JP7138913B2 - Transfer device for stacked container row and transfer method for stacked container row - Google Patents

Description

The present invention relates to an apparatus for transferring a row of stacked containers and a method for transferring a row of stacked containers for transferring a row of stacked containers in which a plurality of cup-shaped containers are stacked.

For example, Patent Literature 1 discloses a feeding device that feeds a substantially columnar container group (an example of a stacked container row) in which a plurality of cup-shaped containers are stacked to a vertical fixed guide of a container feeding magazine. This type of supply device is provided in an injection device for injecting a predetermined content into a container or the like, and sequentially supplies the containers from the lower side to the injection device from the supplied stacked container row.

Further, the row of stacked containers supplied to the supply device is delivered in a state of being accommodated in a box (for example, a cardboard box). In the box, a plurality of stacked container rows are stored together in one bag (for example, a plastic bag), or each container is stored individually in a bag (for example, a plastic bag). For example, in the former case, after opening the box and the bag, the row of stacked containers is taken out and transferred to the transfer destination.

Japanese Utility Model Laid-Open No. 4-100129

However, the operation of taking out the stacked container row from the box is manually performed by an operator. The operator takes out the stacked container row from the box, carries it to the supply device, and supplies it to the supply guide. Since the dosing apparatus operates at relatively high speeds, the operator is required to feed stacks of containers into the feeder apparatus at a relatively high frequency. Therefore, there is a need to automate at least the work of taking out the stacked container row from the box among these series of work.

For example, as a method of taking out an article from a box, a method of picking up an article by using a suction pad is known. However, in the case of a row of stacked containers, there are circumferential concave portions (steps) on the outer peripheral surface corresponding to the intervals between the containers, and the outer peripheral surface becomes uneven. For this reason, there is a problem that air leaks due to unevenness existing on the outer peripheral surface of the row of stacked containers even if an attempt is made to suck the row of stacked containers with a suction pad, making it difficult to suction the row of stacked containers. This type of problem is not limited to the case of supplying a row of stacked containers to a supply device used in an injection device, but generally occurs when the row of stacked containers is taken out of a box and transferred to the target position of the transfer destination. Common.

SUMMARY OF THE INVENTION An object of the present invention is to provide a transfer device for a row of stacked containers capable of picking up and transferring a single row of stacked containers from a box by suction even if unevenness due to gaps between containers exists on the outer peripheral surface of the row of stacked containers. It is an object of the present invention to provide a method for transferring stacked containers.

Means for solving the above problems and their effects will be described below.
A transfer device for a stacked container row that solves the above problems is a transfer device for a stacked container row that adsorbs and transfers a stacked container row formed by stacking a plurality of containers, wherein each row has a plurality of stacked container rows. a plurality of suction units for sucking the row of stacked containers for one stage from the opening of the box in which the is housed; a suction unit for generating a suction airflow that applies negative pressure for suction to the suction units; and a transfer mechanism for transferring the plurality of stacked container rows by moving the suction unit, the suction unit having a concave suction surface for sucking the stacked container rows and a suction port opening to the suction surface. and a communication part is provided between the plurality of suction parts when sucking the stacked container row for one stage, and serves as an intake port for the air of the suction airflow that communicates vertically and flows into the suction port. It is

According to this configuration, the air of the suction airflow flowing into the suction port is taken in through the communicating portion when one stage of the layered container row is taken out from the box. For this reason, it is difficult to generate a suction airflow that flows into the suction port through the gaps between the rows of stacked containers and the box. As a result, it is possible to avoid suction errors such as sucking the inner bag or lifting the whole box by the suction force when taking out the row of stacked containers for one stage from the box by the plurality of suction units. Therefore, even if unevenness due to the gaps between the containers exists on the outer peripheral surface of the row of stacked containers, the row of stacked containers for one stage can be picked up from the box by suction and transferred.

In the transfer apparatus for stacked container rows, in a state in which the suction unit adsorbs the plurality of stacked container rows, the suction unit can exhaust the sucked air from the portion facing the communication unit. preferable.

According to this configuration, the air exhausted by the suction section is taken in through the communicating section between the plurality of suction sections, thereby forming a suction airflow reaching the suction port. High suction power can be obtained. For example, the suction resistance of the suction unit can be reduced and the exhaust resistance can be reduced.

In the transfer device for stacked container rows, it is preferable that the suction port is positioned at a central portion in a width direction crossing a longitudinal direction of the stacked container rows sucked and held by the suction surface on the suction surface.

According to this configuration, the suction airflow flows between the suction surface and the outer peripheral surface of the row of stacked containers to the suction port located at the central portion in the width direction of the suction surface. It is possible to secure a wide area on which the negative pressure acts. Therefore, it is possible to secure a high suction force for the stacked container row by the suction unit.

In the transfer apparatus for stacked container rows, the adsorption unit includes a flexible member having a length that partially enters recesses between containers arranged in the stacking direction on the outer peripheral surface of the stacked container row sucked and held. is preferably provided along the longitudinal direction of the stacked container row.

According to this configuration, the flexible member partly enters the concave portion of the stacked container row sucked and held by the adsorption unit, so that the opening area of the gap between the stacked container row and the adsorption surface can be reduced. Compared to a structure without a magnetic member, the airtightness between the adsorption surface and the outer peripheral surface of the row of stacked containers can be improved, and the negative pressure of the adsorption portion can be increased. Therefore, it is possible to ensure a high suction force with which the suction unit suctions and holds the stacked container row. At this time, the ratio of the sum of the opening areas of the suction ports to the sum of the opening areas of the gaps between the suction surface of the suction portion and the row of stacked containers can be increased by the flexible member, so that the negative pressure of the suction portion can be increased. , a high suction holding force can be ensured when the suction unit sucks the stacked container row.

In the transfer apparatus for stacked container rows, the plurality of suction units are configured to be movable relative to each other in a direction crossing the longitudinal direction of the stacked container rows sucked and held by the plurality of suction units. and a space changing mechanism for changing the interval between the suction portions when the plurality of suction portions are at the intervals when sucking the stacked container row in the box by the space changing mechanism, the communication portion between the suction portions The gap is preferably formed as

According to this configuration, a gap is formed between the suction portions as a communication portion when the plurality of suction portions are positioned at intervals when sucking and holding the row of stacked containers in the box. When a plurality of adsorption units are inserted into the box to adsorb one row of stacked containers, the space between the plurality of adsorption units vertically communicates the inside and outside of the box. The air of the suction airflow that flows into the suction port through the gaps of the plurality of suction parts is taken in. Therefore, the row of stacked containers for one stage can be sucked all at once and taken out from the box without sucking the whole box. Further, by changing the intervals between the plurality of suction units by the interval changing mechanism, it is possible to transfer the plurality of stacked container rows at appropriate intervals required by the transfer destination. That is, a plurality of stacked container rows corresponding to one stage are sucked out by inserting them into the box with narrow intervals between the plurality of adsorption parts, and the retrieved multiple stacked container rows corresponding to one stage are required at the transfer destination. can be placed at appropriate intervals.

In the transfer device for stacked container rows, the interval changing mechanism is an expansion and contraction mechanism that expands and contracts in the width direction to change the interval, and when the plurality of adsorption units adsorb one stage of the stacked container row from the box. Preferably, at least a portion of the underside of said spacing change mechanism contracts to a dimension less than the width of said box opening when in said spacing of.

According to this configuration, when the plurality of suction units are at intervals for sucking one row of stacked container rows, at least a part of the lower side of the space changing mechanism can be accommodated in the box. The interval changing mechanism does not get in the way when a plurality of stacked container rows on the positioned stage (first stage) are sucked. Therefore, the depth of the box from which one row of stacked containers can be sucked out can be increased.

A method for transferring a row of stacked containers for solving the above-mentioned problems is a method for transferring a row of stacked containers in which a plurality of stacked containers are transferred by suction, wherein a plurality of the above-mentioned containers corresponding to one stage are transferred. A plurality of suction parts for individually sucking the stacked container rows are provided, and the suction parts have a suction surface formed of a concave surface with a suction port opening, and a plurality of stacked container rows are accommodated in a box in each stage. and a transfer step of simultaneously taking out and transferring from the box the one stage of stacked container rows adsorbed by the adsorption part. , in a portion between a plurality of the suction portions, a communication portion is formed to vertically communicate the inside and the outside of the box when the plurality of suction portions are inserted into the box; The suction airflow that flows through the gap between the box and the row of stacked containers and flows into the suction port is generated by taking in air from the outside to the inside of the box through the communicating portion. According to this method for transferring a row of stacked containers, it is possible to obtain the same effects as those of the transfer device for a row of stacked containers.

ADVANTAGE OF THE INVENTION According to this invention, even if unevenness|corrugation by the space|interval between containers exists in the outer peripheral surface of a row of stacked containers, the row of stacked containers for one step can be picked up from a box, and can be transferred.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic front view showing a transfer system including a transfer device for stacking container rows according to the first embodiment; FIG. 4 is a schematic front view of a hand unit showing how a row of stacked containers is taken out of a box. Similarly, a schematic side view of the hand unit. FIG. 4 is a schematic plan view showing a state in which a box containing stacked container rows is opened. FIG. 4 is a schematic plan view showing a hand unit when taking out a row of stacked containers. FIG. 4 is a schematic front view showing how a row of stacked containers is placed on a transfer destination; FIG. 4 is a schematic plan view showing an interval changing mechanism when taking out a row of stacked containers from a box. FIG. 4 is a schematic plan view showing an interval changing mechanism when placing stacked container rows on a transfer destination. FIG. 2 is a schematic perspective view showing a suction head; FIG. 2 is a schematic side view of a partially cutaway suction head. FIG. 11 is a cross-sectional view taken along line 11-11 in FIG. 10 of the suction head that suctions the row of stacked containers; FIG. 12 is a cross-sectional view taken along line 12-12 in FIG. 11 of the suction head that suctions the row of stacked containers; FIG. 2 is a block diagram showing the electrical configuration of the transfer device; The schematic plan view which shows the space|interval change mechanism in 2nd Embodiment.

(First embodiment)
Hereinafter, a transfer device for stacking container rows will be described with reference to the drawings. In FIG. 1, the X direction is the arrangement direction of a suction unit 50, which will be described later, for sucking a plurality of stacked container rows 17 to be transferred by the transfer device 11, and the Y direction is the direction that intersects (for example, is perpendicular to) the X direction. , and the height direction Z is the direction that intersects the X direction and the Y direction and is parallel to the direction of gravity. Also, since the X direction corresponds to the width direction of the stacked container row 17 that the suction unit 50 sucks with the suction head 60 , it is also called the width direction X when used for the stacked container row 17 . Further, since the Y direction corresponds to the longitudinal direction of the stacked container row 17 that the suction unit 50 sucks with the suction head 60 , it is also called the longitudinal direction Y when used for the stacked container row 17 .

A container transfer system 10 shown in FIG. 1 takes out a substantially columnar stacked container row 17 in which a plurality of containers 18 are stacked one by one from a box 15 and transfers them to a transfer destination. The container 18 has a cup shape and is made of paper or synthetic resin, for example. The container transfer system 10 includes a carry-in conveyor 12 that conveys boxes 15 to a take-out position, and sucks (sucks and holds) a plurality of stacked container rows 17 one by one from the boxes 15 arranged at the take-out position on the carry-in conveyor 12 . a transfer device 11 that picks up and transfers the container by the transfer device 11; That is, the transfer device 11 sucks and takes out the stacked container rows 17 by one stage (six in this example) from the boxes 15 on the carry-in conveyor 12, and transfers the stacked container rows 17 for one stage to the transfer destination. Then, a transfer work is carried out to place them on the carry-out conveyor 13 .

Here, with reference to FIG. 1 and FIG. 4, the manner in which the stacked container rows 17 are accommodated in the box 15 will be described. As shown in FIGS. 1 and 4, the box 15 accommodates M×N stacked container rows 17 (where M and N are natural numbers equal to or greater than 2). More specifically, the box 15 accommodates N layers of M stacked container rows 17 per layer. A plurality of (M×N) stacked container rows 17 are housed together in one transparent synthetic resin bag 16 (for example, a plastic bag) in a box 15 . The box 15 is made of cardboard, for example, and has a rectangular parallelepiped box body 15A having an opening 15K that opens upward, and a plurality of flaps 15B that are folded around the opening 15K of the box body 15A and can open and close the opening 15K. (cover).

An unsealing device (not shown) for opening the box 15 conveyed on the carry-in conveyor 12 is provided in the middle of the carry-in route of the carry-in conveyor 12 . When the box 15 is placed at the opening position on the carry-in conveyor 12, the tape sealing the flap 15B on the upper side of the box 15 is cut to open the box 15.例文帳に追加At a location corresponding to the unloading position of the carry-in conveyor 12, a plurality of upper flaps 15B in the unsealed box 15 and the opening of the bag 16 (plastic bag) that wraps all the stacked container rows 17 in the box 15 are opened. Four pressing levers 19 (two are shown in FIG. 1) are provided to fold back the peripheral edge portion 16A to the outside of the box 15 and press it against the outer surface. The opening operation of the box 15 may be performed at the same position as the take-out position.

When the box 15 is placed at the unloading position on the carry-in conveyor 12, the flap 15B of the box 15 is folded outward, and the opening of the bag 16 for collectively housing all the stacked container rows 17 within the box 15 is opened. Then, the peripheral portion 16A is folded back to the outside of the box 15. As shown in FIG. The four pressing levers 19 press the folded back flap 15B and the peripheral portion 16A of the bag 16, and move the box 15 from the opening 15K of the box 15 at the unloading position to the uppermost stage so that the transfer device 11 can take the box 15 out. The stacked container row 17 is all exposed. As a result, it becomes possible to perform a transfer operation of sucking and transferring the stacked container row 17 for one stage by the transfer device 11 shown in FIG. 1 . The box 15 is made of cardboard, for example, but may be made of synthetic resin, metal, or wood.

As shown in FIG. 1 , the transfer device 11 includes an articulated robot 20 (hereinafter also referred to simply as “robot 20 ”) as an example of a transfer mechanism, and an arm 23 of the robot 20 in a suspended state. and a hand unit 30 supported by. As shown in FIG. 1 , the robot 20 includes a base 21 installed on the floor, a turntable 22 rotatable about a vertical axis with respect to the base 21 , and an articulated robot supported by the turntable 22 . and a hand unit 30 supported at the tip of the arm 23. The robot is an articulated industrial robot. The robot 20 sucks and holds the row of stacked containers 17 in the box 15 with the hand unit 30, and transfers the suction-held row of stacked containers 17 for one stage to a prescribed position on the carry-out conveyor 13 at a prescribed interval. do the work.

The arm 23 is axially rotated together with the turntable 22 by the power of the power source 25 arranged on the base 21 . Also, the arm 23 has a plurality of arm portions 23A to 23C that are connected so that the angle can be changed. The drive mechanism 26 includes a power source (not shown) such as an electric motor or an electric cylinder. The angles of the arms 23A to 23C are changed through the drive links 26A to 26C when the drive mechanism 26 is driven. The hand unit 30 is rotatably suspended from the tip of the arm 23 via a rotating portion 28 driven by a motor 27 .

As shown in FIG. 1, electric power is supplied to the hand unit 30 through electric wires (not shown) wired through a path passing through the inside or outside of the arm 23 via the base 21 and the turntable 22 . The transfer device 11 includes a control section 80 (controller) that controls the robot 20 and the hand unit 30 . The control unit 80 drives and controls the power source 25, the drive mechanism 26, and the electric motor 27 of the robot 20 to control the transfer of the hand unit 30 by the robot 20, and also controls the fan unit 53 and the like of the hand unit 30, which will be described later. It controls switching between adsorption and release of the stacked container rows 17 by the hand unit 30, and the like. By controlling the robot 20 and the hand unit 30 , the control unit 80 causes the transfer device 11 to perform the transfer operation of taking out one stage of the stacked container rows 17 from the boxes 15 and transferring them onto the unloading conveyor 13 . Note that the control unit 80 may be composed of two controllers that separately control the robot 20 and the hand unit 30 .

As shown in FIG. 1, the hand unit 30 includes an interval changing mechanism 40 supported by the rotating part 28, and a plurality of suction units 50 for simultaneously sucking six columnar stacked container rows 17 corresponding to one stage. Prepare. The suction units 50 are provided in the same number as the stacked container rows 17 that the hand unit 30 can suck at once. The suction unit 50 includes a suction head 60 as an example of a suction section for suctioning one stacked container row 17 at its lower end. The interval changing mechanism 40 has a function of changing the interval in the X direction between the six suction units 50, that is, the six suction heads 60 that the six suction units 50 have below.

The interval changing mechanism 40 supports the plurality of suction units 50 so as to be relatively movable in the X direction intersecting the Y direction, which is the longitudinal direction of the stacked container rows 17 sucked by the plurality of suction heads 60 . Change the spacing in the X direction. Note that the X direction is equal to the width direction X of the stacked container row 17 sucked by the suction head 60 .

The interval changing mechanism 40 adjusts the interval so that the plurality of suction heads 60 can be inserted into the box 15 when the hand unit 30 takes out one stage of the stacked container rows 17 from the box 15 . Further, when placing one stage of the stacked container row 17 on the unloading conveyor 13 of the transfer destination, the interval changing mechanism 40 moves the one stage of the stacked container row 17 onto the unloading conveyor 13 using the six suction heads 60 . The interval is adjusted so that the substrate can be placed on the placement portions 13A provided at regular intervals. In other words, the interval changing mechanism 40 matches the interval between the six suction heads 60 to the interval between the mounting portions 13A on the carry-out conveyor 13 . In FIG. 1, the number of stacked container rows 17 for one stage is six, but the number may be any number as long as it is for one stage, and may be two, three, four, eight or more. It's okay.

Next, a detailed configuration of the hand unit 30 will be described with reference to FIGS. 2 and 3. FIG. As shown in FIGS. 2 and 3 , the hand unit 30 is supported in a suspended state so as to be axially rotatable with respect to a rotating portion 28 provided at the tip of the arm 23 of the robot 20 . The hand unit 30 is individually hung on a space changing mechanism 40 supported with respect to the rotating part 28, and a plurality of (for example, six) support plates 42 to 44 supported by the space changing mechanism 40 so that the space can be changed. It has a plurality of (for example, six) suction units 50 supported in a downward state. The six suction units 50 are arranged side by side in the X direction when the hand unit 30 is inserted into the box 15 . Each suction unit 50 has a suction head 60 at its bottom.

The spacing change mechanism 40 shown in FIGS. 2 and 3 changes the spacing of the six suction units 50 in the X direction. The gap changing mechanism 40 includes a pair of cylinders 41 and a plurality of support plates 42 to 44 including a support plate 42 to which a tip end of a piston rod 41A of each cylinder 41 is fixed by a support portion 42A. The interval changing mechanism 40 also includes six rails 45A to 45C that support the plurality of support plates 42 to 44 so as to be relatively movable in the X direction.

As shown in FIG. 7, the interval changing mechanism 40 includes two types of connecting members 46 (four in total) that connect the six support plates 42 to 44 that are adjacent in the X direction so as to be relatively movable in the X direction. , 47, and one type (two in total) of connecting members 48 that connect the support plate 44 to a supporting portion (not shown) disposed above so as to be relatively movable in the X direction. The connecting members 46 to 48 have guide holes 46A to 48A which are long holes extending in the longitudinal direction. One end of the first connecting member 46 is fixed to the second support plate 43, and a pin 49 projecting from the first support plate 42 is inserted into the guide hole 46A of the other end. One end of the second connecting member 47 is fixed to the second support plate 43, and a pin 49 projecting from the third support plate 44 is inserted into the guide hole 47A of the other end. One end of the third connecting member 48 is fixed to the lower surface of an upper support portion (not shown), and a pin 49 projecting from the third support plate 44 is inserted into a guide hole 48A at the other end. It is

Therefore, when the pair of cylinders 41 are driven to extend from the contracted state shown in FIG. 7 to the extended state shown in FIG. 8, the distance between the six support plates 42 to 44 is widened as shown in FIG. That is, in the process in which the pair of cylinders 41 are driven to extend from the contracted state shown in FIG. move to As a result, the first support plate 42, the second support plate 43, and the third support plate 44 are moved outward in the X direction in this order, and the support plates 42 to 44 are arranged with the intervals shown in FIG. be done. As a result, the intervals between the six suction units 50 supported by the six support plates 42 to 44 are widened (see FIG. 6).

Also, in the process in which the pair of cylinders 41 are driven to contract from the extended state shown in FIG. , the first support plate 42, the second support plate 43, and the third support plate 44 move inward in the X direction in this order. As a result, the support plates 42 to 44 are arranged with the space between them narrowed as shown in FIG. As a result, the intervals between the six suction units 50 supported by the six support plates 42 to 44 are narrowed (see FIGS. 2 and 5).

As shown in FIGS. 2, 3, and 6, the suction unit 50 includes a cylinder 51, a suction portion 52 fixed to the tip of a piston rod 51A of the cylinder 51, and a suction portion supported under the suction portion 52. a head 60; The suction unit 52 includes a fan unit 53 , a suction duct 54 provided below the fan unit 53 , and an exhaust duct 55 provided above the fan unit 53 . The suction head 60 has a suction chamber 63 communicating with the suction duct 54 , and the lower surface of the plate forming the suction chamber 63 forms a concave suction surface 61 for suctioning and holding one row of stacked containers 17 . ing. The suction surface 61 has a pair of slanted surfaces positioned upward toward the center in the width direction X, and has a suction port 62 at the center in the width direction X. As shown in FIG. 2 and 6 show the suction duct 54 and the suction head 60 in cross section, and FIG. 3 shows a part of the suction head 60 in cross section.

The cylinder 51 shown in FIG. 2 is driven to extend in a state in which the suction head 60 approaches a predetermined position above the stacked container row 17 by a predetermined distance, and the suction part 52 and the suction head 60 move downward. As a result, the adsorption surface 61 is lightly pressed against the upper surface of the stacked container row 17 . The driving of the fan unit 53 is started at a timing before this pressing time, and the stacked container row 17 is adsorbed to the adsorption head 60 by pressing the adsorption surface 61 . As shown in FIGS. 2 and 3, a pair of cylinders 64 are provided in the suction chamber 63, and a pressing member 65 is connected to the tip end of a piston rod extending downward through the suction port 62. ing. When the stacked container row 17 is sucked, the cylinder 64 is in a contracted state, so that the pressing member 65 is retracted to the inner side (upper side) of the adsorption surface 61, and the cylinder 64 is driven to extend and the pressing member 65 moves downward. By moving, the stacked container row 17 sucked by the suction head 60 is pushed out and released. The cylinder 64 may also serve as a drive system for a valve that opens and closes the suction port 62. The valve opens the suction port 62 when the cylinder 64 is driven to contract, and the valve closes the suction port 62 when the cylinder 64 is driven to extend. may be configured.

When the fan unit 53 shown in FIG. 2 is driven, a suction airflow SF (see FIGS. 10 and 11) is generated that flows into the suction port 62 opening at the center of the suction surface 61 of the suction head 60 in the width direction X. do. The fan unit 53 shown in FIG. 2 sucks the air sucked from the suction port 62 of the suction head 60 through the suction chamber 63 and the suction duct 54 by sending air in the direction indicated by the white arrow in FIG. It is discharged to the exhaust duct 55 on the upper side. The exhaust duct 55 has an exhaust hole (not shown) on its surface facing the X direction, and the air sucked by the fan unit 53 from the suction port 62 of the suction head 60 is passed through the exhaust hole to the adjacent suction unit 50 . exhaust toward the gap CL. Therefore, as shown in FIG. 2, an inflow airflow F is generated that flows downward through the gap CL so that the air exhausted from the exhaust hole of the exhaust duct 55 is taken into the suction head 60 .

FIG. 5 shows a plan view of the hand unit 30 when sucking one layer of the stacked container row 17 from the box 15 . As shown in FIG. 5, the plurality of suction heads 60 inserted from the opening 15K of the box 15 are arranged at intervals during suction. The upper portion of the suction portion 52 arranged above the six suction heads 60 has a substantially columnar shape with a diameter larger than the width of the suction heads 60 . As shown in FIG. 5, the six suction units 52 are arranged such that their adjacent positions are shifted from each other in the longitudinal direction of the suction head 60, and are arranged in a zigzag pattern in plan view shown in FIG. Therefore, even when the six suction heads 60 are inserted into the box 15 and are close to each other with a narrow gap, the suction portions 52 having a larger diameter than the width of the suction heads 60 do not interfere with each other.

As shown in FIGS. 2 and 5, the hand unit 30 picks up one stage (for example, six) stacked container rows 17 from the boxes 15 by suction while narrowing the space between the plurality of suction units 50 . At this time, as shown in FIG. 2, when sucking the stacked container rows 17 on the other than the top level, such as when sucking the first layered container row 17 in the box 15, a part of the suction unit 50 (adsorption 60) or most of it is inserted into the box 15; With a part or most of the six suction units 50 inserted into the box 15, as shown in FIGS. 2 and 5, a gap CL is formed between the six suction units 50 as an example of a communication portion. be done. These gaps CL communicate between the inside and outside of the box 15 by vertically communicating between the plural suction heads 60 in a state where the lower part of the hand unit 30 is inserted into the box 15 . For this reason, in the portion between the plurality of suction heads 60 that are spaced apart when one stage of the stacked container row 17 is sucked, the gap CL serves as an air intake port, and the suction head can be sucked from the side of the exhaust duct 55 . An inflow airflow F flowing downward is formed in a range extending to the outside of the lower end of 60 .

A plurality of suction units 50 shown in FIG. 2 are connected so as to be relatively movable in the X direction so as to be able to change the spacing via a spacing changing mechanism 40 (see FIG. 2). The interval changing mechanism 40 that supports the plurality of suction units 50 in a suspended state has an expansion mechanism that changes its own dimension in the X direction. When the space changing mechanism 40 is in the contracted first position, the suction heads 60 are arranged at a first space corresponding to the space between the stacked container rows 17 housed in the box 15 . That is, when the interval changing mechanism 40 is at the first position, the pitch (head pitch) of the plurality of suction heads 60 in the X direction is the pitch (container pitch) in the width direction X of the stacked container rows 17 accommodated in the box 15. within tolerance.

Further, when the interval changing mechanism 40 is at the extended second position, the plurality of suction heads 60 are arranged at a second interval wider than the first interval. Therefore, during the transfer period until the plurality of suction heads 60 place one stage of stacked container rows 17 picked up from the boxes 15 on the placement section 13A of the carry-out conveyor 13 of the transfer destination, the interval changing mechanism 40 is moved to the first position. to the second position, a plurality of stacked container rows 17 can be placed on the placement section 13A with the second spacing required at the transfer destination.

As shown in FIGS. 9 and 11, the suction surface 61 of the suction head 60 has a concave shape with a pair of slopes that become narrower toward the back. There are a plurality of types of containers 18 with different diameters handled by the transfer device 11 , and the containers 18 with different diameters can be inscribed on the adsorption surface 61 . The suction surface 61 of the suction head 60 can be commonly used for the stacked container rows 17 of any size from the minimum diameter stacked container row 17S to the maximum diameter (see FIG. 11).

As shown in FIG. 9 , the suction head 60 has a suction port 62 that opens at the center of the width of the suction surface 61 . The suction port 62 is an elongated hole extending in the longitudinal direction Y of the suction head 60 . A pair of flexible members 66 are provided on both sides of the suction head 60 sandwiching the suction surface 61 so as to be in contact with the outer peripheral surface of the stacked container row 17 sucked by the suction surface 61 . Note that the suction port 62 is not limited to one extending in the longitudinal direction Y of the suction head 60 , and may be composed of a plurality of elongated holes that intermittently open in the longitudinal direction Y of the suction head 60 .

As shown in FIG. 9, the flexible members 66 are provided at both ends in the width direction X of the suction head 60 so as to extend substantially over the entire length in the longitudinal direction Y thereof. The flexible member 66 is an elongated elastic member having a length slightly shorter than the length in the longitudinal direction Y of the suction head 60 . The flexible member 66 has a large number of strip-shaped elastic pieces 66A, for example, by making a large number of cuts in a direction orthogonal to the longitudinal direction Y in a long thin rubber piece. The width of the elastic piece 66A is shorter than the pitch of the containers 18 in the stacked container row 17, that is, the dimension in the longitudinal direction Y of the gap C1 between the containers 18 (see FIG. 10). The width of the elastic piece 66A of the flexible member 66 is set to a value within the range of 1 to 10 mm, for example. For example, the width of the elastic piece 66A is preferably such that a plurality of pieces can fit into the gaps C1 between the containers 18 . In the size of the container 18 of this example, the width of the elastic piece 66A is set to a value within the range of 2 to 5 mm, for example. The mounting position of the flexible member 66 is appropriately adjusted in accordance with the outer diameter of the row of stacked containers 17 so that it can be inserted into the concave portion of the outer peripheral surface of the row of stacked containers 17 .

As shown in FIG. 10, (J−1) gaps C1 formed by the gaps between the containers 18 are present on the outer peripheral surface of the stacked container row 17 . The containers 18 constituting the stacked container row 17 shown in FIG. 10 have a shape that widens toward the opening side. For this reason, on the outer peripheral surface of the stacked container row 17, there are gaps C1 between the containers 18 at substantially constant pitches in the stacking direction. The gap C1 extends over the entire circumference of the container 18 in the circumferential direction. The suction head 60 of the present embodiment uses the fan unit 53 to generate a suction airflow SF flowing through the channel of the gap C1 (also referred to as the gap channel C1). Increase the flow rate to generate pressure. When the number of containers 18 constituting the stacked container row 17 is J, (J−1) clearances C1 exist on the outer peripheral surface of the stacked container row 17 .

As shown in FIG. 10 , the suction head 60 sucks the stacked container row 17 in a state in which a part of the suction head 60 enters the concave suction surface 61 . When the fan unit 53 (see FIG. 2) is driven, a suction airflow SF flowing into the suction port 62 is generated between the suction surface 61 and the outer peripheral surface of the stacked container row 17 . In the state shown in FIG. 10 where the outer peripheral surface of the stacked container row 17 contacts the inner peripheral surface of the adsorption surface 61 , a gap flow extending in the circumferential direction of the container 18 exists between the outer peripheral surface of the stacked container row 17 and the adsorption surface 61 . The paths C1 are formed at substantially constant pitches in the stacking direction of the containers 18 .

Air flows into the suction port 62 through the gap flow path C1 extending in the circumferential direction along the outer peripheral surface of the stacked container row 17, thereby generating a suction airflow SF indicated by arrows in FIGS. The stacked container row 17 is sucked by the suction head 60 due to the negative pressure exerted on the outer peripheral surface of the stacked container row 17 by the suction airflow SF flowing through the gap flow path C1. Particularly in this example, since the suction port 62 is positioned at the center of the suction surface 61 in the width direction X, the area through which the suction airflow SF flows through the (J−1) clearance flow paths C1, that is, the outer peripheral surface of the stacked container row 17 can ensure a wide pressure receiving area for receiving negative pressure from the suction airflow SF.

FIG. 12 shows a cross section taken along line 12-12 in FIG. As shown in FIG. 12, between the opening area S1 of the suction port 62 and the total sum S2 of the opening areas ΔS2 of the gap flow paths C1 between the suction surface 61 and the outer peripheral surface of the stacked container row 17, S1 >S2 relationship holds. In the stacked container row 17 in which J containers 18 are stacked, there are (J−1) gap flow paths C1, and each gap flow path C1 has two openings on both sides that serve as intake ports for the suction airflow SF. Therefore, the sum S2 of the areas ΔS2 of the openings of the clearance flow passage C1 is expressed by S2=2(J−1)·ΔS2. In this embodiment, the opening area S1 of the suction port 62 is set so as to satisfy the following equation.
S1>2(J−1)・ΔS2 (1)
Here, the area ΔS2 of the opening of the gap flow channel C1 refers to the opening area of the portion where the cross-sectional area of the opening when cut in the direction orthogonal to the gap flow channel C1 is the smallest. By satisfying the above formula (1), the suction airflow SF flowing through the gap channel C1 has a flow velocity capable of generating a negative pressure capable of sucking the stacked container rows 17 onto the suction surface 61 of the suction head 60 . Furthermore, in the present embodiment, the area ΔS2 of the opening of the clearance flow channel C1 is reduced by part of the flexible member 66 entering the clearance flow channel C1. Therefore, by further increasing the difference (=S1−S2) between the opening area S1 of the suction port 62 and the sum S2 of the opening area ΔS2 of the gap flow path C1 and further increasing the flow velocity of the suction airflow SF, the adsorption The adsorption force when the head 60 adsorbs the stacked container rows 17 can be further enhanced.

Next, referring to FIG. 13, the electrical configuration of the transfer device 11 will be described. As shown in FIG. 13 , the transfer device 11 includes a control section 80 that controls the transfer device 11 in an integrated manner. The controller 80 is electrically connected to the robot 20 , the space changing mechanism 40 and the suction unit 50 that constitute the hand unit 30 . The control unit 80 controls the robot 20 and the hand unit 30 to cause the transfer device 11 to perform a transfer operation of sucking and transferring the stacked container row 17 from the box 15 one step at a time. The transfer work performed by the control unit 80 by controlling the transfer device 11 includes an adsorption process and a transfer process.

Next, operation of the transfer device 11 will be described with reference to FIGS. 1 to 13. FIG. After the operation of the transfer system 10 is started, the box 15 carried on the carrying-in conveyor 12 is opened and the pressing lever 19 presses the flap 15B and the peripheral portion 16A of the bag 16. As shown in FIG. Then, the control unit 80 drives the transfer device 11 to start the transfer operation of taking out the stacked container rows 17 from the boxes 15 one by one and placing them on the carry-out conveyor 13 .

The controller 80 performs the adsorption process. The control unit 80 controls the robot 20 to move the hand unit 30 horizontally above the box 15 . The control unit 80 grasps the position of the box 15 to be worked on and the height position indicating the position of the stack of containers 17 to be sucked in the box 15 . The control unit 80 drives the fan unit 53 to generate the suction airflow SF flowing into the suction port 62 on the suction surface 61 of the suction head 60, and the hand unit 30 becomes the suction target in the box 15 while maintaining the horizontal posture. It is lowered to a predetermined height at a predetermined distance above the stacked container row 17 for one stage. Next, the control unit 80 drives the plurality of cylinders 51 to lower the plurality of suction units 50 all at once, and arranges the plurality of suction heads 60 at the suction positions. The layered container row 17 is lightly pressed from above. In this way, the hand unit 30 sucks the stacked container row 17 for one stage with the plurality of suction heads 60 . At this time, as shown in FIGS. 2 and 5, air partly including the air exhausted from the exhaust duct 55 through the gaps CL between the plurality of suction heads 60 flows downward, causing the gaps CL to be taken into the gaps CL. Air is taken in from the outside of the box 15 as , and the taken-in air flows into the suction port 62 of the suction head 60 to form a suction airflow SF (see FIG. 11). It should be noted that the fan unit 53 may be driven at any timing until the suction head 60 is positioned at the suction position.

Next, the control unit 80 performs a transfer process. While continuing to drive the fan unit 53, the control unit 80 drives the cylinder 51 to contract to move the plurality of suction units 50 upward, thereby slightly raising the stacked container row 17 for one stage. Next, the control unit 80 controls the arm 23 of the robot 20 to move the hand unit 30 upward, thereby taking out from the box 15 the stacked container row 17 sucked by the plurality of suction heads 60 .

The controller 80 drives the arm 23 of the robot 20 to move the hand unit 30 to a predetermined height above the unloading conveyor 13 . The control unit 80 extends the space changing mechanism 40 to extend the plurality of suction units until the suction unit 50 is removed from the box 15 and the stacked container row 17 for one stage is moved to a position above the carry-out conveyor 13 . The interval 50 is widened from the first interval to the second interval corresponding to the interval of the placing portions 13A on the unloading conveyor 13 of the transfer destination. Next, the control unit 80 stops driving the fan unit 53 and extends the cylinder 64 to lower the pressing member 65 and push out the stacked container rows 17 downward. As a result, one stage of the stacked container row 17 released from the plurality of suction heads 60 is placed on the placement portion 13A on the carry-out conveyor 13 . Thereafter, the control section 80 controls the arm 23 of the robot 20 to move the hand unit 30 to a position above the box 15 in order to take out the stacked container row 17 of the next stage from the box 15 . Then, in the process of returning the hand unit 30 for the next suction, the space changing mechanism 40 is contracted, and the space between the plurality of suction heads 60 is narrowed. By repeating the transfer work by the robot 20 in this manner, the stacked container row 17 accommodated in the boxes 15 is transferred to the placement section 13A on the carry-out conveyor 13 step by step.

As described in detail above, according to this embodiment, the following effects are obtained.
(1) The transfer device 11 adsorbs and transfers a stacked container row 17 formed by stacking a plurality of containers 18 . The transfer device 11 includes a plurality of suction heads 60 (an example of a suction unit) for sucking one stage of the stacked container rows 17 from the opening 15K of the box 15 in which the plurality of stacked container rows 17 are accommodated, and the suction heads 60 . and a suction unit 52 that generates a suction airflow SF that provides negative pressure for suction to the suction unit 52 . Further, the transfer device 11 includes a robot 20 (an example of a transfer mechanism) that transfers a plurality of stacked container rows 17 by moving a plurality of suction heads 60 . The suction head 60 has a concave suction surface 61 that suctions the stacked container row 17 and a suction port 62 that opens to the suction surface 61 . Between the plurality of suction heads 60 when one stage of the stacked container row 17 is sucked, there is a gap CL (communication portion of example) is provided.

Therefore, when one stage of stacked container row 17 is taken out from the box 15, the air for forming the suction airflow SF flowing into the suction port 62 passes through the gap CL and passes through the outer space above the suction head 60 (the outer space of the box 15). outside space on the side of the opening 15K). Therefore, the suction airflow SF flowing into the suction port 62 through the gaps between the plurality of stacked container rows 17 and the boxes 15 is less likely to occur. As a result, when the suction head 60 picks up the layered container row 17 from the box 15, it is possible to avoid suction errors such as sucking the bag 16 or lifting the box 15 together with the suction force. Therefore, even if unevenness due to the gaps between the containers 18 is present on the outer peripheral surface of the stacked container row 17, the stacked container row 17 for one stage can be taken out from the box 15 by suction and transferred.

(2) In a state where the suction head 60 sucks the plurality of stacked container rows 17, the suction unit 52 exhausts the sucked air from the portion facing the side with the gap CL. Therefore, the air exhausted by the suction unit 52 passes through the gaps CL of the plurality of suction heads 60 to form the suction airflow SF leading to the suction port 62, so that the suction airflow SF flows smoothly and a high suction force can be secured. . For example, the suction resistance of the suction portion 52 can be reduced and the exhaust resistance can be reduced.

(3) The suction port 62 is positioned at the center of the width direction X intersecting the longitudinal direction Y of the stacked container rows 17 sucked and held by the suction surface 61 on the suction surface 61 . Therefore, the suction airflow SF flows between the suction surface 61 and the outer peripheral surface of the stacked container row 17 until it reaches the suction port 62 located at the central portion of the suction surface 61 in the width direction X. It is possible to secure a wide area on which the negative pressure acts on the outer peripheral surface. Therefore, the suction head 60 can suck and hold the stacked container row 17 with a high suction force.

(4) The suction head 60 has a flexible member 66 having a length that partially enters the concave portion between the containers arranged in the stacking direction on the outer peripheral surface of the stacked container row 17 sucked and held. is provided along the longitudinal direction Y of the . Therefore, the flexible member 66 partially enters the concave portion of the stacked container row 17 sucked and held by the suction head 60, so that the opening area of the gap between the stacked container row 17 and the suction surface 61 is reduced. For this reason, in the suction head 60 having the flexible member 66, it is possible to improve the airtightness between the suction surface 61 and the outer peripheral surface of the stacked container row 17, compared with the configuration without the flexible member 66. The negative pressure of the head 60 can be increased. Therefore, the suction force with which the suction head 60 sucks and holds the stacked container row 17 can be increased. At this time, the ratio of the total opening area of the suction port 62 to the total opening area of the gap between the suction surface 61 of the suction head 60 and the stacked container row 17 is increased by the flexible member 66 to reduce the negative pressure of the suction head 60 . Since the size can be increased, a high suction holding force can be ensured when the suction head 60 suctions the stacked container rows 17 .

(5) The plurality of suction heads 60 are configured to be relatively movable in the width direction X intersecting the longitudinal direction Y of the stacked container rows 17 sucked and held by the plurality of suction heads 60, and the intervals between the plurality of suction heads 60 are changed. It further includes a space changing mechanism 40 for allowing the space to change. A gap CL is formed between the suction heads 60 as a communication portion when the plurality of suction heads 60 are positioned at intervals for sucking the stacked container row 17 having the smallest diameter by the space changing mechanism 40 .

Therefore, when the plurality of suction heads 60 are positioned at intervals when sucking and holding the stacked container row 17 having the smallest diameter, a gap CL is formed between the suction heads 60 . The space between the plurality of suction heads 60 allows the inside and outside of the box 15 to communicate with each other. A suction airflow SF flowing into the suction port 62 is formed along a path passing through the gaps between the plurality of suction heads 60 . Therefore, one stage of stacked container row 17 can be sucked and taken out from the box 15 at once without sucking the box 15 together. Further, by changing the interval between the suction heads 60 by the interval changing mechanism 40, the plurality of stacked container rows 17 can be transferred at appropriate intervals required by the transfer destination. That is, a plurality of suction heads 60 are inserted into the box 15 at narrow intervals, and the plurality of stacked container rows 17 corresponding to one stage are taken out by suction. and can be placed at appropriate intervals.

(6) The interval changing mechanism 40 is an elastic mechanism that expands and contracts in the width direction to change the interval. At least a portion of the lower side of the spacing change mechanism 40 contracts to a dimension less than the width of the opening 15K of the box 15. Therefore, when the plurality of suction heads 60 are at intervals for sucking one stage of the stacked container row 17, at least a part of the lower side of the interval changing mechanism 40 can be accommodated in the box 15. The interval changing mechanism 40 does not get in the way when sucking the plurality of stacked container rows 17 on the stage (first stage) located at . Therefore, compared to the configuration in which the interval changing mechanism 40 when sucking the stacked container row 17 for one stage has a size equal to or larger than the width of the opening 15K of the box 15, the stacked container row 17 for one stage can be sucked and taken out. The depth of the box 15 can be made deeper.

(7) In the transfer method of the stacked container rows 17 in which the stacked container rows 17 formed by stacking a plurality of containers 18 are transferred by suction, a plurality of stacked container rows 17 corresponding to one stage are sucked individually. A plurality of suction heads 60 are provided, and each suction head 60 has a suction surface 61 formed of a concave surface in which a suction port 62 opens. The transfer method includes a suction step in which a plurality of suction heads 60 are put into the box 15 in which a plurality of stacked container rows 17 are accommodated for each stage, and the stacked container rows 17 for one stage are sucked, and the one stage to which the suction head 60 has adsorbed. and a transfer step of taking out the stacked container rows 17 from the box 15 all at once and transferring them. Between the plurality of suction heads 60 , a gap CL (an example of a communication portion) is formed to vertically communicate the inside and outside of the box 15 when the plurality of suction heads 60 are inserted into the box 15 . In the adsorption step, the suction airflow SF that flows through the gap between the adsorption surface 61 and the stacked container row 17 and flows into the suction port 62 is generated by taking in air from the outside to the inside of the box 15 through the gap CL. According to this transfer method for the stacked container row 17, the same effects as those of the transfer device 11 for the stacked container row 17 can be obtained.

(Second embodiment)
Next, a second embodiment will be described with reference to the drawings. In the second embodiment, the configuration of the interval changing mechanism 40 in the transfer device 11 is different from that in the first embodiment. The interval changing mechanism 40 of this embodiment does not have an expansion/contraction mechanism capable of expanding/contracting in the width direction X. As shown in FIG. That is, the dimension in the width direction X of the interval changing mechanism 40 does not change even if the intervals between the plurality of suction units 50 are changed. The configuration other than the interval changing mechanism 40 is the same as that of the first embodiment except that the number of suction heads 60 is different, so only the configuration of the interval changing mechanism 40 will be described below.

The interval changing mechanism 40 shown in FIG. 14 is an example in which the number of suction heads 60 (see FIG. 2, etc.) is five. When the number of suction heads 60 is an odd number, the one central suction head 60 does not move. Therefore, two suction heads 60 on each side are configured to be relatively movable with respect to the central suction head 60 . As shown in FIG. 14, there are five support plates that support the suction unit 50 having the suction head 60 below.

A pair of support frames 92 are arranged on both sides of the five support plates 94 to 96 in the X direction. Both ends of two rails 93 extending in the X direction are fixed to the pair of support frames 92 . Five support plates 94 to 96 support five suction units 50 having suction heads 60 at the bottom. The center support plate 94 of the five support plates 94 to 96 is fixed to the two rails 93 at the center position in the X direction. Also, two support plates 95 and 96 arranged on both sides of the central support plate 94 are attached to the two rails 93 so as to be movable in the X direction, which is the interval change direction.

At positions outside the pair of support frames 92 in the X direction, a pair of cylinders 91 are fixed to the corresponding support frames 92 so as to face each other. The tip end portions of the piston rods 91A of the pair of cylinders 91 are respectively fixed to the support plate 96, which is located on the outermost side in the X direction among the five support plates 94-96.

Here, hereinafter, of the five support plates 94 to 96, the one located in the center is the first support plate 94, the two adjacent to both sides of the first support plate 94 are the second support plates 95, and the second supports The two adjacent to the outside of the plate 95 are also called a third support plate 96 . The first support plate 94 and the second support plate 95 are connected via a first connection member 97 that limits the relative movement distance between them in the direction of changing the distance (X direction) within a predetermined range. The first connecting member 97 is a plate material having a predetermined length, one end of which is fixed to the first support plate 94, and the other end of which is a long guide hole 97A extending in the X direction. A pin 99 projecting from the upper surface of the second support plate 95 is inserted into the hole 97A. Therefore, the second support plate 95 can move relative to the first support plate 94 in the interval changing direction X within a predetermined distance range via the first connecting member 97 .

In addition, the second support plate 95 and the third support plate 96 are connected via a second connection member 98 that limits the relative movement distance between them in the direction of changing the distance (X direction) within a predetermined range. The second connecting member 98 is a plate member having a predetermined length, one end of which is fixed to the third support plate 96, and the other end of which is a long guide hole 98A extending in the X direction. A pin 99 projecting from the upper surface of the second support plate 95 is inserted into the hole 98A. Therefore, the third support plate 96 can move relative to the second support plate 95 in the interval changing direction X within a predetermined distance range via the second connecting member 98 .

In the state shown in FIG. 14, the five support plates 94 to 96, that is, the five suction units 50 including the suction head 60, are approaching when one stage (five) of the stacked container rows 17 are taken out from the box 15. . In this state, the pair of cylinders 91 are in an extended state in which the piston rods 91A are extended. A gap CL is formed as an example of a communication portion that communicates vertically in the height direction Z perpendicular to the plane of the drawing in plan view shown in FIG. 14 in which the suction head 60 is in the approaching state. Therefore, in a state in which a plurality of suction heads 60 are inserted into the box 15 in order to suck, for example, one row of stacked container rows 17 located at the bottom of the box 15 , the portion between the suction heads 60 is A suction airflow SF (see FIGS. 2 and 11) is generated that flows into the suction port 62 of the suction head 60 using the gap CL communicating with the upper and lower sides as an air intake port. After the plurality of suction heads 60 suck one stage of the stacked container rows 17 and remove them from the box 15, the pair of cylinders 91 are driven to contract from the extended state shown in FIG. change widely.

According to this second embodiment, the following effects can be obtained.
(8) As in the first embodiment, the space change mechanism 40 changes the space between the plurality of (five) suction heads 60 and moves the row of stacked containers 17 taken out from the box 15 by the hand unit 30 . It can be placed on the placing section 13A on the unloading conveyor 13 of the loading destination.

Embodiments are not limited to the above, and may be modified as follows.
- The bag 16 may not be present in the box 15 . For example, the box 15 itself may be flexible, and the suction force may cause the box 15 to deform inward and lift the whole box. A gap CL of a predetermined size or larger is secured between the plurality of suction units 50 inserted into the box 15 to communicate between the inside and outside of the box 15, so that the plurality of suction heads 60 can be used for one stage. It is possible to avoid a situation in which the entire box 15 is sucked when the stacked container row 17 is sucked.

- An integrated suction unit in which a plurality of suction heads 60 (an example of a suction unit) are integrally formed such that the interval between them cannot be changed may be used. In this case, communication portions communicating vertically may be provided at locations corresponding to the spaces between the plurality of suction heads 60 in the suction unit.

- The concave suction surface 61 of the suction head 60 may be an arcuate surface.
- The container may have a rectangular shape when viewed from the axial direction. In this case, the shape of the concave surface of the adsorption surface 61 may be changed to match the outer peripheral surface of the row of stacked containers in the shape of a substantially quadrangular prism.

・The transfer mechanism is not limited to articulated robots. For example, it may be a transfer mechanism including a rail installed on the ceiling and a carriage that moves on the rail and suspends and supports the hand unit 30 so that the hand unit 30 can be raised and lowered. Even with this transfer mechanism, the stacked container row 17 can be sucked out from the box 15 one by one and transferred.

- The suction unit 52 may be a blower instead of the fan unit 53 . Here, a fan refers to a machine that imparts energy to a gas through the rotational motion of an impeller, with an energy per unit mass of less than 25 kNm/kg (approximately 30 kPa). A blower refers to a compressor having an effective discharge pressure of 200 kPa or less among compressors that pump gas by means of rotational motion of an impeller or rotor. The blower or fan may be of any type of centrifugal type, diagonal flow type, or axial flow type.

- A plurality of suction ports 62 may be provided. The suction port 62 may be positioned not only at the center of the width of the suction surface 61 but also at other positions. Further, the formation position of the suction port 62 may be off from the central portion in the width direction X of the suction surface 61 as long as the suction airflow SF capable of sucking the stacked container row 17 can be secured.

- The material of the flexible member 66 is not limited to rubber or elastic synthetic resin, and may be brush or fiber. Further, the flexible member 66 may be a seamless, long thin plate material as long as the material is extremely flexible and elastically deformable so as to be able to enter the gap C1. Furthermore, the flexible member 66 may be a bellows-shaped member. In short, the flexible member 66 only needs to be able to enter the gap C1 between the containers 18 forming the stacked container row 17 .

DESCRIPTION OF SYMBOLS 10... Transfer system, 11... Transfer apparatus, 12... Carry-in conveyor, 13... Carry-out conveyor, 13A... Placement part, 15... Box, 15A... Box main body, 15B... Flap, 15K... Opening, 16... Bag, 17 , 17S... Laminated container row, 18... Container, 20... Articulated robot as an example of a moving mechanism, 30... Hand unit, 40... Interval changing mechanism, 50... Suction unit, 51... Cylinder, 52... Suction part, 53... Fan unit 54 Suction duct 55 Exhaust duct 60 Suction head as an example of a suction unit 61 Suction surface 62 Suction port 63 Negative pressure chamber 64 Cylinder 65 Pressing member 66 Flexible member 80 Control part CL Gap as an example of communication part C1 Gap (gap channel) F Inflow airflow SF Suction airflow S1 Opening area of suction port ΔS2 The opening area of the gap channel, X... width direction (X direction), Y... longitudinal direction (Y direction), Z... height direction (Z direction).

Claims (6)

A transfer device for a stacked container row that adsorbs and transfers a stacked container row in which a plurality of containers are stacked,
a plurality of suction units for sucking the stacked container row for one stage from the opening of the box in which the multiple stacked container rows are accommodated per stage;
a suction unit that generates a suction airflow that applies a negative pressure for suction to the suction unit;
a transfer mechanism for transferring the plurality of stacked container rows by moving the plurality of suction units,
The suction unit has a concave suction surface for suctioning the row of stacked containers, and a suction port opening to the suction surface,
A communication part is provided between a plurality of the suction parts when sucking the stacked container row for one stage, and serves as an intake port for air flowing into the suction port and communicating vertically ,
An apparatus for transferring stacked container rows , wherein the suction unit exhausts the sucked air from a surface on a side where the communicating part is provided in a state in which the suction unit adsorbs the plurality of stacked container rows . 2. The stacked container row according to claim 1, wherein the suction port is positioned at a central portion of a width direction crossing a longitudinal direction of the stacked container row sucked and held on the adsorption surface on the adsorption surface. transfer device. In the suction unit, a flexible member having a length that partially enters a recess between the containers arranged in the stacking direction on the outer peripheral surface of the stacked container row sucked and held is installed in the longitudinal direction of the stacked container row. 3. The transfer device for a stacked container row according to claim 1, wherein the transfer device is provided along a line. Further, an interval changing mechanism configured to allow the plurality of adsorption portions to move relative to each other in a direction intersecting with the longitudinal direction of the stacked container row sucked and held by the plurality of adsorption portions, and to change the interval between the plurality of adsorption portions. prepared,
A gap is formed between the suction portions as the communication portion when the plurality of suction portions are positioned at intervals when the row of stacked containers in the box is suctioned by the space changing mechanism. 4. A transfer device for stacking container rows according to any one of items 1 to 3 . The interval changing mechanism is an expansion/contraction mechanism that expands and contracts in the width direction to change the interval, and when the plurality of suction units are in the interval when sucking the stacked container row for one stage from the box, the 5. The apparatus for transferring stacked containers according to claim 4 , wherein at least a part of the lower side of the space changing mechanism shrinks to a dimension smaller than the width of the opening of the box. A method for transferring a stacked container row by adsorbing and transferring a stacked container row formed by stacking a plurality of containers,
a plurality of adsorption units for individually adsorbing the plurality of stacked container rows corresponding to one stage ;
a suction unit that generates a suction airflow that applies a negative pressure for suction to the suction unit ;
The suction part has a suction surface formed of a concave surface in which a suction port opens,
an adsorption step of placing a plurality of the adsorption units in a box in which a plurality of the stacked container rows are accommodated per stage and adsorbing the stacked container row for one stage;
a transfer step of simultaneously taking out from the box the stacked container rows of one stage adsorbed by the adsorption unit and transferring them,
Between the plurality of suction portions, a communication portion is formed to vertically communicate the inside and outside of the box when the plurality of suction portions are inserted into the box,
In the adsorption step, the suction airflow flowing through the gap between the adsorption surface and the row of stacked containers and flowing into the suction port is generated by taking in air from outside to inside the box through the communicating portion. A method for transferring a row of stacked containers , wherein the suction unit exhausts the sucked air from a surface on a side where the communication part is provided in a state where the suction unit sucks the plurality of rows of stacked containers. .

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