JP7055301B2 - Collective transfer device - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Exhibition date: February 20, 2019-February 23, 2019 Exhibition name: 2019 Mobaksho 26th International Bread and Confectionery Related Industry Exhibition Venue: Chiba Prefecture 2-1 Nakase, Mihama-ku, Chiba Makuhari Messe International Exhibition Hall 6 Hall

The present invention relates to a collective transfer device that collectively transfers articles.

Various devices are known in which articles transported in a lying position are assembled in a standing position in a plurality of units, and the aggregates are transferred to a downstream processing unit (see, for example, Patent Document 1). The apparatus disclosed in Patent Document 1 sequentially sends out articles transported in a lying position to a collecting section while individually standing up at the posture changing section, and collects a predetermined number of articles in the standing position at the gathering section. It is configured to hold the aggregates together in the transfer section and send them to the next process.

Japanese Unexamined Patent Publication No. 2018-193229

In the apparatus disclosed in Patent Document 1, when collecting articles, it is necessary to provide a means for arranging a plurality of articles separately from the means for sending the articles to the collecting portion, which causes a problem that the configuration becomes complicated. Further, in order to send the aggregated product from the lying posture to the standing posture to the next process, in addition to the posture changing unit and the collecting unit, a transfer unit is provided to send the aggregated product collected in the collecting unit to the next process. As the number of steps increases, a posture maintaining mechanism for maintaining the posture of the article must be provided between each processing step, which causes a problem that the entire apparatus becomes complicated. Further, when changing the orientation of the aggregate, an orientation conversion unit is required in addition to each processing unit, which further complicates the apparatus. Furthermore, in order to support a wide variety of products, it is necessary to provide a parts replacement and mold change adjustment mechanism for each processing unit according to the size of the article, and parts replacement and mold change adjustment for product product switching must be provided. It is also pointed out that the work is complicated and requires a lot of time.

It is an object of the present invention to provide a collective transfer device having a simple configuration in which the transported articles are collected and delivered to a delivery destination as an aligned collective product.

The collective transfer device of the invention according to claim 1 of the present application is
A conveyor (12) that transports articles (10) at predetermined intervals and has a rotating traveling unit (12b) at the end of transport.
An article detection sensor (30) that detects an article (10) sent from the conveyor (12),
A handling unit whose operation is controlled so that the articles (10) sent from the conveyor (12) are accommodated in a bucket (14) as an aggregate (W) stacked in a predetermined number and transferred to a delivery destination (S2). It consists of a transfer robot (16) equipped with 32) and
The bucket (14)
A first support member (14b, 14b,) that defines the lower part of the opening area (14f, 14g, 46a) for receiving the article (10), stacks the article (10) sent from the conveyor (12), and supports it from below. 48) and
The opening area (14f, The second support member (14c, 49) that can expand 14g, 46a) and
Both support members (14b) can regulate the position of the front part of the article stacked on the upper part of the first support member (14b, 48) by closing the front of the article (10) fed from the transfer conveyor (12) in the transport direction. , 14c, 48,49) with support walls (14a, 47) arranged between
At the receiving position (S1) of the article (10) from the conveyor (12) to the bucket (14).
With the second support member (14c, 49) as the expanded position, the left and right sides are guided by the side wall member (14,51) from the expanded opening area (14f, 14g, 46a) to the bucket (14). ), And the rear end of the article (10) in the transport direction when the article (10) is received into the bucket (14) has a slight gap (N) with the rotating traveling portion (12b). In addition, the support wall (14a, 47) is made to face forward in the transport direction in a forward leaning posture, and the support height by the first support member (14b, 48) is set from the rotating traveling portion (12b) to the article (12b). 10) so that it can land in the bucket with a head
The handling unit (32) is characterized in that the operation is controlled so that the receiving height and the receiving posture of the bucket (14) according to the detection result by the article detection sensor (30) are obtained.
According to the invention of claim 1, the article sent into the bucket from the transport end of the conveyor is wound around the rotary traveling portion (pulley) of the conveyor end from the rear end of the article in a state of being housed in the bucket. The surface of the belt is maintained in a slight gap, and the support height of the first support member is set as the height at which the article lands in the bucket with a predetermined drop from the rotating traveling portion. For articles that are bounced off the support wall or cannot fit in the bucket due to a delay in transportation, the rear part of the article comes into contact with the rotating traveling part at the end of the conveyor and the downward feeding force toward the bucket is applied. Since it is imparted and always has a feeding action to the bucket, it is possible to make an aggregate in which the articles are aligned and stacked vertically on the inclined support wall. Further, the support wall of the bucket and the rotating traveling portion are set to a separation distance in which the rear end of the article housed in the bucket has a slight gap between the supporting wall and the rotating traveling portion, so that the conveyor can be moved into the bucket. Since the bucket moves downward while the rear portion of the article stored in the bucket is regulated by the rotating traveling portion, the articles housed in the bucket are stacked as an aggregate in a vertically stacked state. That is, it can be delivered to the delivery destination as an aggregate in which the articles are arranged in a simple configuration without separately providing an alignment device or the like.

In the invention according to claim 2, the bucket (14) is arranged side by side with the support wall (14a, 47) as the bottom from the receiving posture at the receiving position (S1). It is characterized in that the handling unit (32) is operated and controlled so as to change the posture and move to the delivery position (S2) which is the delivery destination.
According to the second aspect of the present invention, since the bucket containing the aggregate is changed in posture so that the articles are arranged side by side with the support wall as the bottom, the posture changing unit is dedicated to changing the posture of the articles. Further, the device configuration can be simplified without separately providing a posture maintaining mechanism for maintaining the posture of the article between the posture changing unit and the gathering unit.

In the invention according to claim 3, the bucket (14) is arranged so that at least the support wall (14a, 47) faces the rear in the transport direction in the receiving posture of the article (10) at the receiving position (S1). It has a first opening (14f, 46a) to be opened as the opening area.
At the receiving position (S1) of the bucket (14),
The second support member (14c, 49) is moved to an expansion position that is separated upward from the first support member (14b, 48), or is moved from above the first support member (14b, 48). It is equipped with expansion means (24,50) that operates to expand the opening area (14f, 14g, 46a) by moving to the expansion position to be retracted.
When the number of detections by the article detection sensor (30) reaches a predetermined number, the bucket (14) is moved toward the delivery destination (S2), and the second support member (14c, 49) is moved. It is characterized in that the expansion means (24, 50) is operated so as to be a support position of the aggregate (W) by the first support member (14b, 48) from the expansion position.
According to the third aspect of the present invention, since the second support member is in the expanded position when the article is received in the bucket, the front or front and upper openings facing the conveyor which is the receiving side of the article in the bucket. The area is expanded, and the goods sent out from the end of the conveyor can be well accepted even at high speed. Further, when the bucket containing the aggregate is moved toward the delivery destination, the second support member is moved to the support position to support the front and back in the arrangement direction in which the articles in the aggregate overlap, so that the article moves during the movement. It is possible to suppress the displacement and the change of the gathering posture.

In the invention according to claim 4, the first transfer robot (16), which is the transfer robot (16), receives the aggregate (W) in the bucket at the reception position (S1) and sends it to the delivery position (S2). 16) and the assembly (W) in the bucket of the first transfer robot (16) at the delivery position (S2) were held and inherited by the holding means (20), and held by the holding means (20). A second transfer robot (22) for transferring the aggregate (W) to the supply conveyor (38) of the packaging machine, which is the next step, is provided.
According to the invention of claim 4, since the aggregate assembled by the first transfer robot is configured to be inherited by the second transfer robot and transferred to the supply conveyor, the first transfer product is delivered. It is possible to improve the efficiency of the collective processing of articles by the transfer robot.

In the invention according to claim 5, the second transfer robot (22) has a first assembly (W) held and inherited by the holding means (20) at the delivery position (S2). As an aggregate (W) in which the holding means (20) is horizontally rotated 90 degrees by moving to the outside of the storage portion of the bucket (14) in the transfer robot (16) and the arrangement of the articles (10) is converted in the orthogonal direction. It is characterized in that it is configured to be transferred according to the transfer interval and transfer timing of the supply conveyor (38) in the next step.
According to the invention of claim 5, the arrangement direction in which the articles of the aggregate obtained by assembling the articles up and down in the bucket overlap is converted by the second transfer robot inheriting the aggregate from the bucket, and the supply conveyor is used. Since it is configured to be transferred to the packaging machine, it is possible to effectively supply the packaging unit of the packaging machine by preventing the arrangement of the aggregates in which the articles are aligned from being disturbed.

In the invention according to claim 6, when the aggregate (W) is held and inherited by the holding means (20) of the second transfer robot (22) at the delivery position (S2), the bucket (14) is used. ) And the holding means (20) are moved to each other so as to be separated from each other in the arrangement direction of the article (10), and at the time of the movement, either the first support member (14b) or the second support member (14c) is moved. It is characterized in that it is configured to retract from the support position of the aggregate (W).
According to the invention of claim 6, since the bucket and the holding means are configured to move apart from each other to move the aggregate out of the bucket, the first transfer robot to the second transfer robot. It is possible to shorten the tact time required for delivery of aggregates and achieve high-speed processing.

In the invention according to claim 7, the second support member (14c) is provided with a rotation fulcrum on the support wall side of the bucket (14) so as to be rotatable from the support position to the expansion position. It is characterized by that.
According to the invention of claim 7, since the second support member is configured to rotate to release the support of the aggregate, the aggregate can be satisfactorily delivered with a simple configuration.

In the invention according to claim 8, a plurality of the handling portions (32) are provided.
Each handling section (32) is close to each bucket (14) from above the bucket (14) receiving the article (10) toward another bucket (14) to which the article (10) should be next received. An article (10) in which the height of the first support member (14b, 48) is continuously fed to the next bucket (14) connected above the bucket (14) that has been received in a continuous and synchronized descent. The handling height (32) is controlled so as to have a support height corresponding to the above, and to have a receiving height and a receiving posture of the bucket (14).
According to the eighth aspect of the present invention, a plurality of handling portions are provided, and the receiving operation of collecting the articles sent out from the conveyor in the bucket is configured to be performed without interruption in the plurality of buckets, so that the processing capacity can be improved. ..

In the invention according to claim 9, the transport conveyor (12) has an inclined transport section (12a) that attracts and transports at least the article (10) toward the rotary traveling section (12b), and the rotation The article (10) dropped from the traveling portion (12b) has the bucket (14) so that the tip in the transport direction lands in the bucket and then the rear end lands in the bucket with a head of about one article height. It is characterized in that the operation of the handling unit (32) is controlled so as to have a receiving height and a receiving posture.
According to the invention of claim 9, since the tip and the rear end of the article sent from the conveyor do not land at the same time, the impact when the article lands in the bucket is alleviated and the article is placed in a posture. It can be stacked and assembled in the vertical direction without being disturbed.

According to the present invention, articles can be fed to a bucket by a conveyor so that the tips are aligned, and a plurality of articles can be transferred to a delivery destination as an aggregate with a simple configuration without providing a dedicated means. Can be done.

It is a schematic plan view which shows the collective transfer apparatus of an Example. It is a schematic side view which shows the collective transfer apparatus of an Example partially longitudinally. It is explanatory drawing which shows the article transfer process by the collective transfer apparatus of an Example. It is the description which shows the relationship between the bucket during the receiving operation and the transfer conveyor in the collective transfer apparatus of an Example. It is a schematic side view which shows the state which the next bucket is positioned on the bucket which is collecting articles in the assembly transfer apparatus of an Example. It is a schematic side view which shows the collective transfer apparatus of 2nd Example. It is a schematic plan view which shows the collective transfer apparatus of 2nd Example. It is the explanation which shows the relationship between the bucket of the receiving position, and the transfer conveyor in the collective transfer apparatus of 2nd Embodiment.

Next, a suitable embodiment of the collective transfer device according to the present invention will be described below with reference to the accompanying drawings.

As shown in FIGS. 1 to 3, the collective transfer device according to the embodiment includes an article detection sensor 30 for detecting the passage of the packaged article 10 as an article sent out from the transfer end of the transfer conveyor 12, and the transfer conveyor 12. It is equipped with two first transfer robots 16 equipped with a robot hand 16a equipped with a bucket 14 capable of receiving a bagged product 10 sent out from a transfer end and accommodating it as an aggregate W stacked in a predetermined number. The operation of the first transfer robot 16 is controlled so as to sequentially move downward in the bucket 14 according to the detection timing and the number of detections of the packaged product 10 detected by the article detection sensor 30, so that the inside of the bucket 14 is moved. A predetermined number of packed products 10 are arranged and stacked in the vertical direction. The bucket 14 includes a first support member 14b and a second support member 14c that support the aggregate W of the baggage 10 from above and below on both outer sides in the arrangement direction in which the baggage 10 overlaps, and both support the bucket 14. The assembly W supported by the members 14b and 14c is moved toward the delivery destination by the operation of the first transfer robot 16, and the assembly W housed in the bucket 14 is the delivery position as the delivery destination. Will be transferred to. Further, the collective transfer device of the embodiment is a holding means for holding the collective product W in the bucket 14 moved to the delivery destination by the first transfer robot 16 by sandwiching it from the front and back in the arrangement direction in which the bagged products 10 overlap. A second transfer robot 22 having 20 and moving the holding means 20 to transfer the aggregate W to the next step is provided. The article in the embodiment is a bag-packed product 10 pillow-wrapped in a bag-making filling machine, and the bag-packed product 10 in a lying-down position with horizontal seal portions formed on the left and right stands up in an edge-standing position. , As an example of the form of delivering to the delivery destination as an aggregate W arranged side by side, the article is not limited to such a bagged item 10, but various bagged forms other than pillow packaging, a small box packed item, or an unpackaged item. Articles in various forms, such as articles, can be transferred.

As shown in FIGS. 1 and 2, the transfer conveyor 12 includes a suction belt 26 traveling by a drive source such as a servo motor, and a suction chamber 28 connected to the suction source and in contact with the back surface of the suction belt 26. The packaged product 10 is sucked and conveyed on the belt surface (transport surface) by the suction force acting on the through hole 26a provided in the suction belt 26 through the suction hole 28a provided in 28. The transport conveyor 12 is supplied with a bagged product 10 in a lying position in which the lateral seal portion 10a intersects the article transport direction and faces left and right at predetermined intervals from the previous process. Further, an inclined conveyor portion 12a whose transport surface is inclined downward toward the end of the conveyor 12 is provided. The bagged product 10 transported diagonally downward by the inclined transport unit 12a is sucked and held by the suction belt 26 of the transport conveyor 12 and is conveyed to the end of the transport in a state where misalignment is prevented. As shown in FIG. 4B, the delivery line L of the bagged product 10 from the inclined transport portion 12a is the mounting surface of the bucket 14 (the upper surface of the first support member 14b or the bagged product 10 already housed in the bagged product 10). The tip of the bagged product 10 faces downward and is inserted diagonally toward the upper surface of the bag. Then, the tip of the bagged product 10 first lands on the mounting surface in the bucket 14, and then the rear end lands on the mounting surface in the bucket 14 with a head of about one article height. It is housed in the bucket 14. The transport end of the transport conveyor 12 is a rotary traveling portion 12b in which the pulley 13 is rotatably supported and the suction belt 26 is rotated downward as a winding end portion of the suction belt 26, and is in front of the rotary traveling portion 12b. The packed products 10 are sequentially stacked and housed in the bucket 14 located at the receiving position S1 described later, which is separated by a predetermined interval. The rear end of the packaged product 10 placed on the suction belt 26 and conveyed is subjected to a downward feeding force so as to be rolled downward in the rotating traveling portion 12b. The article detection sensor 30 for detecting the passage of the bagged product 10 conveyed to the transfer end of the conveyor 12 is provided, and the article detection sensor 30 detects the passage of the bagged article 10 to pack the bag. The number of articles detected in the article 10 is counted as the number of articles sent into the bucket 14, and the timing of sending articles to the bucket 14 can be obtained from the article detection signal.

As shown in FIGS. 1 to 3, the bucket 14 extends to one side of the support wall 14a and is arranged to face each other, and is downward in the receiving posture described later when the bagged product 10 is received. The first support member 14b located in, the second support member 14c located above, and the side wall members 14d, 14d arranged to face each other on both sides in the direction intersecting the first support member 14b and the second support member 14c. A first opening that is surrounded by these components 14b, 14c, 14d, 14d and allows the acceptance of the baggage 10 from one side, which extends outwardly to the outside facing the inner surface 15 of the support wall 14a. The accommodating portion 14e is defined at 14f. In the accommodating portion 14e, the packed products 10 received from the conveyor 12 are sequentially stacked and overlapped on the upper portion of the first support member 14b that defines the lower portion of the first opening 14f while lying down. It becomes W and is accommodated. The second support member 14c is rotatably supported by the bucket 14, is moved by the expanding means 24, and expands and opens in the stacking (arrangement) direction of the packaged products 10 on the first support member 14b. The second opening 14g is configured to be openable and closable. That is, the second support member 14c is retracted from above the first support member 14b from the position where the second opening 14g is closed in the receiving posture, and the upper part of the second opening 14g is opened to allow acceptance of the packaged product 10. By moving to the open position, the first opening 14f and the second opening 14g, which open the support wall 14a to the side facing rearward in the transport direction, continuously face the opposite side of the support wall 14a in the accommodating portion 14e (the side facing the inner surface 15). ) Is opened in two directions, one side and the upper side, and the opening area for receiving the bagged product 10 in the bucket 14 is expanded.

As shown in FIG. 4, in the receiving position S1, the support wall 14a is in front of the transfer end (rotary traveling portion 12b) of the transfer conveyor 12 and is forward toward the front in the transfer direction of the transfer conveyor 12. The first support member 14b is positioned downward and the second support member 14b is positioned in the receiving posture so as to be tilted so that the front of the packed product 10 fed from the conveyor 12 can be closed in the transport direction. The support member 14c is located above. As shown in FIG. 3, the second support member 14c is rotatably supported with respect to the support wall 14a, and is rotated to a position where the second opening 14g is opened (the opening area is expanded) by the expanding means 24. A support position (a support position that is rotated to a position where the aggregate W can be supported by the widened opening position and the first support member 14b while closing the second opening 14g so as to sandwich the aggregate W from the front and back in the arrangement direction of the packaged product 10. It is moved to a position that supports one side, which is the upper part of the aggregate W supported by the first support member 14b). When the bagging item 10 is received in the bucket 14, the expanding means 24 moves the second support member 14c to the expanding position, and after receiving a predetermined number of bagging items 10 in the bucket 14, accepts the bagged item 10. Until the bucket 14 is moved from the position S1 to the delivery position S2 which is the delivery destination, the second support member 14c moved from the expanded position is maintained at the support position. Further, the expanding means 24 moves the second support member 14c to the expanding position when the aggregate W housed in the bucket 14 is delivered to the second transfer robot 22 at the delivery position S2. In addition, notches 14h, 14h that open in the extending direction are provided on the extending end side of the first and second support members 14b, 14c. As shown in FIG. 3, when the bucket 14 moves to the delivery position S2, the claw portions 20a and 20a provided in the holding means 20 pass through the vacant spaces of the notch portions 14h and 14h and are housed in the bucket. The aggregate W can be sandwiched from the front and back in the arrangement direction.

As shown in FIG. 1, as the first transfer robot 16, a vertical articulated robot or the like in which a bucket 14 is provided on the robot hand 16a to form a handling portion 32 is used, and the first transfer robot 16 is , Two units are arranged apart from each other in a direction intersecting the transfer direction of the transfer conveyor 12. Each transfer robot 16 moves the bucket 14 to a receiving position S1 capable of accepting the bagged product 10 in a lying posture sent out from the transport end of the transport conveyor 12 and a delivery position S2 separated from the receiving position S1. The operation of the handling unit 32 is controlled so as to be performed. As shown in FIG. 4, at the receiving position S1, the front of the packed product 10 fed from the transport conveyor 12 in the transport direction is position-controlled by the support wall 14a, and the bagged product 10 fed into the bucket 14 is the transport conveyor 12. The bucket 14 is positioned as a receiving posture in which the support wall 14a leans forward so as to have a slight gap N between the front of the rotating traveling portion 12b at the end of the conveyor and the rear end of the packed product 10. Then, as described above, the bagged product 10 fed from the transport end of the conveyor 12 is fed into the bucket 14 with a predetermined head (for example, approximately one article height). The support height by the first support member 14b is maintained according to the number of stacked bagged products 10 so as to be positioned as the height. The operation of the handling unit 32 is controlled so as to maintain the gap N between the support wall 14a and the rotating traveling unit 12b at the end of the transfer of the conveyor 12 even when the bucket 14 is lowered to the receiving height. Further, in the receiving posture of the bucket 14, the slight gap N between the support wall 14a and the rotating traveling portion 12b is, as shown in FIG. 4B, the bagged product 10 whose tip is in contact with the support wall 14a. The rear end is set to a separation distance that allows it to descend without contacting the conveyor 12. The timing for lowering the bucket 14 to the receiving height is set from the relationship between the timing of article detection by the article detection sensor 30 and the speed of the conveyor 12. In this way, the handling unit 32 performs a receiving operation in which the bucket 14 has a predetermined receiving height and receiving posture according to the detection timing and the number of detections of the bagged product 10 detected by the article detection sensor 30. The operation is controlled. Further, the first transfer robot 16 raises the bagged product 10 in an upright posture while moving the bucket 14 containing the aggregate W in which a predetermined number of packed products 10 are stacked to the delivery position S2. The bucket 14 is tilted so as to be side by side, and the handling unit 32 is operated so as to change the posture so that the first opening 14f faces upward and the support wall 14a is horizontal (the direction in which the articles are arranged is horizontal).

As shown in FIG. 5, the two first transfer robots 16 are the buckets 14 in one bucket 14 during the receiving operation that accepts a predetermined number of bagged items 10 sent out from the transfer end of the transfer conveyor 12. The bucket 14 of the other transfer robot 16 is approached upward from above, and the lower portion thereof is positioned so as to be close to a position that does not hinder the acceptance of the bagged product 10 from the second opening 14 g to the one bucket 14. The handling unit 32 controls the operation so that the buckets 14 are temporarily connected and lowered in synchronization with each other, and the receiving operation of the other bucket 14 is subsequently completed after the receiving operation of the other bucket 14 is completed. Will be done. Further, one of the buckets 14 for which the receiving operation has been completed is vertically lowered from the receiving position S1 to the lower retracted position, and the second support member 14c at the expanded position is moved to the supported position until the bucket 14 is lowered to the retracted position. After that, the operation of the handling unit 32 is controlled so as to laterally move one of the buckets 14 to reach the delivery position S2. That is, the two first transfer robots 16 move the two robots so that the packaged product 10 can be conveyed by the conveyor 12 at predetermined intervals so that the receiving operation can be performed without interruption. The operation of the handling unit 32 is controlled so that the two buckets 14 and 14 of the robot 16 alternately receive the robot 16.

As shown in FIG. 2, as the second transfer robot 22, a parallel link robot or the like equipped with a handling unit 34 provided with a holding means 20 at the end of a robot arm that can freely move in a three-dimensional space is used. Be done. The holding means 20 includes a pair of claw portions 20a, 20a that can be moved close to each other, and the claw portions 20a, 20a sandwich and inherit the aggregate W housed in the bucket 14 in the front-rear direction. It is composed. Here, the aggregates W housed in the bucket 14 and lined up are supported by the first and second support members 14b, 14c provided with the notch portions 14h, 14h, sandwiching the front and back in the lineup direction, and the claw portions 20a, The 20a is configured to sandwich and hold the aggregate W housed in the bucket from the front and back in the arrangement direction corresponding to the vacant spaces of the cutout portions 14h and 14h. As shown in FIG. 3, the second transfer robot 22 moves the holding means 20 holding the aggregate W in the arrangement direction of the aggregate W, and the bucket 14 is directed in the support direction by the second support member 14c. By laterally moving to the outer position of the above, the aggregate W is inherited from the first transfer robot 16 to the second transfer robot 22. Upon inheritance due to the lateral movement of the aggregate W, the second support member 14c rotates downward to release the support on one side of the aggregate W housed in the bucket 14, and the second support member W is laterally moved. Allows passage out of the bucket. In this way, the handling unit 34 of the second transfer robot 22 is operated so as to inherit the aggregate W. The arrangement of the aggregate W laterally moved to the outside of the accommodating portion 14e of the bucket 14 is converted in the orthogonal direction by horizontally rotating the holding means 20 by 90 degrees.

As shown in FIGS. 1 and 3, in the next step, a packaging machine is supplied, which is installed so as to be separated from one side of the conveyor 12 and have a transport direction parallel to the transport direction of the conveyor 12. A conveyor 38 is arranged. The supply conveyor 38 uses the push member 42 to push the aggregate W placed on the transport bed 40 by the second transfer robot 22 toward the packaging portion 36 of the horizontal bag-making filling machine at predetermined intervals. In the assembly bed 40 whose orientation is changed by 90 degrees by the horizontal rotation of the holding means 20 in the second transfer robot 22, the horizontal seal portion 10a of the bagged product 10 is in front of and behind the article transport direction. It is placed in the orientation according to the article transport interval by the push member 42. The left and right sides of the aggregate W placed on the supply conveyor 38 are guided by the article guides 44 and 44 and conveyed toward the packaging portion.

Next, the operation of the collective transfer device according to the embodiment will be described.
As shown in FIGS. 1 and 2, one of the transfer robots 16 in the first transfer robot 16 has a receiving position S1 which is a position in front of the rotary traveling portion 12b at the end of the transfer in the transfer conveyor 12. The support wall 14a is tilted so that the bucket 14 has a slight gap N between the rotating traveling portion 12b and the rear end of the packaged product 10 housed in the bucket 14, and the first opening 14f is opened. The second support member 14c is oriented toward the end of the transfer and is in the receiving posture with the second support member 14c facing upward, and the second support member 14c is moved to the expanded position to face it. In the transport conveyor 12, horizontal seal portions 10a are arranged on the left and right sides to attract and transport the bagged product 10 in a lying position at predetermined intervals, and the bagged product 10 is lowered forward from the transport end in the inclined transport portion 12a. The left and right sides of the bagged product 10 that is sent out toward the bucket 14 facing the receiving position S1 and conveyed from the first opening 14f toward the accommodating portion 14e are guided by the side wall members 14d and 14d, and the bagged product 10 is a bucket. Accepted by 14. The packaged product 10 received in the bucket 14 is stacked on the first support member 14b whose front portion in the transport direction is restricted in position by the support wall 14a. As shown in FIG. 4, the first transfer robot 16 stacks the bucket 14 on the first support member 14b every time the bagged product 10 is detected by the article detection sensor 30. The tip of the bagged product 10 sent to the bucket 14 moves so as to descend in accordance with the time when it reaches the support wall 14a toward the receiving height according to the number, and the receiving height of the bagged product 10 by the bucket 14 The operation of the handling unit 32 is controlled so that the stacking position and the stacking position are constant.

As shown in FIG. 3, the article detection sensor 30 detects a predetermined number of bagged items 10, and the bagged items 10 are housed in a predetermined number in the bucket 14 to form an aggregate W, whereby the receiving position S1. In the bucket 14 facing in the receiving posture, the operation of the handling unit 32 is controlled so that the bucket 14 vertically descends from the receiving position S1 to the lower retracted position and then moves laterally to reach the delivery position S2. Then, the second support member 14c is moved to the support position until the bucket 14 descends to the retracted position, and the aggregate W moves the first support member 14b and the second support member from the front and back in the arrangement direction of the bagged product 10. It is supported by sandwiching it between 14c. The bucket 14 that has finished receiving the bagged product 10 in this way immediately separates from the receiving position S1 and positions the other bucket 14 at the receiving position S1 to receive the bagged product 10 that is continuously conveyed. Tolerate. Since the aggregate W in the bucket 14 moves vertically downward before being sandwiched by the second support member 14c, it can be immediately separated from the receiving position S1 without giving rolling to the aggregate W, and due to the movement. It is possible to prevent the aggregated product W from being disturbed in the assembled state and the misalignment of each packaged product 10. Further, the first transfer robot 16 operates the handling unit 32 to move the bucket 14 in which the aggregate W is supported by the first support member 14b and the second support member 14c from the reception position S1 to the delivery position S2. During this period, the sideways first opening 14f is turned upward, the posture is changed so that the support wall 14a is horizontal, and the bagged product 10 is converted so as to stand up and become a side-by-side aggregate W with an edge stand.

As shown in FIG. 5, the bucket in the other transfer robot 16 coincides with the end time of the acceptance operation in which the first transfer robot 16 receives a predetermined number of bagged items 10 into the bucket 14 at the acceptance position S1. 14 is lowered from above the bucket 14 during the receiving operation to a position close to the bucket 14. Then, when one bucket 14 separates from the receiving position S1 after receiving a predetermined number of packed products 10, the bucket 14 of the other transfer robot 16 immediately moves so as to be positioned at the receiving position S1. The above-mentioned acceptance operation is repeated. In this way, by alternately receiving and operating the two mobile robots 16 by the buckets 14 provided respectively, the bag-filled products 10 conveyed at predetermined intervals by the conveyor 12 are sequentially received in each bucket 14 without interruption. be able to. That is, from the time when the final packaged product 10 to be accommodated in one bucket 14 is sent until the continuously transported bagged product 10 is dropped from the rotating traveling portion 12b into the other bucket 14. Correspondence of two transfer robots 16 so that the other bucket 14 moves to a position close to the upper part of one bucket 14 and descends in synchronization with both buckets 14 temporarily connected at the same time. The operation of each handling unit 32 is controlled. As described above, the bucket 14 on which the reception of the predetermined number of the packaged products 10 has been completed is immediately separated from the receiving position S1 and moved toward the delivery position S2 via the lower retracting position. Further, when the bucket 14 is moved to the delivery position S2, the second support member 14c at the expanded position moves to the support position, and the aggregate W is supported from both sides in the line-up direction.

As shown in FIGS. 2 and 3, when the bucket 14 is moved to the delivery position S2 by the first transfer robot 16, the second transfer robot 22 has a pair of claws above the delivery position S2. The handling portion 34 is operated so as to lower the holding means 20 separated from the 20a, 20a, and the pair of claw portions 20a, 20a are moved in close proximity to the claw portions 20a, 20a to move the first and second support members 14b. In the vacant space corresponding to the notches 14h and 14h provided in the 14c, the aggregate W of the bag-packed products 10 which is edged in the bucket is sandwiched and held from the front and back in the arrangement direction. Then, after the second support member 14c is moved to the expansion position by the expansion means 24, the holding means 20 is moved from the bucket 14 to the outside of the opened second support member 14c by the second transfer robot 22. It is laterally moved so as to be separated, and the aggregate W is inherited by the second transfer robot 22 outside the bucket 14. Further, in the first transfer robot 16 in which the aggregate W is delivered to the second transfer robot 22 at the delivery position S2, as shown in FIG. 5, the bucket in which the second support member 14c is moved to the expanded position. 14 is positioned above the other bucket 14 that is receiving operation at the receiving position S1, and as described above, the receiving operation of the bagged product 10 in the bucket 14 is repeated. Further, the second transfer robot 22 that inherits the aggregate W rotates the holding means 20 horizontally by 90 degrees after laterally moving the holding means 20, and arranges the aggregates W in the standing posture in the orthogonal direction. The operation of the handling unit 34 is controlled so that the aggregate W is transferred at predetermined timings according to the transfer interval of the supply conveyor 38.

In the collective transfer device of the present embodiment, the bagged product 10 conveyed in the lying posture by the transport conveyor 12 is received and assembled in the bucket 14 of the first transfer robot 16 in the lying posture, and the collective product is collected. While the bucket 14 in which W is housed is moved from the receiving position S1 to the delivery position S2, the bucket 14 is changed to the posture by the first transfer robot 16 so as to change the bagged product 10 from the lying posture to the standing posture. Since it is configured, it is not necessary to separately provide a device for changing the posture of the packaged product 10, and the device configuration can be simplified. That is, since each process of assembling the packaged items 10 and changing the posture of the assembled bagged items 10 is performed by the operation of the handling unit 32 of the first transfer robot 16, the number of processing units is increased. In addition to reducing the number, it is possible to omit the posture maintenance mechanism for maintaining the posture of the bagged product 10 between each processing unit, and it is possible to omit the trouble of parts replacement and model change when changing the product type, and the work time for product product switching. Can be shortened.

In the collective transfer device of the present embodiment, when the bagged product 10 is received in the bucket 14 at the receiving position S1, the second support member 14c arranged above is moved to the expanded position to open the second opening. Since 14 g is opened, the front and the upper side of the bucket 14 facing the conveyor 12 are opened, and the opening area for receiving the bag 10 is expanded, so that the bag 10 sent out from the transfer end at high speed is received. Is easy. Further, the second support member 14c is configured to maintain the bucket 14 at the support position and close the second opening 14g when the bucket 14 is moved from the receiving position S1 to the delivery position S2 to change the posture of the packaged product 10. Therefore, the aggregate W is supported by the first support member 14b and the second support member 14c in the front and rear of the arrangement direction of the packaged items 10, and suppresses the misalignment of the packaged items 10 and the disorder of the assembled state during the movement of the bucket 14. The assembly W can be well held by the holding means 20 and the assembly W can be delivered to the second transfer robot 22. Further, since the second support member 14c is configured to rotate and open / close with the support wall side as a rotation fulcrum, the aggregate W can be delivered from the bucket 14 to the second transfer robot 22 with a simple configuration. Can be done well.

In the collective transfer device of the present embodiment, when the bagging product 10 is received in the bucket 14, the support wall 14a of the bucket 14 is positioned at the front portion of the support wall 14a in the transport direction. The rear end in the transport direction faces the receiving position S1 in a receiving posture in which a slight gap N exists in front of the rotating traveling portion 12b, and the support height of the first support member 14b is set to the transport end of the conveyor 12. The height of the packaged product 10 is set to be the height at which the packaged product 10 is fed into the bucket with a predetermined head. As a result, the packaged product 10 that has been sent from the transport end of the conveyor 12 to the bucket 14 and bounced off the support wall 14a has its rear portion abutting on the rotating traveling portion 12b of the conveyor 12 and facing downward toward the bucket 14. The bounced bagged product 10 can be fed to a position where the front portion is positioned by the support wall 14a. Further, since the bucket 14 descends while maintaining a constant gap N between the support wall 14a and the rotary traveling portion 12b (conveyed end), the bucket 14 is moved into the bucket with respect to the descending timing of the bucket 14 due to the transport delay by the conveyor 12. Even for the packaged product 10 that does not fit, the rotating traveling portion 12b applies a downward feeding force toward the bucket 14, so that the front portion can be fed to a position where the position is restricted by the support wall 14a. That is, for any of the packaged products 10 that are bounced off the support wall 14a or cannot fit in the bucket due to the delay in transportation, the rotating traveling portion 12b brings about a feeding action to the bucket 14, so that each packed product 10 Can be aligned to form an aggregate W that is vertically stacked in a state of being brought close to the inclined support wall 14a. Further, since the downward winding force acts on the bagged product 10 in which the rear portion comes into contact with the rotating traveling portion 12b, the degree of adhesion with the lower packed product 10 can be improved. Therefore, the aggregate W housed in the bucket 14 is assembled in an aligned state in which the front portions of all the bagged articles 10 are in contact with the support wall 14a, and the aggregate W is assembled in the second transfer robot 22 as the aligned aggregate W. Can be handed over. Further, since the bag-packed products 10 of the aggregate W are prepared by using the feeding force of the conveyor 12, the configuration can be simplified without the need for a dedicated means for arranging the bag-packed products 10 of the aggregate W. can. Further, in the bagged product 10 fed from the transport end of the transport conveyor 12 to the bucket 14, after the tip in the transport direction lands on the mounting surface in the bucket 14, the rear end is loaded with a head of about one article height. Since the bagging items 10 land on the mounting surface, the impact when the bagging items 10 land in the bucket 14 can be alleviated, and the bagging items 10 can be stacked and assembled in the vertical direction without disturbing the posture. Further, since the head is small, the front part of the bagged product 10 that falls forward is strongly hit by the already housed bagged product 10 to disturb the posture, or the posture is changed during the fall due to the large head. The packed products 10 can be satisfactorily stacked and assembled in the bucket 14 without being disturbed.

In the collective transfer device of this embodiment, the collective product W assembled by the first transfer robot 16 is transferred to the second transfer robot 22 and transferred to the supply conveyor 38. The transfer robot 16 can be exclusively used for the collective processing of the packaged products 10, and the assembly processing of the packaged products 10 by the first transfer robot 16 can be speeded up. Further, since the arrangement direction of the aggregate W assembled by the first transfer robot 16 is converted by the second transfer robot 22 inheriting the aggregate W and transferred to the supply conveyor 38, the packaging is performed. It is possible to effectively supply the packaged product W to the packaging unit 36 of the machine by preventing the arrangement of the aggregated products W in which the packaged products 10 are aligned from being disturbed.

In the collective transfer device of this embodiment, two of the first transfer robots 16 are provided, and while one of the first transfer robots 16 is performing collective processing of the packaged product 10, the other second is performed. Since the transfer robot 16 of 1 can deliver the aggregate W to the second transfer robot 22, the aggregate W can be processed efficiently at high speed without interruption.

(Second Example)
6 to 8 show the collective transfer device according to the second embodiment different from the above embodiment, and the same members described in the first embodiment described above have the same reference numerals. A detailed explanation will be omitted. The collective transfer device in the present embodiment accepts the article detection sensor 30 that detects the passage of the packed product 10 sent out from the transport end of the transport conveyor 12, and the bagged product 10 sent out from the transport end of the conveyor 12. A first transfer robot 16 equipped with a robot hand 16a equipped with a bucket 46 capable of accommodating a predetermined number of overlapping aggregates W, and a detection timing of the packed product 10 detected by the article detection sensor 30. By controlling the operation of the first transfer robot 16 so as to sequentially move downward in the bucket 46 according to the number of detections, a predetermined number of packed products 10 are stacked in the bucket 46 in the vertical direction. It is composed.

As shown in FIG. 8, the bucket 46 is arranged so as to intersect the rectangular support wall 47 and the support wall 47, and the bagged product 10 is conveyed to the support wall 47 in the reception posture at the reception position S1. A first support member 48 that supports the aggregate W whose front portion in the direction is restricted in position and vertically overlaps from below, and a second support member that supports one side of the upper part of the aggregate W stacked on the first support member 48. An opening (first opening) 46a as an opening area for receiving the bagged product 10 from the conveyor 12 is defined between the support members 48, 49 having the 49 and facing the inner surface 47a of the support wall 47. Then, the packaged products 10 received from the opening 46a are sequentially stacked on the upper part of the first support member 14b defining the lower part of the opening 46a. The bucket 46 is surrounded by the support wall 47, the first support member 48, and the second support member 49, and receives the bagged product 10 from the opening 46a in which the support wall 47 opens toward the rear in the transport direction in the receiving posture. The accommodating portion 46b that allows the above is defined. Further, the second support member 49 is supported by the bucket 46 so as to be movable close to and separated from the first support member 48, and is attached to the first support member 48 by an expanding means 50 such as an air cylinder provided in the bucket 46. It is moved to a support position that supports the aggregate W in close proximity to the first support member 48, and an expansion position that expands the opening 46a upward by being parallel to the first support member 48. Cylinder. The bucket 46 opens in a direction intersecting the arrangement direction of the articles in the aggregate W supported by both support members 48, 49, and the aggregate W in the bucket is opened from between the two support members 48, 49 along the inner surface 47a. It is configured so that it can be taken out (outside the accommodating portion 46b).

As shown in FIG. 7, a pair of guide bodies (side wall members) 51, 51 separated from each other to the left and right corresponding to the receiving position S1 of the bagged product 10 by the bucket 46 are located downstream of the conveyor 12 in the transport direction. In the first transfer robot 16 provided, the bucket 46 is tilted between the guide bodies 51 and 51, the support wall 47 is tilted forward in the transport direction, and the first support member 48 is tilted downward to the second. The support member 49 faces in a receiving posture arranged above. Then, in the first transfer robot 16, the position of the bucket 46 facing between the guide bodies 51 and 51 is restricted by the support wall 47 at the front portion in the transport direction, as in the first embodiment. The support wall 47 is faced in a forward tilted receiving posture so that the rear end of the packaged product 10 has a slight gap N in front of the rotating traveling portion 12b. Then, the bagging product 10 fed from the transport end of the conveyor 12 has a predetermined head (for example, approximately one article height) with respect to the support height of the bagging product 10 by the first support member 48. It becomes the height to reach the inside of the bucket 46, and corresponds to the number of bags packed in the bucket 46 according to the detection timing and the number of detections of the bag 10 detected by the article detection sensor 30. The operation of the handling unit 32 is controlled so that the bucket 46 performs a receiving operation in which the bucket 46 has a predetermined receiving height and a receiving posture. Further, the first transfer robot 16 moves the bucket 46 to the receiving position S1 and the handling unit 32 so as to move away from the receiving position S1 to the delivery position S2 which is the delivery destination of the aggregate W. Operation control. Further, the first transfer robot 16 stands up the stored bagged items 10 while moving the bucket 46 containing the aggregate W in which a predetermined number of packed items 10 are stacked to the delivery position S2. The operation of the handling unit 32 is controlled so that the buckets 46 are arranged side by side on the edge of the bag, and the buckets 46 are changed to a posture in which the opening 46a faces upward and the support wall 47 is horizontal (the direction in which the articles are arranged is horizontal). Further, the bucket 46 is an aggregate product at the delivery position S2 by changing the posture so that the first support member 48 and the second support member 49 located up and down in the receiving posture are positioned left and right at the delivery position S2. The posture of W is changed so that the arrangement direction of the packed products 10 faces left and right.

As shown in FIG. 7, the packaging portion 36 of the horizontal bag-making filling machine is arranged in a straight line with the same transport center as the transport conveyor 12, separated from the downstream end of the transport conveyor 12, and is placed on the packaging section 36. A guide member 52 is arranged at the article receiving port. The guide member 52 is a U-shaped member that opens upward with a pair of side plates 52b, 52b erected on both the left and right sides of the bottom plate 52a, and the side plates of the guide member 52 are provided by the first transfer robot 16. In the bucket 46 moved to the delivery position S2, which is the position on the front side of the article supply between 52b and 52b, the inner surface 47a of the support wall 47 is substantially at the same level as the upper surface of the bottom plate 52a, and the first and second support members 48 , 49 are positioned along the side plates 52b, 52b.

A transfer robot 53 for transferring the aggregate W transferred to the delivery position S2 from the bucket 46 to the guide member 52 is provided. In this example, the transfer robot 53 is arranged from a robot arm 53a in which a vertical articulated robot similar to the first transfer robot 16 is arranged and extends downward from the base of the robot 53 arranged above. It constitutes a handling portion 55 provided with an extruding member 54 that hangs down and extrudes the aggregate W in the bucket toward the guide member 52. The width dimension in the left-right direction intersecting the extrusion direction of the extrusion member 54 passes through the plurality of packaged items 10 supported between the support members 48 and 49 as the aggregate W of the bucket 46 at once between the support members. It is set to a size that can be extruded. Further, the transfer robot 53 pushes the aggregate W in the bucket 46 located at the delivery position S2 by the extrusion member 54, and feeds it onto the film conveyed by the packaging unit 36 via the guide member 52. The operation of the handling unit 55 is controlled.

Next, regarding the operation of the collective transfer device according to the present embodiment, the collective processing and the transfer processing of the articles by one of the first transfer robots 16 will be described. As shown in FIGS. 6 to 8, the first transfer robot 16 has a bucket 46 at the receiving position S1 between the guide bodies 51 and 51, and the opening 46a faces the transfer end of the transfer conveyor 12 and the second transfer robot 16. In the receiving posture in which the support member 49 is arranged upward and the support wall 47 is tilted, the second support member 49 is made to stand by in a state of being moved to the expansion position by the expansion means 50. The bagged product 10 is sent out from the transport end of the conveyor 12 toward the bucket 14 in a lying position with the bagged product 10 lowered forward, and the bagged product 10 is guided left and right by the guide bodies 51 and 51 and received from the opening 46a. The front portion in the transport direction is position-controlled by the support wall 47 and is stacked on the first support member 48. The first transfer robot 16 receives the bucket 14 according to the number of stacked bagged items 10 stacked on the first support member 48 each time the bagged item 10 is detected by the article detection sensor 30. Toward this, the tip of the bagged product 10 sent to the bucket 14 moves so as to descend in accordance with the time when it reaches the support wall 47, and the receiving height and stacking position of the bagged product 10 by the bucket 14 become constant. The operation of the handling unit 32 is controlled so as to be. Further, the bucket 14 receives the support wall 47 with a slight gap N between the rear end of the packaged product 10 whose front portion in the transport direction is restricted by the support wall 47 and the rotating traveling portion 12b. While maintaining the posture, the support height of the first support member 48 is lowered from the transfer end of the transfer conveyor 12 so as to be the height at which the bagged product 10 is fed into the bucket with a predetermined head. As in the first embodiment, the aggregate W in which all the bagged articles 10 are prepared is assembled.

When the article detection sensor 30 detects a predetermined number of packed products 10 and is accepted as a predetermined number of aggregates W in the bucket 46, the received bucket 46 descends downward from the receiving position S1 by a predetermined distance and at the same time. At the time of its descent, the second support member 49 in the bucket 46 is moved to the support position by the expanding means 50, and the aggregate W is moved by the first support member 48 and the second support member 49 from the front and back in the arrangement direction of the bagged product 10. Support by sandwiching. Further, the first transfer robot 16 moves the bucket 46 in which the aggregate W is supported by the first support member 48 and the second support member 49 from the reception position S1 to the delivery position S2 by controlling the operation of the handling unit 32. In the meantime, the bucket 46 is changed in posture so that the opening 46a faces upward, the support wall 47 is horizontal, and the first support member 48 and the second support member 49 face left and right, and the bagged product 10 stands up. Convert so that they are lined up side by side with an edge stand.

When the bucket 46 is moved to the delivery position S2 by the first transfer robot 16, the transfer robot 53 moves rearward in the supply direction from the bucket 46 moved to the delivery position S2 toward the packaging unit 36. By lowering and positioning the extrusion member 54 on the rear side of the bucket 46 and moving the robot arm 53a so as to advance the extrusion member 54, the aggregate W lined up in the bucket 46 with an edge stand is a horizontal seal portion. After 10a reaches the guide member 52 in a direction in the front-rear direction in the pushing direction, the guide member 52 is continuously pushed by the extrusion member 54 of the transfer robot 53, and is aligned with the transport position of the transport film from the guide member 52 to the packaging portion 36. It is fed directly onto the film at predetermined timings.

In the collective transfer device of the second embodiment, when the bagged product 10 is received in the bucket 14 at the receiving position S1, the second support member 49 arranged above is moved to the expanded position. Since the opening 46a that opens forward toward the conveyor 12 is expanded, it is easy to accept the bagged product 10 that is delivered at high speed from the transfer end. Further, since the second support member 49 is configured to maintain the bucket 14 at the support position when the bucket 14 is moved from the receiving position S1 to the delivery position S2 and the posture of the bagged product 10 is changed, the aggregate W is the second. The 1 support member 48 and the 2nd support member 49 are supported in the front and rear directions of the bagged items 10, and it is possible to suppress the misalignment of the bagged items 10 and the disorder of the assembled state during the movement of the bucket 14, and the guide. The aggregate W can be satisfactorily delivered to the member 52. Further, the packed products 10 conveyed one by one by the transfer conveyor 12 are received in the bucket 14 of the first transfer robot 16 and assembled, and the aggregate W is collected from the bucket 14 via the guide member 52. Since it is configured to be directly fed onto the film at predetermined timings according to the transport position of the transport film in the packaging unit 36, the aggregate W in which the bagged products 10 are aligned can be effectively supplied onto the film. Further, also in the collective transfer device of the second embodiment, the operational effects related to the same configuration as that of the first embodiment, such as the configuration related to the receiving operation of the bagged product 10 by the bucket 14, are the same as those of the first embodiment. The same is true.

(Change example)
The present invention is not limited to the configuration of each embodiment, and can be modified as follows, for example. Further, not limited to the following modified examples, various embodiments may be adopted within the scope of the gist of the present invention for the configurations described in each embodiment.
(1) In the first embodiment, the expanding means 24 replaces the form in which the second support member 14c of the bucket 14 is rotated, and the second support is provided from the support wall side of the bucket 14 toward the second opening 14g. A configuration can be adopted in which the member 14c is moved forward and backward to open and close. Further, in the second embodiment, the second support member 49 is continuously moved to the opening (first opening) 46a by rotating or moving back and forth from the support wall side toward the upper side of the first support member 48. A configuration that opens and closes the upper second opening can be adopted.
(2) In the first embodiment, when the aggregate W is transferred from the first transfer robot 16 to the second transfer robot 22, the aggregate held by the holding means 20 of the second transfer robot 22 The W is configured to move laterally along the inner surface 15 of the support wall 14 of the bucket 14, but the holding means 20 and the bucket 14 are mutually moved so as to be separated from each other to move the aggregate W out of the bucket. In this case, the tact time required for inheritance can be shortened and the speed can be increased.
(3) In each embodiment, two first transfer robots 16 are provided, but the first transfer robot 16 may be one.
(4) In each embodiment, the transfer end of the transfer conveyor 12 is configured to be inclined downward, but this configuration may be adopted as necessary.
(5) In each embodiment, the aggregates W stacked in the vertical direction in the lying position are set to be edged before being moved to the delivery position S2, but the article is delivered at the delivery position S2 which is the delivery destination. The posture may be changed at an appropriate time within the period up to.
(6) Although the collective product W is delivered to the delivery destination with the edge standing, it may be delivered to the delivery destination as the collective product W of the articles that overlap vertically while lying down.
(7) The side wall members 14d, 14d and the guide bodies 51, 51 that guide the left and right of the bagging product 10 sent from the conveyor 12 to the bucket 14 are provided in the bucket 14 in the first embodiment, while the second one. In the embodiment, the side wall members are fixedly arranged on both sides of the receiving position S1, but the arrangement positions of the side wall members may be arbitrarily used or may be provided as needed.
(8) In both the first and second embodiments, the delivery destination of the aggregate W collected in the bucket 14 is the delivery station as the "delivery position S2", but the delivery destination is the direct supply of the packaging machine. It may be a conveyor.

10 Packed goods (articles), 12 Conveyor conveyor, 12a Inclined conveyor, 12b Rotating traveling part 14 Bucket, 14a Support wall, 14b 1st support member, 14c 2nd support member 14d Side wall member, 14f 1st opening (opening area) ), 14g 2nd opening (opening area)
16 1st transfer robot (transfer robot), 20 Holding means 22 2nd transfer robot, 24 Expansion means, 30 Article detection sensor 32 Handling unit, 38 Supply conveyor, 46 Bucket 46a opening (1st opening, Opening area), 47 Support wall, 48 1st support member 49 2nd support member, 50 Expansion means, 51 Guide body (side wall member), W assembly S1 acceptance position, S2 delivery position (delivery destination)

Claims (9)

A conveyor that transports goods at predetermined intervals and has a rotating traveling unit at the end of the transport.
An article detection sensor that detects articles sent from the conveyor and
It is composed of a transfer robot provided with a handling unit whose operation is controlled so that articles sent from the conveyor are stored in a bucket as an aggregate of a predetermined number and transferred to a delivery destination.
The bucket is
A first support member that defines the lower part of the opening area for receiving the articles, stacks the articles sent from the conveyor, and supports them from below.
A support position that supports one side of the upper part of the assembly supported by the first support member, and a second support member that can move to an expansion position away from the support position to expand the opening area.
A support wall is provided between the two support members so that the position of the front portion of the article stacked on the upper part of the first support member can be regulated by closing the front of the article fed from the transfer conveyor in the transport direction.
At the position where the goods are received from the conveyor to the bucket
With the second support member as the expanded position, the left and right sides are guided by the side wall members from the expanded opening area to receive the article into the bucket, and when the article is received into the bucket, the rear end in the transport direction of the article rotates. The support wall is made to face forward in the transport direction in a forward leaning posture so that there is a slight gap between the traveling portion, and the article drops from the rotating traveling portion to the support height by the first support member. So that you can land in the bucket with
A collective transfer device characterized in that the operation of the handling unit is controlled so that the bucket height and the receiving posture are set according to the detection result of the article detection sensor. The handling portion is operated so that the bucket is changed from the receiving posture at the receiving position so that the articles are arranged side by side with the support wall as the bottom and moved to the delivery position to be the delivery destination. The collective transfer device according to claim 1, further comprising control. The bucket has, as the opening area, at least a first opening at which the support wall opens toward the rear side in the transport direction in the receiving posture of the article at the receiving position.
At the receiving position of the bucket
The opening area is expanded by moving the second support member to an expansion position that is separated upward from the first support member, or by moving the second support member to an expansion position that retracts from above the first support member. Equipped with an expansion means that works to
When the number of detections by the article detection sensor reaches a predetermined number, the bucket is moved toward the delivery destination, and the second support member is moved from the expanded position to the first support member. The collective transfer device according to claim 1 or 2, wherein the expanding means is operated so as to support the position of the above. A means for holding the first transfer robot, which is the transfer robot, which receives the aggregate in the bucket at the receiving position and sends it to the delivery position, and the assembly in the bucket of the first transfer robot at the delivery position. The set according to claim 2 or 3, wherein a second transfer robot is provided which is held and inherited by the holding means and is transferred to the supply conveyor of the packaging machine which is the next step. Transfer device. The second transfer robot moves the aggregate held and inherited by the holding means to the outside of the bucket accommodating portion of the first transfer robot at the delivery position, and horizontally holds the holding means by 90 degrees. The collective transfer according to claim 4, wherein the aggregate is configured to rotate and transfer the articles in an orthogonal direction according to the transfer interval and transfer timing of the supply conveyor in the next step. Device. When the assembly is held and inherited by the holding means of the second transfer robot at the delivery position, the bucket and the holding means are moved to each other so as to be separated from each other in the arrangement direction of the articles, and at the time of the movement, The collective transfer device according to claim 4 or 5, wherein any of the first support member and the second support member is configured to be retracted from the support position of the collective product. Any one of claims 1 to 6, wherein the second support member is provided with a rotation fulcrum on the support wall side of the bucket and is configured to be rotatable from the support position to the spread position. The collective transfer device described in the section. A plurality of the handling parts are provided,
Each handling unit is close to the other bucket that should accept the article from above the bucket that is accepting the article, and the buckets are connected and descended in synchronization with each other, and the next bucket that has been accepted is above the bucket. Regarding the bucket, the height of the first support member is set to the support height corresponding to the article to be continuously fed, and the operation of the handling portion is controlled so as to be the receiving height and the receiving posture of the bucket. The collective transfer device according to any one of claims 1 to 7. The transport conveyor has an inclined transport section that attracts and transports at least an article toward the rotary traveling section, and the article dropped from the rotary traveling section is rearranged after the tip in the transport direction has landed in the bucket. Claims 1 to 8 are characterized in that the operation of the handling portion is controlled so that the end of the bucket lands in the bucket with a drop of about one article height and the bucket has a receiving height and a receiving posture. The collective transfer device according to any one of the above.

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