article W in this way corresponds to the position information acquisition means S of the present invention.

第２コンベヤ１４は、無端状のベルトで搬送面１４Ｔ（搬送路）を構成したベルトコンベヤであって、後処理工程である横形製袋充填機（包装機）における供給コンベヤを構成している。 The second conveyor 14 is a belt conveyor in which a transport surface 14T (conveyor path) is formed by an endless belt, and constitutes a supply conveyor in a horizontal bag-making filling machine (packaging machine) which is a post-processing step.

第２コンベヤ１４については、包装機の制御部（不図示）から駆動指令を受けたサーボモータ２７によって走行駆動されると共に、サーボモータ２７に付設されたエンコーダ２８から出力されたパルス情報が包装機の制御部とロボット４０の制御部に送られる。 The second conveyor 14 is driven by a servomotor 27 that receives a drive command from a control unit (not shown) of the packaging machine, and pulse information output from an encoder 28 attached to the servomotor 27 is used in the packaging machine. It is sent to the control unit of the robot 40 and the control unit of the robot 40.

第２コンベヤ１４による物品Ｗを搬送する速度は、横形製袋充填機における１包装当たりの包装長さと１分間当たりの包装数（包装能力）との関係から得られる基準速度に設定される。 The speed at which the article W is conveyed by the second conveyor 14 is set to a reference speed obtained from the relationship between the packaging length per package and the number of packages per minute (packaging capacity) in the horizontal bag-making filling machine.

第２コンベヤ１４の搬送速度は１分間当たりの包装袋数である包装能力の自動変更に関連して変動する。即ち、第２コンベヤ１４が１分間当たりに基準速度で搬送する物品Ｗの数より、第１コンベヤ１２によって前記所定領域から下流側に移動する１分間あたりの物品Ｗの数が第１所定値を越えて減少する際には、包装機の制御部が包装機の包装能力を低下させるように設定を変更して、第２コンベヤ１４の搬送速度を基準速度より遅くする一方、第２コンベヤ１４が１分間当たりに基準速度で搬送する物品Ｗの数より、第１コンベヤ１２によって前記所定領域から下流側に移動する１分間当たりの物品Ｗの数第２所定値を越えて増加する際には、包装機の制御部が包装機の包装能力を高めるように設定を変更して、第２コンベヤ１４の搬送速度を基準速度より速くする制御がなされる。 The transport speed of the second conveyor 14 fluctuates in connection with the automatic change of the packaging capacity, which is the number of packaging bags per minute. That is, the number of articles W per minute moved from the predetermined area to the downstream side by the first conveyor 12 is the first predetermined value, rather than the number of articles W transported by the second conveyor 14 at the reference speed per minute. When the amount decreases beyond that, the control unit of the packaging machine changes the setting so as to reduce the packaging capacity of the packaging machine to make the transport speed of the second conveyor 14 slower than the reference speed, while the second conveyor 14 increases. When the number of articles W per minute moved from the predetermined area to the downstream side by the first conveyor 12 exceeds the second predetermined value, the number of articles W transported at the reference speed per minute is increased. The control unit of the packaging machine changes the setting so as to increase the packaging capacity of the packaging machine, and the transfer speed of the second conveyor 14 is controlled to be faster than the reference speed.

ロボット４０は、周知のパラレルリンク式ロボットであり、枠体３８に吊り下げ姿勢で支持されており、枠体３８に固定されたロボット本体部４２と、このロボット本体部４２にそれぞれの一端部が回動自在に連結された本発明の回動支持部として複数本のリンク体３０と、リンク体３０のそれぞれの他端部に回動自在に支持されたハンド部２０を備えており、立体空間からなる可動範囲でハンド部２０が上下、前後、左右の方向の内の何れか１つの方向や複数の方向を合成した方向など様々な方向に向けて直線又は曲線的に自由移動し得るように各リンク体３０を回動させる制御指令がロボット４０の制御部によってなされる。 The robot 40 is a well-known parallel link type robot, which is supported by a frame body 38 in a suspended posture, and has a robot main body 42 fixed to the frame 38 and one end of each of the robot main body 42. As the rotation support portion of the present invention rotatably connected, a plurality of link bodies 30 and a hand portion 20 rotatably supported at the other end of each of the link bodies 30 are provided, and a three-dimensional space is provided. The hand unit 20 can freely move in a straight line or a curved line in various directions such as one of the up-down, front-back, and left-right directions or a combined direction of a plurality of directions within the movable range. A control command for rotating each link body 30 is given by a control unit of the robot 40.

なお、ロボット４０は、ハンド部２０が枠体３８で囲われる範囲を超えることがない可動範囲（図２にＸで示す範囲）を移動するように設定されており、第１コンベヤ１２の搬送面１２Ｔと第２コンベヤ１４の搬送面１４Ｔと搬送ベッド１６の各一部の領域を全て含むようになっている。 The robot 40 is set so that the hand portion 20 moves within a movable range (range indicated by X in FIG. 2) that does not exceed the range surrounded by the frame body 38, and the transport surface of the first conveyor 12 The 12T, the transport surface 14T of the second conveyor 14, and each part of the transport bed 16 are all included.

ロボット４０のハンド部２０は、各リンク体３０の他端部に回動自在に連結された本体２１と、該本体２１対し回動可能に支持されると共に指向性（方向性）を有した物品Ｗに対応して方向性を有するように形成された支持部２２を備えており、支持部２２は、後述する支持部２２の下端部２２Ａの位置が移送経路Ｍに置かれた物品Ｗの下部と上部との間に維持される際に該物品Ｗの前後と左右の４つの側面を含む側周面全域に該側周面から離れた位置で該側周面を囲い得る環状の壁面２３で構成されている。そして、図１において環状の壁面２３の上端側は閉塞部材２４が固定されており、該閉塞部材２４がハンド部２０の本体側に配設された駆動手段としてのサーボモータ（不図示）から駆動力を受けて回転する回転軸２１Ａに支持されている。このことにより、ハンド部２０は、本体２１に対し支持部２２を回動可能に支持する構成になっている。このようにハンド部２０の下端側には、物品Ｗの上面と側周面を囲み得る凹部１７が指向性を有した物品Ｗに対応して方向性を有するように形成されており、この凹部１７の大きさは、方向を有した物品Ｗより少し大きく、該物品Ｗが凹部１７内に収容された際には、環状の壁面２３全域が物品Ｗの側周面から少し離間して（少し隙間が空く程度に）収容し得る大きさとされている。この隙間は、環状の壁面２３によって方向性を有した物品Ｗの鉛直軸周りでの回転が包装機で包装不良が生じない程度の回転角度以下になるように、環状の壁面２３に対する方向性を有した物品Ｗの回転を規制し得るよう構成されている。 The hand portion 20 of the robot 40 has a main body 21 rotatably connected to the other end of each link body 30 and an article that is rotatably supported with respect to the main body 21 and has directivity. A support portion 22 formed so as to have a directivity corresponding to W is provided, and the support portion 22 is a lower portion of an article W in which the position of the lower end portion 22A of the support portion 22 described later is placed in the transfer path M. An annular wall surface 23 that can surround the side peripheral surface at a position away from the side peripheral surface over the entire side peripheral surface including the front and rear and left and right four side surfaces of the article W when maintained between the and the upper portion. It is configured. A closing member 24 is fixed to the upper end side of the annular wall surface 23 in FIG. 1, and the closing member 24 is driven from a servomotor (not shown) as a driving means arranged on the main body side of the hand portion 20. It is supported by a rotating shaft 21A that rotates by receiving a force. As a result, the hand portion 20 is configured to rotatably support the support portion 22 with respect to the main body 21. As described above, on the lower end side of the hand portion 20, a recess 17 that can surround the upper surface and the side peripheral surface of the article W is formed so as to have a directivity corresponding to the directional article W. The size of the article 17 is slightly larger than that of the article W having a direction, and when the article W is housed in the recess 17, the entire annular wall surface 23 is slightly separated from the side peripheral surface of the article W (a little). It is said to be large enough to accommodate (to the extent that there is a gap). This gap has a directionality with respect to the annular wall surface 23 so that the rotation of the article W, which has directionality due to the annular wall surface 23, around the vertical axis is less than the rotation angle to the extent that packaging defects do not occur in the packaging machine. It is configured to be able to regulate the rotation of the article W held.

搬送ベッド１６は、図２及び図３に示されるように、第１コンベヤ１２と第２コンベヤ１４との間に配設されている。なお、本発明の「移送経路」とは、物品Ｗがコンベヤ１２の搬送面１２Ｔから目標位置Ｐに移送される経路軌跡を言う。この搬送ベッド１６と第１コンベヤ１２の搬送面１２Ｔと第２コンベヤ１４の搬送面１４Ｔは、何れも表面が平らで、それらの表面で面一の平面で形成されており、その平面には、ベッド搬送ベッド１６と各搬送面との間では物品Ｗからでた物品Ｗの屑を落下させる程の隙間しか明いておらず、それらの隙間を物品Ｗが通過する際に物品Ｗの高さ位置の変化は無視できる。 The transport bed 16 is arranged between the first conveyor 12 and the second conveyor 14, as shown in FIGS. 2 and 3. The "transfer path" of the present invention refers to a path trajectory in which the article W is transferred from the transfer surface 12T of the conveyor 12 to the target position P. The transport surface 12T of the transport bed 16 and the first conveyor 12 and the transport surface 14T of the second conveyor 14 are all flat surfaces, and are formed on a plane flush with each other. There is only a gap between the bed transport bed 16 and each transport surface that allows the scraps of the article W from the article W to fall, and the height position of the article W when the article W passes through these gaps. The change in is negligible.

ロボット４０の制御部（不図示）は、包装機の制御部（不図示）と相互通信を行うことで、ロボット４０の動作タイミングが図られるようになっている。また、ロボット４０の制御部は第２コンベヤ１４に配設されたエンコーダ２８からパルスを直接入力することになっており、ロボット４０は、第２コンベヤ１４の搬送速度が急変した時に物品Ｗを第２コンベヤ１４に移載する際、即ち、包装機が非常停止したときや包装機の包装能力の自動設定切替がなされたときなどの過渡的なタイミングに物品Ｗを第２コンベヤ１４に移載する際に、応答遅れに起因する物品Ｗの位置ずれを抑制し得るようになっている。 The control unit (not shown) of the robot 40 communicates with the control unit (not shown) of the packaging machine to determine the operation timing of the robot 40. Further, the control unit of the robot 40 is supposed to directly input a pulse from the encoder 28 arranged on the second conveyor 14, and the robot 40 transfers the article W to the second conveyor when the transfer speed of the second conveyor 14 suddenly changes. The article W is transferred to the second conveyor 14 at a transitional timing such as when the packaging machine is transferred to the second conveyor 14, that is, when the packaging machine is stopped in an emergency or when the packaging capacity of the packaging machine is automatically set and switched. At that time, the misalignment of the article W due to the response delay can be suppressed.

また、包装機の制御部に代えてロボット４０の制御部が、包装機の制御部から、例えば、包装動作についての非常停止や包装能力変更に関する情報などの包装動作に関する情報を逐次受取って包装機の供給コンベヤとしての第２コンベヤ１４を走行駆動するサーボモータ２７などの駆動手段についての駆動指令情報を生成すると共に生成した駆動指令情報に基づき、第２コンベヤ１４の駆動指令を行うようにすれば、包装動作の変更に伴って第２コンベヤ１４の速度が過度的に変化する際にもロボット４０の制御部が第２コンベヤ１４の駆動指令情報を生成していることから、第２コンベヤ１４の動作の変化についての情報伝達遅れがなくなり、ロボット４０による第２コンベヤ１４に対する物品Ｗの移載装置のずれを防ぐことが可能となる。 Further, instead of the control unit of the packaging machine, the control unit of the robot 40 sequentially receives information on the packaging operation from the control unit of the packaging machine, such as information on an emergency stop on the packaging operation and a change in the packaging capacity, and the packaging machine. If the drive command information about the drive means such as the servo motor 27 that runs and drives the second conveyor 14 as the supply conveyor is generated, and the drive command of the second conveyor 14 is issued based on the generated drive command information. Since the control unit of the robot 40 generates the drive command information of the second conveyor 14 even when the speed of the second conveyor 14 changes excessively due to the change of the packaging operation, the second conveyor 14 There is no delay in transmitting information about changes in movement, and it is possible to prevent the robot 40 from shifting the transfer device for the article W with respect to the second conveyor 14.

次に、上述した移載装置の移載作用を、順を追って説明する。 Next, the transfer operation of the transfer device described above will be described step by step.

先ず、図２に示すように、第１コンベヤ１２上に、前工程において物品Ｗが載置されて、搬送方向に搬送されてくる。これをカメラ１８により、搬送面１２Ｔの所定領域を所定タイミング毎に撮像する。そして、ロボット４０の制御部は、各撮像した情報にエンコーダ２６から出力されるパルス情報を関連付けて物品Ｗの位置情報を逐次更新して取得する（位置情報取得手段Ｓに相当）。また、ロボット４０の制御部は、所定領域を撮像した画像データごとに、物品Ｗを探し出して各物品Ｗの向きと、ハンド部２０が一物品Ｗを囲う際に、その周囲の物品Ｗに接触する可能性の有無についての判断情報と、包装機の制御部などから得た第２コンベヤ１４への供給タイミングに関する情報などに基づき、第１コンベヤ１２で搬送中の複数の物品Ｗを対象に処理する順位（優先順位）を決定する。この順位は、第１コンベヤ１２によって搬送中の先頭側の物品Ｗから優先的に決定され、移動処理を行うごとに順次更新される。 First, as shown in FIG. 2, the article W is placed on the first conveyor 12 in the previous step and is conveyed in the conveying direction. The camera 18 captures a predetermined area of the transport surface 12T at predetermined timings. Then, the control unit of the robot 40 associates each captured information with the pulse information output from the encoder 26, and sequentially updates and acquires the position information of the article W (corresponding to the position information acquisition means S). Further, the control unit of the robot 40 searches for the article W for each image data obtained by imaging a predetermined area, and contacts the orientation of each article W and the surrounding articles W when the hand unit 20 surrounds the article W. Processing a plurality of articles W being conveyed by the first conveyor 12 based on the judgment information as to whether or not there is a possibility of the wrapping and the information regarding the supply timing to the second conveyor 14 obtained from the control unit of the packaging machine or the like. Determine the order (priority) to do. This order is preferentially determined from the leading article W being conveyed by the first conveyor 12, and is sequentially updated each time the movement process is performed.

ロボット４０は、ロボット４０の制御部が決定した優先順位に基づきリンク体（回動支持部）３０を駆動制御して、ハンド部２０を優先順位が最も高い特定の物品Ｗに向けて移動させると共に、その移動の際、具体的には、ハンド部２０が降下して終えるまでにハンド部２０における支持部２２を本体２１に対して回動し終えて指向性を有す特定の物品Ｗとの向きを合わせた後、特定の物品Ｗに向けた降下を終えて、物品Ｗの側周面を支持部２２で囲う。なお、このとき、リンク体（回動支持部）３０はハンド部２０を第１コンベヤ１２の搬送速度と同じ速度で搬送方向前方に移動して、第１コンベヤ１２の搬送面１２Ｔに載置された周囲の物品Ｗとハンド部２０との接触を回避する。 The robot 40 drives and controls the link body (rotational support unit) 30 based on the priority determined by the control unit of the robot 40, and moves the hand unit 20 toward the specific article W having the highest priority. At the time of the movement, specifically, by the time the hand portion 20 is lowered and finished, the support portion 22 in the hand portion 20 is finished rotating with respect to the main body 21 with respect to the specific article W having directivity. After aligning the orientations, the descent toward the specific article W is completed, and the side peripheral surface of the article W is surrounded by the support portion 22. At this time, the link body (rotational support portion) 30 moves the hand portion 20 forward in the transport direction at the same speed as the transport speed of the first conveyor 12, and is placed on the transport surface 12T of the first conveyor 12. Avoid contact between the surrounding article W and the hand portion 20.

降下を終えたハンド部２０は、支持部２２によって物品Ｗの側周面を囲うにあたって支持部２２の最も低い位置にある下端部２２Ａの高さ位置が、特定の物品Ｗを支持する搬送面（支持位置）１２Ｔと同じ高さ位置となる物品Ｗの下部より高く、物品Ｗの上部より低い位置である。このような下部２２Ａの高さ位置と物品Ｗの高さの関係は、該物品Ｗを目標位置Ｐに移載するまで維持され、この間、ハンド部２０は、支持部２２によって物品Ｗの側周面を囲っている。 In the hand portion 20 that has finished descending, when the support portion 22 surrounds the side peripheral surface of the article W, the height position of the lower end portion 22A at the lowest position of the support portion 22 is the transport surface that supports the specific article W ( Support position) It is a position higher than the lower part of the article W, which is the same height position as 12T, and lower than the upper part of the article W. The relationship between the height position of the lower portion 22A and the height of the article W is maintained until the article W is transferred to the target position P, during which the hand portion 20 is held on the side circumference of the article W by the support portion 22. Surrounding the face.

そして、ロボット４０の制御部はリンク体（回動支持部）３０を駆動制御して、ハンド部２０が上方に離間した状態を維持しながら、特定の物品Ｗを第１コンベヤ１２から搬送ベッド１６を経由して第２コンベヤ１４の搬送面１４Ｔに設定された目標位置Ｐに引き摺りながら移動する。なお、本実施形態においてはロボット４０が、第２コンベヤ１４の搬送方向に沿って特定の物品Ｗを所定間隔毎に整列するよう該物品Ｗを第２コンベヤ１４に供給させるために、ロボット４０の制御部は、搬送面１４Ｔにおける目標位置Ｐ（支持部２２による物品Ｗの囲いを解除する位置）を物品Ｗ毎に予め求めて設定している。従って、ロボット４０が第１コンベヤ１２の搬送面１２Ｔに載置されて搬送されている物品Ｗを目標位置Ｐまで引き摺りながら移動させる移動径路Ｍは、図２に示す径路に限らず、様々な経路長さや向き、軌跡で構成される。 Then, the control unit of the robot 40 drives and controls the link body (rotation support unit) 30, and while maintaining the state in which the hand unit 20 is separated upward, the specific article W is transferred from the first conveyor 12 to the transfer bed 16. The second conveyor 14 moves while dragging to the target position P set on the transport surface 14T of the second conveyor 14. In the present embodiment, in order for the robot 40 to supply the articles W to the second conveyor 14 so as to align the specific articles W at predetermined intervals along the transport direction of the second conveyor 14, the robot 40 The control unit obtains and sets the target position P (the position where the support unit 22 releases the enclosure of the article W) on the transport surface 14T in advance for each article W. Therefore, the moving path M in which the robot 40 is placed on the transport surface 12T of the first conveyor 12 and moves the article W being transported while dragging it to the target position P is not limited to the path shown in FIG. It consists of length, direction, and trajectory.

第２コンベヤ１４の搬送面１４Ｔに所定間隔毎に整列するよう移載された各物品Ｗは、第２コンベヤ１４を平面視した場合、その第２コンベヤ１４の搬送方向と平行に延びた基準となる直線に沿い、各前後の物品Ｗの間では搬送方向に直交する左右方向における物品Ｗの位置のずれは、該左右方向における物品Ｗ幅の半分以下に収まるように、ハンド部２０の支持体２２が構成されている。これにより、後工程の横形製袋充填機等の包装処理工程において、包装の障害とならないようにしている。 Each article W transferred so as to be aligned on the transport surface 14T of the second conveyor 14 at predetermined intervals has a reference extending parallel to the transport direction of the second conveyor 14 when the second conveyor 14 is viewed in a plan view. The support of the hand portion 20 so that the deviation of the position of the article W in the left-right direction orthogonal to the transport direction between the front and rear articles W along the straight line is less than half of the width of the article W in the left-right direction. 22 is configured. This prevents the packaging from becoming an obstacle in the packaging processing process of the horizontal bag-making filling machine or the like in the subsequent process.

なお、上記した実施形態においては、ロボット４０とカメラ１８は各１機のみであるが、第１コンベヤ１２においてカメラ１８で撮像する領域より搬送上流側に、同種のロボットとカメラを各１機、増設する実施形態としてもよい。更には、上流側に同様の形態で連続して配設する実施形態としてもよい。この場合には、その上流側のロボット４０によって第１コンベヤ１２を搬送中の一部の物品Ｗを第２コンベヤ１４に移載すると共に、物品Ｗ同士が接触ないし近接して載置されており、支持部２２により物品Ｗを囲うことが困難と判断される際には、当該物品Ｗにハンド部２０や支持部２２を接触させて、同物品Ｗ同士を離間させてもよい。この場合には、その下流のロボット４０により離間した物品Ｗを移載することになる。 In the above-described embodiment, there is only one robot 40 and one camera 18, but one robot and one camera of the same type are located upstream of the area imaged by the camera 18 on the first conveyor 12. It may be an embodiment to be expanded. Further, it may be an embodiment that is continuously arranged on the upstream side in the same manner. In this case, a part of the articles W being conveyed by the robot 40 on the upstream side is transferred to the second conveyor 14, and the articles W are placed in contact with each other or in close proximity to each other. When it is determined that it is difficult for the support portion 22 to surround the article W, the hand portion 20 or the support portion 22 may be brought into contact with the article W to separate the articles W from each other. In this case, the article W separated by the robot 40 downstream of the robot 40 is transferred.

以上、本発明の特定の実施形態について説明したが、本発明はその他、各種の形態で実施可能であり、以下にその例示を列挙する。
・第１コンベヤ１２から物品Ｗを移送する目標位置Ｐは、搬送面１２Ｔから外れた位置であれば、例えば、搬送ベッド１６であってもよい。搬送ベッド１６に物品Ｗを載置する際には、各物品Ｗの向きが同方向に整列するように、ハンド部２０を回転させて各物品Ｗを一行一列又は複数行複数列の状態に載置してもよい。なお、搬送ベッド１６に載置された物品Ｗは、当該位置から他の適宜手段により更に移載される。
・なお、目標位置Ｐは、上記実施形態では第２コンベヤ１４の搬送面１４Ｔに設定されており、個々の物品Ｗ毎に目標位置Ｐは物品Ｗの供給タイミング等の関係から搬送方向前後に変動するが、全ての物品Ｗに対して共通の位置であってもよい。
・第１コンベヤ１２は、搬送方向に沿って一列に整列した各物品Ｗを搬送するコンベヤでもよく、または、搬送方向前後と左右にそれぞれ整列した各物品Ｗを搬送するコンベヤでもよい。
・位置情報取得手段Ｓとしては、カメラ１８によって撮像した情報から得た物品Ｗ情報と、第１コンベヤ１２のエンコーダ２６のパルスなどから得た第１コンベヤ１２における物品送り量から、各物品Ｗの第１コンベヤ１２における位置情報を得るようにしたが、カメラ１８に代えて第１コンベヤ１２で搬送される物品Ｗを、通過スイッチで検知したり、異なる種類のセンサなどで検知したりするなど、様々な態様を一部に採用して構成することもできる。
・第２コンベヤ１４としては、無端索体に一定の間隔で取着された押送体によって各物品Ｗを後方から押送する横形製袋充填機における供給コンベヤなどに採用されるコンベヤでもよい。この場合、搬送面自体は固定されて移動しない搬送ベッドになる。
・また、第２コンベヤ１４としては、ベルトなどからなる搬送面が、搬送方向に沿って並設されることによって搬送列が複数とされたものでもよく、各列にロボット４０が物品Ｗを滑走させることによって移載する構成としてもよい。
・包装機のコンベヤとしては、ベルトコンベヤに限られるものでなく、物品を押送爪によって押送するコンベヤや、一対のサイドベルトによって物品を挟んで送るコンベヤなどでもよく、これらのコンベヤにおいては、物品が移動する径路が本発明の搬送路となる。
・第１コンベヤ１２と第２コンベヤ１４の間に配設した搬送ベッド１６は必須ではなく、例えば、搬送ベッド１６を介さずに、第１コンベヤ１２の搬送面１２Ｔから第２コンベヤ１４の搬送面１４Ｔに物品Ｗが滑走して移動し得るように、隣り合う搬送面を並設するようにしてもよい。
・第１コンベヤ１２と第２コンベヤ１４の搬送面１２Ｔ，１４Ｔの高さが大きく異なる場合には、その間に配設される搬送ベッド１６を傾斜させてもよい。この場合には、ハンド部２０の下端部も、搬送ベッド１６の傾斜に対応するよう傾斜させて、移動させるのがよい。
・上記実施形態のハンド部２０における支持部２２の構成は、物品Ｗの側周面を環状の壁面２３で囲う例を示したが、横形製袋充填機などの後処理工程で包装に支障が生じない程度の物品の向きの変化に抑え得ると共に、物品Ｗを前方と側方に滑走させ得るように物品Ｗに推進力を与え得るもの、或いは、物品Ｗを支持部２２から逃げ出さないよう拘束し得るものであればよい。例えば、ハンド部２０の少なくとも３〜４か所から夫々下方にピンを垂下して物品Ｗを支持する構成、又は、ハンド部２０の少なくとも２か所から夫々下方に湾曲した板を垂下させて、物品Ｗの側周面を囲うようにして、物品Ｗを囲う構成としてもよい。
・第１コンベヤ１２の搬送面１２Ｔ及び第２コンベヤ１４の搬送面１４Ｔと、搬送ベッド１６との間等の移送径路Ｍに小さな高低差がある場合には、当該移送径路Ｍにおける高さ変化に応じて支持部２２を上下方向に移動して、当該支持部２２の下端部２２Ａの高さ位置を物品Ｗの下部より高く上部より低く維持する、すなわち、高さ位置の関係を維持するよう構成するのが好ましい。 Although the specific embodiment of the present invention has been described above, the present invention can be implemented in various other forms, and examples thereof are listed below.
The target position P for transferring the article W from the first conveyor 12 may be, for example, the transfer bed 16 as long as it is located outside the transfer surface 12T. When the articles W are placed on the transport bed 16, the hand portion 20 is rotated so that the directions of the articles W are aligned in the same direction, and the articles W are placed in a row, a row, or a plurality of rows and columns. You may put it. The article W placed on the transport bed 16 is further transferred from the position by other appropriate means.
The target position P is set on the transport surface 14T of the second conveyor 14 in the above embodiment, and the target position P fluctuates back and forth in the transport direction for each individual article W due to the supply timing of the article W and the like. However, it may be in a common position for all articles W.
The first conveyor 12 may be a conveyor that conveys the articles W arranged in a line along the conveying direction, or may be a conveyor that conveys the articles W aligned in the front-rear direction and the left-right direction.
As the position information acquisition means S, the article W information obtained from the information captured by the camera 18 and the article feed amount in the first conveyor 12 obtained from the pulse of the encoder 26 of the first conveyor 12 are used to obtain each article W. Although the position information on the first conveyor 12 is obtained, the article W transported by the first conveyor 12 instead of the camera 18 is detected by a passing switch, a different type of sensor, or the like. It can also be configured by partially adopting various aspects.
The second conveyor 14 may be a conveyor used as a supply conveyor in a horizontal bag-making filling machine that pushes each article W from behind by a pusher attached to an endless cord at regular intervals. In this case, the transport surface itself becomes a transport bed that is fixed and does not move.
Further, as the second conveyor 14, the transport surfaces made of belts and the like may be arranged side by side along the transport direction to form a plurality of transport rows, and the robot 40 slides the article W in each row. It may be configured to be reprinted by making it.
-The conveyor of the packaging machine is not limited to the belt conveyor, but may be a conveyor that pushes the article by the pushing claw, a conveyor that sandwiches the article by a pair of side belts, and the like. The moving route is the transport route of the present invention.
The transfer bed 16 arranged between the first conveyor 12 and the second conveyor 14 is not indispensable. For example, the transfer surface 12T of the first conveyor 12 to the transfer surface of the second conveyor 14 do not go through the transfer bed 16. Adjacent transport surfaces may be arranged side by side so that the article W can slide and move on the 14T.
When the heights of the transport surfaces 12T and 14T of the first conveyor 12 and the second conveyor 14 are significantly different, the transport bed 16 arranged between them may be tilted. In this case, it is preferable that the lower end portion of the hand portion 20 is also inclined and moved so as to correspond to the inclination of the transport bed 16.
-The configuration of the support portion 22 in the hand portion 20 of the above embodiment shows an example in which the side peripheral surface of the article W is surrounded by an annular wall surface 23, but packaging is hindered in a post-treatment process such as a horizontal bag-making filling machine. It is possible to suppress the change in the orientation of the article to the extent that it does not occur, and to give propulsion to the article W so that the article W can slide forward and sideways, or to restrain the article W from escaping from the support portion 22. Anything that can be done will do. For example, a configuration in which pins are hung downward from at least 3 to 4 places of the hand portion 20 to support the article W, or a plate curved downward from at least 2 places of the hand portion 20 is hung down. The article W may be surrounded by surrounding the side peripheral surface of the article W.
If there is a small height difference in the transfer path M between the transfer surface 12T of the first conveyor 12 and the transfer surface 14T of the second conveyor 14 and the transfer bed 16, the height change in the transfer path M may occur. The support portion 22 is moved in the vertical direction accordingly, and the height position of the lower end portion 22A of the support portion 22 is maintained higher than the lower portion of the article W and lower than the upper portion, that is, the relationship of the height positions is maintained. It is preferable to do so.

１２：第１コンベヤ（コンベヤ）、１４：第２コンベヤ、２０：ハンド部、
２２：支持部、２２Ａ：下端部、３０：リンク体（回動支持部）、
４０：ロボット、
Ｗ：物品、Ｐ：目標位置、Ｓ：位置情報取得手段、Ｍ：移送径路
12: 1st conveyor (conveyor), 14: 2nd conveyor, 20: hand part,
22: Support part, 22A: Lower end part, 30: Link body (rotary support part),
40: Robot,
W: Article, P: Target position, S: Location information acquisition means, M: Transfer route

Claims

A conveyor that transports articles by placing them on a transport surface,
A position information acquisition means for acquiring information on the position of the article being conveyed on the conveyor, and
Based on the information regarding the position of the article obtained by the position information acquisition means, the hand portion can be freely moved in a straight line or a curved line in each direction of up and down, front and back, left and right, and various directions in which those directions are combined. A robot that drives and controls the rotation support portion that supports the conveyor, and sequentially transfers each article being conveyed on the conveyor to a target position set at a position off the transport surface by the hand portion.
The hand portion is provided with a recess larger than the size of the article, and the recess is separated from the article when the hand portion is lowered toward the article being conveyed by the conveyor. It is composed of a closing member that covers the upper surface of the article and a support portion that is separated from the side peripheral surface of the article and surrounds the side peripheral surface of the article to restrain the article.
The robot is controlled by driving the rotation support portion.
Maintaining the relationship between the lower end of the support and the height position of the article placed at a height higher than the lower part of the article and lower than the upper part due to the descent of the hand portion toward the article during transportation by the conveyor. However, the transfer device is characterized in that the article is moved while being dragged toward the target position to transfer the article.

It is provided with a second conveyor which is arranged side by side on the conveyor and conveys the article at predetermined intervals.
The target position is set on the transport path in the second conveyor, and the target position is set.
The transfer according to claim 1, wherein the robot is configured to transfer the articles to the transfer path so that the articles are aligned at predetermined intervals along the transfer direction of the second conveyor. Mounting device.

The support portion is separated from the side peripheral surface without contacting the entire side peripheral surface of the article when the height position of the support portion is maintained higher than the lower portion of the article and lower than the upper portion of the article. The transfer device according to claim 1 or 2, wherein the transfer device is composed of an annular wall surface that can surround the side peripheral surface at a vertical position.

The article has directionality, and the hand portion is formed so as to be rotatably supported by the hand portion main body and the main body and to have directionality corresponding to the article. A support portion is provided, and the support portion finishes rotating with respect to the main body before the hand portion finishes descending in accordance with the orientation of the article placed on the transport surface of the conveyor. According to any one of claims 1 to 3, the support portion is rotated with respect to the main body so as to surround the article and align the front and rear directions of the article at the target position. The transfer device according to claim.

The transfer path of the article that is dragged from the conveyor to the target position is provided with a height difference smaller than the height dimension of the article, and the rotation support portion is the transfer path due to the height difference. The support portion is moved in the vertical direction in response to the change in height, and the height position of the lower end portion of the support portion is maintained higher than the lower portion of the article and lower than the upper portion. The transfer device according to any one of claims 1 to 4.