JP6768030B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device for scooping up and transferring a transferred object such as a food product.

Conventionally, various transfer devices using a transfer belt for scooping up a flexible and difficult-to-grasp transfer object such as a hamburger steak, bread dough, and fruit and transferring it to a required place have been proposed. The transfer device disclosed in Patent Document 1 is provided with a support plate inside an endless transfer belt fixed to the transfer device main body, and is transferred by moving the support plate forward and backward with respect to the transfer device main body. Scoop up the publication and reprint it.

The transfer device described in Patent Document 1 has a structure in which the transfer belt is sandwiched between the holding plate and fixed to the transfer device main body by a fixing screw. Therefore, there is a problem that the transfer belt replacement work performed when the transfer belt becomes dirty or deteriorates becomes complicated.

The transfer device disclosed in Patent Document 2 has been proposed for the purpose of solving the above problem. This transfer device is provided with a locking means in which a transfer belt roll is attached, and the transfer belt pulled out from the transfer belt roll is wound around a support plate and fixed to the transfer device main body.

Further, the transfer device described in Patent Document 3 scoops up and transfers the object to be transferred by reciprocating the transfer device main body while rotating the endless transfer belt in the forward and reverse directions. is there. In this transfer device, a frame including a transfer belt and a drive roller for running the transfer belt is detachably attached to the transfer device main body.

Further, the stacking mechanism described in Patent Document 4 is a transfer device described in Patent Document 3 attached to the tip of an articulated robot arm. This stacking mechanism scoops up the transferred object in a state of aligning the orientation according to the posture of the transferred object based on the image analysis obtained from the camera of the transferred object conveyed by the carry-in conveyor.

Further, the food transport system described in Patent Document 5 grips an object to be transferred by a transfer conveyor with a gripping device attached to the tip of an arm of an articulated robot and transfers the transferred object to a separate transfer conveyor. Is.

Japanese Patent No. 4406775 Japanese Unexamined Patent Publication No. 2013-028410 Japanese Unexamined Patent Publication No. 2018-012577 Japanese Unexamined Patent Publication No. 2018-012578 Japanese Patent No. 5767787

In the conventional transfer device disclosed in Patent Documents 1 to 4, the transferred object is scooped up on the upper surface of the transfer belt, and the transferred object is transferred to a required place by an operation opposite to the scooping operation. To do. When the transfer device scoops up the transfer object, the transfer object may slide with respect to the transfer belt, and the transfer object may not be supported at a predetermined position with respect to the support plate of the transfer device. is there. Since the transfer device performs a predetermined transfer operation while the transferred object is displaced on the transfer belt, there is a problem that the transferred object is displaced with respect to the set transfer position. There is.

Further, in the conventional transfer device disclosed in Patent Documents 1 to 4, when the transfer belt is replaced, the transfer device must be temporarily stopped and replaced manually. Therefore, when the transfer device is incorporated into the food manufacturing system, the food product manufacturing device must also be stopped, which causes a problem that productivity is lowered.

The present invention is intended to solve the above problems, and an object of the present invention is to provide a transfer device capable of stable transfer. Another object of the present invention is to automatically set a new mounting surface of the transfer belt and provide a transfer device that can be used continuously.

The present invention comprises a support plate that supports an object to be transferred via a transfer belt, and a pair of first and second rollers that wind both ends of the transfer belt that covers the upper and lower surfaces of the support plate, respectively. The pair of rollers have a control motor that rotates the first roller and the second roller in the forward and reverse directions in synchronization with each other so that the transfer belt is unwound and sent out from the other roller when the transfer belt is wound around one roller. By controlling the transfer mechanism unit, the movement mechanism unit that moves the transfer mechanism unit, and the forward and reverse rotation drive of the control motor, the reciprocating movement of the transfer belt and the drive of the movement mechanism unit are controlled. It is a transfer device equipped with a control device.

Further, the transfer device integrally includes a detection device for detecting the transferred object above the tip end portion of the support plate in the transfer mechanism unit, and the control device integrally provides the transferred object with the transferred object. The transfer belt is moved forward so as to be scooped up on the upper surface of the transfer belt, the transfer belt is stopped moving after the object to be transferred has passed the detection position of the detection device, and further, the transfer is further performed. The belt is relocated in the direction opposite to the forward movement, and the removal of the transfer belt is temporarily stopped based on the detection signal when the detection device detects the transferred object, and the cover is placed on the support plate. It is characterized in that it has a configuration for positioning a transferred object.

Further, the transfer device includes a transfer device for transporting the transferred object in the vicinity of the transfer device, and the transfer device includes a detection device for detecting the transfer of the transferred object, and the control thereof. The device has a width of the support plate of the transfer device with respect to the transfer direction based on the signal of detecting the transferred object to be transported by the detection device provided in the transfer device and the transfer speed of the transfer device. wherein it is configured to align with the center of the object to be moved Nobutsu conveyed a predetermined scooping position in the direction.

In addition, the control device winds the transfer belt around one roller in the pair of rollers and winds the transfer belt on the mounting surface, which is the upper surface of the transfer belt when scooping up the transfer object, from the other roller. The transfer belt is unwound and sent out to switch to a new mounting surface.

Further, the transfer device is characterized in that a cleaning station for removing dirt adhering to the surface of the transfer belt is provided in the vicinity of the transfer device.

According to the present invention, the transferred object can be aligned in the transfer device before being transferred from the transfer device, and the transferred object can be transferred to a predetermined position. Further, the mounting surface of the transfer belt can be switched to a new mounting surface without temporarily stopping the transfer device during the repeated operation of the transfer device and without manually stopping the transfer device.

It is a top view which shows typically the transfer system which concerns on 1st Embodiment of this invention. It is a front view which shows typically the transfer system which concerns on 1st Embodiment of this invention. It is a side view which shows typically the transfer apparatus provided in the transfer system which concerns on 1st Embodiment of this invention. It is a front view which shows typically the transfer apparatus provided in the transfer system which concerns on 1st Embodiment of this invention. It is a side view which shows typically the transfer apparatus provided in the transfer system which concerns on 1st Embodiment of this invention. It is a process drawing which showed generally the scooping operation by the transfer apparatus provided in the transfer system which concerns on 1st Embodiment of this invention. It is a process drawing which showed schematic | transfer operation by the transfer apparatus provided in the transfer system which concerns on 1st Embodiment of this invention. It is a process drawing which showed schematic | transfer operation by the transfer apparatus provided in the transfer system which concerns on 2nd Embodiment of this invention. It is explanatory drawing which showed typically the mechanism which replaces the mounting surface in the transfer device provided in the transfer system which concerns on embodiment of this invention with a new mounting surface. It is a process drawing which showed typically the operation of removing the deposit of the transfer belt by the transfer device provided in the transfer system which concerns on embodiment of this invention.

The food product transfer system 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5. The transfer system 1 includes, for example, a food product manufacturing device 3 such as a packing machine, a food product transport device 7, and a storage case transport device 13. The food product transport device 7 is a belt conveyor that transports the food product 5 manufactured by the manufacturing device 3 in the transport direction X (left direction in FIG. 1). On the side of the transport surface of the food product transport device 7, a food product detection device 17 such as a photoelectric sensor that detects the food product 5 transported by the food product transport device 7 at a predetermined position is provided.

The storage case transport device 13 is arranged side by side with the food product transport device 7. The storage case transport device 13 is a belt conveyor that transports the storage case 11 containing a plurality of containers 9 such as cups for storing the food product 5 in the transport direction X of the food product transport device 7. On the upstream side of the storage case transport device 13, a guide plate 14 for guiding the storage case 11 in the transport direction X is provided. On the downstream side of the storage case transport device 13, a storage case detection device 21 that detects the storage case 11 transported by the storage case transport device 13 at a predetermined position is provided.

Further, the transfer system 1 scoops up the food product 5 from the food product transport device 7 to the side of the storage case transport device 13 on the downstream side of the food product transport device 7, and the storage case on the storage case transport device 13. An articulated robot 15 for transferring the food product 5 to 11 is provided. The robot 15 is provided with a transfer device 19 at the tip of the robot arm 23. Here, the robot arm 23 is configured as a moving mechanism unit for moving the transfer device 19.

The transfer device 19 includes a connecting mechanism unit 24, a transfer mechanism unit 25, and a tilting mechanism unit 26. The connecting mechanism portion 24 is detachably attached to the robot arm 23 via the connecting member 27. The substrate 28 is attached to the lower surface of the connecting member 27, and supports the transfer mechanism portion 25 so as to be swingable via the link mechanism 29.

The upper plate 30 of the transfer mechanism portion 25 is attached to the link mechanism 29, the side plate 31 is vertically hung on the lower surface of one end (right side in FIG. 4) of the upper plate 30, and the upper plate 30 and the side plate 31 are front-rear (front and rear). The left and right beam plates 33 in FIG. 5 are connected to form a frame. The control motor M1 is attached to one side surface (left side in FIG. 4) of the side plate 31, and the front and rear first rollers 33 and the second rollers 35 are rotatably supported below the control motor M1.

On the other side of the side plate 31 (on the right side in FIG. 4), toothed pulleys 37 are attached to the rotating shaft M1S of the control motor M1, the rotating shaft 33S of the first roller 33, and the rotating shaft 35S of the second roller 35, respectively. A toothed belt 39 is wound around the toothed pulleys 37 (see FIG. 5). Therefore, the first roller 33 and the second roller 35 reciprocate in the same direction in synchronization with the rotation drive of the control motor M1 in the forward and reverse directions. The control motor M1 has a built-in pulse encoder capable of counting the rotation angles of the rotation shaft M1S in the forward and reverse directions.

Support shafts 41 are arranged in front of and behind the lower side of the first roller 33 and attached to the side plate 31. Further, a tubular pressing roller 43 on the front side and a tubular return roller 44 on the rear side are rotatably inserted into each support shaft 41. Then, the support plate 45 is detachably attached to the end portions of the side plate 31 and both support shafts 41. The support plate 45 is provided in a state of projecting to the front side (right side in FIG. 3) from the side plate 31.

The transfer mechanism unit 25 is provided with a transfer belt 47. The transfer belt 47 is a thin sheet-like belt, the surface of which is made of a non-adhesive material. Each end of the transfer belt 47 is attached to the first roller 33 and the second roller 35. The transfer belt 47 is wound around the first roller 33 a plurality of times, passes under the pressing roller 43 on the front side, covers the upper surface of the support plate 45 over the tip 45T of the support plate 45, and is folded downward at the tip 45T. It covers the lower surface of the support plate 45 and is wound around the second roller 35 a plurality of times via the return roller 44 on the rear side. Here, the winding directions of the transfer belts 47 wound around the first roller 33 and the second roller 35 are opposite to each other.

The transfer belt 47 rotates while maintaining the tension set by the synchronous rotation of the first roller 33 and the second roller 35. In FIG. 3, when the first roller 33 and the second roller 35 rotate clockwise, the transfer belt 47 wound around the second roller 35 is released, and the transfer belt 47 on the lower surface of the support plate 45 is the upper surface of the support plate 45. The transfer belt 47 on the upper surface of the support plate 45 is wound around the first roller 33. Here, the rotation of the first roller 33 and the second roller 35 is referred to as forward rotation, and the movement of the transfer belt 47 is referred to as forward movement.

When the first roller 33 and the second roller 35 rotate counterclockwise, the transfer belt 47 wound around the first roller 33 is released, and the transfer belt 47 on the upper surface of the support plate 45 wraps around the lower surface of the support plate 45. The transfer belt 47 on the lower surface of the support plate 45 is wound around the second roller 35. Here, the rotation of the roller is referred to as reverse rotation, and the movement of the transfer belt 47 is referred to as recovery.

The transferred object detection device 49 is attached to the lower surface of the upper plate 30, and is attached to the lower surface of the tip end portion of the bracket 51 projecting toward the tip end side of the support plate 45. The detection position of the transferred object detection device 49 is set in the vicinity of the tip 47T of the support plate 45 and at the center in the width direction of the support plate 45 (see FIGS. 3 and 4). When the transfer belt 47 of the transfer device 19 moves to scoop up the food product 5 which is the transfer object from the food product transfer device 7 to the upper surface of the transfer belt 47, the transferred object detection device 49 is used. Further, when the transfer belt 47 is reactivated and the food product 5 is transferred from the upper surface of the transfer belt 47 to the storage case 11, the food product 5 is detected.

The tilting mechanism unit 26 is provided at the rear portion of the transfer device 19. The base end portion of the fluid pressure cylinder 53 is swingably supported by the substrate 28 of the connecting mechanism portion 24. Further, a joint 54 is attached to the tip of the piston rod 53P of the fluid pressure cylinder 53. The joint 54 is connected to the lower plate 55 attached to the lower surface of the upper plate 30 of the transfer mechanism portion 25 via a pin 57. Therefore, the transfer mechanism portion 25 with respect to the connection mechanism portion 24 so that the support plate 45 swings between the horizontal position and the position where the tip side of the support plate 45 is tilted downward due to the reciprocating movement of the piston rod 53P. Swings up and down.

The transfer system 1 includes a control device 22 that controls the operation of each device. The control device 22 executes a preset program based on each detection signal from the food product detection device 17, the storage case detection device 21, and the transferred object detection device 49.

Next, the process of transferring the food product 5 to be transferred by the robot 15 will be described with reference to FIGS. 6 and 7. The storage case transport device 13 transports the storage case 11 against the guide plate 14 along the transport direction X, and stops the transport when the storage case detection device 21 detects the downstream end of the storage case 11. In the storage case 11, a plurality of containers 9 are arranged in multiple rows and multiple columns at equal intervals in the transport direction X and the lateral direction Y. The position information thereof is registered in the control device 22 in advance.

The transfer device 19 of the robot 15 stands by on the downstream side upper side of the food product transfer device 7. The food product 5 manufactured by the manufacturing apparatus 3 is continuously conveyed by the food product conveying device 7 in the conveying direction X at substantially equal intervals. The food product detection device 17 detects the food product 5, and the control device 22 operates the robot 15 based on the detection signal (see FIG. 1).

The transfer device 19 directs the longitudinal direction of the support plate 45 (horizontal direction in FIG. 3) in the lateral direction Y orthogonal to the transport direction X, makes the support plate 45 horizontal, and transports food products on the lower surface of the transfer belt 47. It moves on the transport surface of the device 7. At this time, the transfer device 19 is set at a position where the tip 45T of the support plate 45 is separated from the center of the transport surface of the food product transport device 7 by a predetermined distance L1 (see FIG. 6a). The control device 22 is in the width direction of the support plate 45 of the transfer device 19 with respect to the transport direction X based on the signal that the food product detection device 17 has detected the food product 5 to be transported and the transport speed of the food product transport device 7. The center of the food product 5 is aligned with the center of the food product 5 to be transported (see FIG. 4), and moves in the lateral direction Y while moving in the transport direction X at the same speed as the food product 5. The movement of the transfer device 19 toward the tip end side of the support plate 45 is referred to as the advance of the transfer device 19, and the distance of advance at this time is L2.

While the transfer device 19 advances, the first roller 33 and the second roller 35 rotate in the forward direction, and the upper surface of the transfer belt 47 moves in the opposite direction at the same speed as the advance speed of the transfer device 19, and eats. The product 5 is scooped up on the upper surface of the transfer belt 47 at the center of the support plate 45 in the width direction (see FIGS. 4 and 6b). Starting from the time when the transfer device 19 advances by a distance L2 and stops, the forward rotation speed of the first roller 33 and the second roller 35 is increased, and the forward speed of the transfer belt 47 is increased. The transferred object detection device 49 is not detected when the food product 5 passes through. After the detection signal is cut off, the control device 22 stops the forward rotation of the first roller 33 and the second roller 35 and stops the forward movement of the transfer belt 47. The food product 5 is allowed to stand in the transfer device 19 (see FIG. 6c).

Based on the stop of the transfer belt 47, that is, the stop signal of the forward rotation of the control motor M1, the transfer device 19 moves upward of the accommodation case 11 while ascending. At the time of the movement, the first roller 33 and the second roller 35 are rotated in the reverse direction to reactivate the transfer belt 47, and the relocation is performed based on the detection signal that the object detection device 49 detects the food product 5. Stop. By the removal, the food product 5 can be adjusted to a fixed position from the tip 45T of the support plate 45 (see FIG. 7a).

The transfer device 19 is moved above the set container 9. The fluid pressure cylinder 53 of the tilting mechanism unit 26 operates so as to retract the piston rod 53P, and the transfer mechanism unit 25 swings downward. The tip 45T of the support plate 45 is set at a predetermined position with respect to the container 9 via the transfer belt 47 (see FIG. 7b). The transfer device 19 retracts in the direction opposite to the lateral direction Y. At this time, the upper surface of the transfer belt 47 is restored in the opposite direction (horizontal direction Y) at the same speed as the retreat speed of the transfer device 19. The food product 5 falls into the container 9 without moving in the horizontal direction by pulling out the support plate 45 via the transfer belt 47 that supports the food product 5.

The robot 15 scoops up the food product 5 to be conveyed next by the same operation as the above step, and transfers it to the next container 9. By repeating this process, each food product 5 is transferred to all the containers 9 in the storage case 11. The storage case 11 is transported in the transport direction X by the storage case transport device 13, and the next storage case 11 is aligned.

Next, the transfer system 1 according to the second embodiment will be described with reference to FIG. The components having the same functions as the components of the transfer system 1 according to the first embodiment are designated by the same reference numerals, and duplicate description will be omitted. In the present embodiment, a case where three flat food products 5 are scooped up by the transfer device 19 and transferred in a state of being half-hung in a shallow and deep long container 9B will be described. The bottom of the container 9B is provided with three inclined surfaces 10C, 10B, and 10A that support the food product 5. Further, the container 9B is transported in the transport direction X by the storage case transport device 13, detected by the storage case detection device 21, and stopped at a predetermined position.

The transfer device 19 advances the distance L2 after the tip 45T of the support plate 45 is set at a position separated from the center of the transport surface of the food product transport device 7 by a predetermined distance L1 next to the first food product 5A. While moving the transfer belt 47 forward, the first food product 5A is scooped up from the transport surface of the food product transport device 7. After the food product 5A has passed the detection position by the transferred object detection device 49, the transfer belt 47 stops moving, and the food product 5A is allowed to stand in the transfer device 19. The transfer device 19 operates on the second food product 5B and the third food product 5C in the same manner as the first food product 5A.

That is, the transfer device 19 recedes in the direction opposite to the lateral direction Y, aligns with the side of the second food product 5B, and then scoops up the second food product 5B. Two food products 5A and 5B are stationary in the transfer device 19. Further, the transfer device 19 scoops up the third food product 5C.

On the upper surface of the transfer belt 47 of the transfer device 19, three food products 5A, 5B, and 5C are arranged in the longitudinal direction of the support plate 45. At this time, the intervals (pitch) of each food product 5 are not necessarily the same. This is because each food product 5 on the food product transport device 7 is transported in a state of being slightly displaced with respect to the lateral direction Y. Even in such a case, the three food products 5A, 5B, and 5C are located at the center of the support plate 45 in the width direction.

The transfer device 19 is moved above the container 9B. At the time of this movement, the transfer device 19 is swiveled so as to align the longitudinal direction of the support plate 45 with the transport direction X while maintaining the support plate 45 horizontally. At this time, the tip 45T of the support plate 45 is directed to the upstream side in the transport direction X. Further, the transfer belt 47 is reactivated, and the transferred object detection device 49 stops at the position where the third food product 5C is detected. The food product 5C is aligned at a fixed position from the tip 45T of the support plate 45.

The tip 45T of the support plate 45 is set at a predetermined position with respect to the inclined surface 10C on the downstream side of the container 9B. The transfer mechanism portion 25 is swung downward by the tilt mechanism portion 26 (see FIG. 8a). The transfer device 19 retracts in the transport direction X, and the upper surface of the transfer belt 47 retreats in the opposite direction at the same speed as the retract speed of the transfer device 19. The third food product 5C falls into the container 9B without moving in the horizontal direction. The food product 5C is accommodated at an angle along the inclined surface 10C at the bottom of the container 9B.

The transfer device 19 advances in the direction opposite to the transport direction X (upstream side of the storage case transport device 13), and the tip 45T of the support plate 45 is set at a predetermined position with respect to the central inclined surface 10B of the container 9B. At the time of this movement, the transfer belt 29 is relocated, and when the transferred object detection device 49 detects the second food product 5B, the relocation of the transfer belt 47 is stopped and the food on the support plate 45 is eaten. Alignment of product 5B is performed.

The transfer device 19 retracts in the transport direction X, and the upper surface of the transfer belt 47 retreats in the opposite direction at the same speed as the retract speed of the transfer device 19. The second food product 5B falls into the container 9B. The food product 5B is inclined along the inclined surface 10B at the bottom of the container 9B, and a part of the food product 5B is accommodated so as to overlap the food product 5A.

The transfer device 19 operates on the first food product 5A in the same manner as on the second food product 5B. That is, the food product 5A is aligned on the support plate 45, the transfer mechanism 25 is aligned with the inclined surface 10A of the container 9B, the transfer mechanism 25 is retracted, and the transfer belt 47 is relocated. Therefore, the first food product 5A is inclined along the inclined surface 10A at the bottom of the container 9B, and a part of the first food product 5A is accommodated so as to overlap the food product 5B (see FIG. 8b). Then, the container 9B is transported in the transport direction X, and the next container 9B is aligned. Further, the transfer device 19 moves to the food product transport device 7 and scoops up the next food product 5.

As can be understood from the above description, when the transfer device 19 is provided with the transferred object detection device 49, the food products 5 are transported in a non-aligned manner in the lateral direction Y orthogonal to the transport direction X, or. When the food product 5 is scooped up on the transfer device 19, even if the food product 5 slides on the transfer belt 47, the food product 5 can be aligned in a certain position in the transfer device 19. .. Then, when the transferred object (food product 5) is transferred to a predetermined position, the transfer device 19 is retracted and the transfer belt 47 is relocated at the same time, so that both directions are opposite to each other. The operating speed can be made the same, and stable transfer can be performed without causing relative movement of the transferred object with respect to the transfer position.

Further, the control device 22 aligns the support plate 45 of the transfer device 19 with the food product 5 to be conveyed based on the detection signal of the food product 5 from the food product detection device 17 and the transfer speed of the food product transfer device 7. Since the food product 5 is scooped up from the lateral direction Y while moving in synchronization with the transport direction X, the food product 5 can always be scooped up at the center in the width direction of the support plate 45. Although the mounting position of the food product detection device 17 and the scooping position of the food product 5 have been described as the centers in the width direction of the support plate 45, the present invention is not limited to this, and the positions are predetermined in the width direction of the support plate 45. Can be set.

Next, another function of the transfer device 19 will be described with reference to FIG. The transfer device 19 transfers the food product 5 by reciprocating the transfer belt 47. At this time, the mounting surface 47A on which the transfer belt 47 mounts the food product 5 is substantially the same area. When the food product 5 is scooped up, the mounting surface 47A may come into contact with the food product 5 so that a part of the food product 5 adheres and becomes dirty. Further, there is a problem that the non-adhesiveness is lowered by repeated use, or the material is deteriorated by folding back at the tip 45T of the support plate 45.

In the conventional transfer device disclosed in Patent Documents 1 to 4, when the transfer belt becomes dirty or the transfer belt deteriorates, the device must be temporarily stopped and the transfer belt must be replaced. Follow. Therefore, when the transfer device is incorporated into the food product manufacturing system, the food product manufacturing device must also be stopped, which causes a problem that the productivity is lowered.

Therefore, the transfer device 19 according to the embodiment of the present invention has a function of replacing the mounting surface 47A of the transfer belt 47 with a new mounting surface 47B without stopping the operation of the transfer system 1. .. As described above, the first roller 33 and the second roller 35 wind the transfer belt 47 a plurality of times. Here, the transfer belt 47 will be removed, and the transfer belt 47 will be described from the state where the mounting surface 47A is located below the support plate 45 in order to scoop up the next object to be transferred (see FIG. 9a).

After that, when the object to be transferred is scooped up, the transfer belt 47 moves forward and the mounting surface 47A moves to the upper surface of the support plate 45 and stops. At this time, the surface of the transfer belt 47 covering the lower surface of the support plate 45 is designated as the mounting surface 47B (see FIG. 9b). From this state, the first roller 33 and the second roller 35 are further rotated forward (clockwise in FIG. 9), the transfer belt 47 is wound around the first roller 33, and is released from the second roller 35. The mounting surface 47A moves to the first roller 33 side, and the new mounting surface 47B moves to the upper surface of the support plate 45 and stops. At this time, a mounting surface 47C, which is a new mounting surface, is prepared on the lower surface of the support plate 45 by the next switching operation of the transport surface (see FIG. 9c). The new mounting surface 47B reciprocates between the upper surface and the lower surface of the support plate 45 due to the reciprocating movement of the transfer belt 47.

As described above, the control motor M1 has a built-in pulse encoder. The switching signal is transmitted to the control device 22, and the control device 22 rotates and drives the control motor M1 at a required angle, so that the mounting surface 47A used up to now can be switched to a new mounting surface 47B. .. Even during this switching, the first roller 33 and the second roller 35 rotate in synchronization, so that the tension of the transfer belt 47 is maintained in the same manner as in the initial state (state before switching).

In the above description, the transfer belt 47 is wound around the first roller 33 and unwound from the second roller 35 and sent out to replace the transfer belt 47 with a new mounting surface. On the contrary, the transfer belt 47 is used. The mounting surface can be switched by winding it around the second roller 35 and unwinding it from the first roller 33 and sending it out. That is, initially, many transfer belts 47 may be wound around one roller and attached to the other roller. Further, the length of the transfer belt 47 is set to a length that allows this switching to be performed at least once, preferably a plurality of times.

The means for transmitting the switching signal will be described. The switching signal can be selectively set by several means. For example, an operation panel (not shown) connected to the control device 22 is provided with a switching button, and an operator operating the transfer system 1 can observe the state of adhesion of the food product 5 to the transfer device 19 at any time. Sometimes, the switching signal can be transmitted by pressing the switching button. It is possible to switch the mounting surface while the transfer device 19 finishes the transfer of the food product 5 and moves to the food product transport device 7 in order to scoop up the next food product 5.

Further, the switching signal can be transmitted by counting the number of reciprocating movements of the transfer belt 47. The number of reciprocating movements of the transfer belt 47 for switching is set in the control device 22, and when the number of reciprocating movements of the transfer belt 47 counted by the control device 22 exceeds the set number of times, the transfer is performed in the same manner as described above. It is also possible to automatically switch the mounting surface when the mounting device 19 is moved.

The description of the transfer system 1 according to the embodiment of the present invention is generally as described above, but the present invention is not limited to this, and various changes can be made within the scope of claims. For example, in the above description, when the food product 5 adheres to the transfer belt 45 and a part of the food product 5 adheres to the transfer belt 45, a new mounting surface is sent out, but the present invention is not limited to this, and the food product 5 is dirty. It is possible to clean the mounting surface.

For example, a base 63 accommodating a cloth material 61 as a dirt removing member containing a disinfectant solution is provided in the vicinity of the robot 15, and the transfer belt 47 of the transfer device 19 is brought into contact with the cloth material 61 to cause dirt (adhesion). ) 65 can be wiped with the cloth material 61. Here, such a place is referred to as a cleaning station 67. Based on the command from the control device 22, the transfer belt 47 that has completed the transfer of the food product 5 is moved forward, and the mounting surface 47A to which the dirt 65 is attached is positioned on the upper surface of the support plate 45 that is inclined downward. In this state, the tip 47T of the transfer belt 47 (the folded portion of the transfer belt 45 located at the tip 45T of the support plate 45) is lightly pressed against the cloth material 61 (see FIG. 10a) to restore the transfer belt 47. While retracting the transfer device 19 (see FIG. 10b). The mounting surface 47A of the transfer belt 47 to which the dirt 65 is attached is folded downward from the tip 45T of the support plate 45 and moves on the cloth material 61. At this time, the dirt 65 on the mounting surface 45A is wiped off by the cloth material 61 (see FIG. 10c). During this removal operation, the speed of retreat of the transfer device 19 is set to be slower than the speed of recovery of the transfer belt 47.

Further, the dirt 65 can be removed from the transfer belt 47 while the transfer device 19 is maintained horizontally. For example, the soiled mounting surface is positioned on the lower surface of the support plate 45, the entire mounting surface is lightly pressed against the cloth material 61, the transfer device 19 is moved in the horizontal direction, and the cloth material 61 is soiled 65. Can be wiped off. Further, the cleaning station is provided with a dirt removing member such as a rotating brush, and the dirt can be removed by pressing and moving the dirty transfer belt. That is, the cleaning station is provided within the moving range of the transfer device 19, and the dirt removing member of the cleaning station can remove the dirt on the transfer belt 47.

This removal operation can be executed every time the transfer device 49 moves from the storage case transport device 13 to the food product transport device 7, or every required number of movements. Further, it is also possible to execute the operation by operating a button by an operator, as in the case of switching the mounting surface described above. Further, after the transfer device 19 transfers the transferred object, the transfer belt 47 is moved forward to detect dirt (adhesion) by the transferred object detecting device 49, and the transfer is executed based on the detection signal. It is also possible.

Further, although it has been described that the transfer device 19 is tilted by the operation of the tilt mechanism unit 26, for example, it can be performed by the rotation operation of the joint of the robot arm 23. In addition, the transferred object can be scooped up with the transfer device 19 tilted downward, or the transferred object can be transferred while the transfer device 19 is maintained horizontally.

1 Transfer system 3 Food product manufacturing equipment 5 Food products, objects to be transferred 7 Food product transfer device 9, 9B Container 11 Storage case 13 Storage case transfer device 15 Articulated robot 17 Food product detection device 19 Transfer device 21 Storage case detection device 22 Control device 23 Robot arm 24 Connecting mechanism 25 Transfer mechanism 26 Tilt mechanism 27 Connecting member 28 Board 29 Link mechanism 30 Upper plate 31 Side plate 33 1st roller 33S Rotating shaft 35 2nd roller 35S Rotation Shaft 37 Toothed pulley 39 Toothed belt 41 Support shaft 43 Presser roller 44 Return roller 45 Support plate 45T Tip 47 Transfer belt 47A, 47B, 47C Mounting surface 47T Tip 49 Transfer detection device 61 Cloth material 63 units 65 Dirt, deposits 67 Cleaning station M1 Control motor M1S Rotation axis X Transport direction Y Lateral direction

Claims (5)

A support plate that supports the object to be transferred via the transfer belt,
A pair of first and second rollers around which both ends of the transfer belt covering the upper surface and the lower surface of the support plate are wound, respectively.
The pair of rollers have a control motor that rotates the first roller and the second roller in the forward and reverse directions so that when the transfer belt is wound around one roller, the transfer belt is released from the other roller and sent out. Transfer mechanism and
A moving mechanism that moves the transfer mechanism and
A transfer device including a control device that controls the reciprocating movement of the transfer belt and the drive of the movement mechanism unit by controlling the forward and reverse rotational drive of the control motor. The transfer device according to claim 1.
A detection device for detecting the transferred object is integrally provided above the tip of the support plate in the transfer mechanism portion.
The control device moves the transfer belt forward so as to scoop up the transfer object on the upper surface of the transfer belt, and after the transfer object passes the detection position of the detection device, the transfer belt The movement of the transfer belt is stopped, and the transfer belt is removed in the direction opposite to the relocation, and the relocation of the transfer belt is temporarily stopped based on the detection signal that the detection device detects the transferred object. The device is characterized in that it is configured to stop in a hurry and position the object to be transferred on the support plate. The transfer device according to claim 2.
A transport device for transporting the transferred object is provided in the vicinity of the transfer device.
The transport device includes a detection device that detects the transport of the transferred object.
The control device is a support plate of the transfer device with respect to the transfer direction based on a signal for detecting the transferred object to be transported by the detection device provided in the transfer device and a transfer speed of the transfer device. the apparatus according to claim said conveyed predetermined scooping positions widthwise of a structure to align with the center of the transfer Nobutsu. The transfer device according to claim 1.
The control device provides a mounting surface, which is the upper surface of the transfer belt when the transferred object is scooped up.
The apparatus is characterized in that, in the pair of rollers, the transfer belt is wound around one roller, and the transfer belt is released from the other roller and sent out to switch to a new mounting surface. The transfer device according to any one of claims 1 to 4.
The device is provided with a cleaning station for removing dirt adhering to the surface of the transfer belt in the vicinity of the transfer device.