JPH06234419A - Article taking-out and inserting device having arrangement mechanism - Google Patents

Abstract

PURPOSE:To compact a device and reduce a cost by integrally constituting a device for taking out a vessel from a holder, a device for arranging the direction of the vessel, and a device for returning the vessel into the holder. CONSTITUTION:This device is provided with a conveyor 2, carrying a holder 12; a gripper 11, arranged on the upper side of the conveyor 2 and proceeding together with the conveyor 2; a rotation mechanism 61, rotating the gripper 11; an elevating mechanism 41, elevating the gripper 11; and a checker, detecting the direction of the vessel 14. The gripper 11 is lowered to grip the vessel 14 in the holder 12, and then is elevated to take-out the vessel 14. According to a detected signal from the checker, a vessel 14, having a correct direction, is left as it is, and a vessel 14, having a different direction, is arranged in the direction by rotating the gripper 11. Then the gripper 11 is lowered to insert the vessel 14 in the holder 12. Thus taking-out, arrangement, and insertion are performed while the vessel 14 is being gripped by the same gripper 11, and therefore the device is made compact and a cost is reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention takes out articles, such as containers, which are housed and conveyed in a holder, from the holder, aligns all of the articles so that they are oriented in the same direction, and then again holds the holder. The present invention relates to an article take-out and insertion device having an alignment mechanism to be inserted therein.

[0002]

2. Description of the Related Art For example, in a container processing apparatus for performing a series of processes such as filling a container with a liquid by a filling machine and then performing capping, the container is made of a soft material such as a soft synthetic resin. Or, if it has an unstable shape, to hold the container in a stable manner, or in the case of a deformed container such as a rectangular or elliptical shape, for the purpose of positioning or centering. The container is usually accommodated and held in a container holder, which is generally called a "hama", and is placed on the container processing line.

9 to 11 show an example of the container holder 1, which has a bottomed cylindrical shape as a whole.
A hole 1a for accommodating a flat container is formed inside. In addition, flat surfaces 1C cut out in parallel are formed on both sides of the bottom portion 1b of the container holder 1, and by engaging these flat surfaces 1c with guides on both sides arranged on the conveyor, the flat surface 1C can be conveyed. The container holder 1 is prevented from rotating.

In a container processing apparatus for carrying out various processing steps such as filling, capping, labeling, etc. while the container is housed in the container holder 1 and transported as described above, for example,
Labelers must supply all labeling surfaces in the same direction, and containers that are not in the correct direction must be reoriented and aligned.
However, the container holder is usually
Since the engaging portion (flat surface 1c) is provided to regulate the rotation during conveyance, it is not possible to rotate the container holder together to align the orientation of the container. Therefore, it is necessary to take out the container from the holder once, align it in the same direction according to the shape and pattern of the container, and then insert it again into the holder. A device for removing a container from a holder that can be used for such a purpose (Act No. 3-24499) or a device for changing the direction of the container and aligning all the containers in the same direction (Japanese Patent Publication No. 62- 36929, Japanese Utility Model Application No. 4-34223, etc.) have already been proposed.

[0005]

However, since the container withdrawing device from the holder and the direction arranging device for articles are configured as independent devices, if these devices are arranged in series, the entire device will be obtained. There is a problem that the size is increased and the line becomes long, so that a large space is required and the cost is increased.

The present invention has been made in order to eliminate the above-mentioned drawbacks, and each function of an apparatus for taking out an article from a holder, an aligning apparatus for rotating a container to align its direction, and an apparatus for inserting an article into the holder. The present invention provides an article taking-out and inserting apparatus having an aligning mechanism in which the above are incorporated to form an indivisible unit.

[0007]

An article take-out and insertion apparatus provided with an alignment mechanism according to the present invention comprises a carrying means for carrying a holder accommodating an article, a grip means for holding an article in the holder, and the above-mentioned carrying means. It comprises an elevating means for elevating and lowering one of the means and the grip means, a rotating means for rotating the grip means, and a detecting means for detecting the direction of the container. The grip means grasps the article in the holder to elevate and lower. The gripping means holds the article taken out from the holder when the article is taken out from the holder by raising the gripping means or the conveying means is lowered by the means, and the direction of the article detected by the detecting means is different from a certain direction. By rotating by the rotating means,
The articles are aligned in a certain direction, and then the grip means is lowered or the conveying means is raised to insert the articles into the original holder.

[0008]

In the article take-out and insertion apparatus having the above-mentioned alignment mechanism, the container in the holder being conveyed by the conveying means is gripped by the grip means, and the container is moved from the holder by the relative elevation of the grip means and the conveying means. If the containers being taken out and held by the gripping means are in a different direction than the fixed direction, the gripping means is rotated so that all the containers are aligned in the same direction, and then the grip is raised or lowered first. Conversely, the means or the transport means are lowered or raised to insert the container into the original holder.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the embodiments shown in the drawings. FIG. 1 is a plan view showing a layout of an article taking-out and inserting apparatus having an alignment mechanism according to an embodiment of the present invention. In FIG. 2 is disposed above the holder transfer conveyor 2, and the container take-out / insertion mechanism 10 shown in FIG. The container take-out and insertion mechanism 10 is provided with a plurality of grippers (grip means) 11 at equal intervals, and these grippers 11 take out the container 14 from the holder 12 being conveyed on the conveyor 2, and After the containers 14 are aligned so as to face a certain direction, they are inserted into the holder 12 again. A stopper wheel 9 for appropriately stopping the progress of the holder 12 on the conveyor is provided upstream of the holder transport conveyor 2.
And a timing screw (not shown) is arranged. The timing screw is driven synchronously with the container take-out / inserting mechanism 10 and makes the holder 12 and the gripper 11 integrated by matching the distance between the holders 12 conveyed by the conveyor 2 with the distance between the grippers 11. I am trying to make progress.

Next, the construction of the article take-out and insertion apparatus 10 having the alignment mechanism will be described in detail with reference to FIGS. A pair of sprockets 1 arranged above and above the holder transport conveyor 2, respectively.
Two sets of chains 20 are wound around 6 and 18, and a large number (14 in this embodiment) of grippers 11 are attached between these chains 20 at equal intervals. The lower surface of each of these chains 20 is supported and guided by a rail 22 and advances. A support plate 26 is fixed to the chain 20 via a mounting member 24, and an elevating rod 28 is rotatably and rotatably supported by penetrating a hole of the support plate 26. The gripper 11 is attached to the lower portion of the lifting rod 28. The gripper 11 includes a pair of levers 30 and a pad 3 attached to the surfaces of the levers 30 facing each other and abutting on the outer surface of the container 14.
2 and. Both levers 30 are bent into a dogleg shape, and the upper portions thereof intersect and are connected by a pin 34, and the lower end portion can be opened and closed with the pin 34 as a fulcrum. The upper portions of the fulcrum pins 34 of both levers 30 are connected to an operating rod 36a of an air cylinder 36 provided inside the elevating rod 28. Air is supplied to and discharged from the pressure chamber 36b of the air cylinder 36 via an air tube 37, and the gripper 1 is operated by the operation of the air cylinder 36.
Both levers 30 of 1 are opened and closed.

A cylindrical block 38 is fitted on the upper part of the elevating rod 28. The elevating rod 28 is rotatable relative to the tubular block 38, and when the tubular block 38 rises, the ring 28 a fixed to the upper end thereof is attached to the tubular block 38 via the bearing 39. When it is pushed up, it rises together. A cam follower 40 is attached to the outer surface of the cylindrical block 38, and engages with a cam 42 arranged along the movement path of the chain 20. Depending on the shape of the cam 42, the lifting rod 36 And, the gripper 11 below it is moved up and down. The lifter 28, the cam follower 40, the cam 42, and the like cause the gripper 11 to move.
Elevating means 41 for elevating and lowering is constructed. A protrusion 38a is formed on the side of the cylindrical block 38 opposite to the cam follower 40, and the protrusion 38a is engaged between two guide rods 43 standingly provided on the support plate 26 and is guided to move up and down. At the same time, rotation is restricted.

The support plate 2 around the lifting rod 28
A gear 44 is fitted on the lower surface side of the gear 6. The gear 44 is connected to the elevating rod 28 via a key 46. The elevating rod 28 can be moved up and down relatively to the gear 44, and is connected in the rotational direction to rotate integrally. It is like this. The support plate 26
A rotary shaft 48 is pierced at a position laterally aligned with the elevating rod 28 in the traveling direction of the chain 20, and is rotatably supported via a bearing 50. A second gear 52 having the same diameter and the same number of teeth is fixed to the lower surface of the rotary shaft 48 with respect to the support plate 26 at the same height as the gear 44 of the elevating rod 28.
A timing belt 54 is wound around 52. Further, a rotary disc 56 is fixed to the lower end of the rotary shaft 48. The rotating disk 56 is arranged in parallel with the conveyor 2 that conveys the holder 12 containing the container 14 and moves while being pressed against a friction plate 60 that is urged toward the conveyor 2 by a spring 58 to move the rotating force. Has been granted. When the rotating disk 56 rotates, this rotation causes the first and second gears 44 and 52 and the timing belt 5 to rotate.
4 is transmitted to the lifting rod 28 through the gripper 1
Rotate 1. The rotating disc 56, the friction plate 60, the two gears 44 and 52, the timing belt 54 and the like constitute a rotating means 61 for rotating the gripper 11.

A rotary shaft 48 to which a rotary disc 56 is fixed.
Another disc 62 is fixed to the upper end of the. Two pins 64a and 64b are provided on the upper disk 62 at symmetrical positions, that is, at positions shifted by 180 degrees. Further, on the support plate 26, a stopper 68 having a substantially doglegged shape is disposed adjacent to the upper disc 62, the intermediate portion of which is supported by a fulcrum shaft 66 and which is swingable. The stopper 68 is normally pulled by a spring 70 and located at the position indicated by the solid line in FIG. 4, and its tip 68a abuts one of the pins 64a and 64b on the upper disc 62 to stop the disc 62.

An air cylinder 72 is provided outside the movement path of the support plate 26 that supports the upper disc 62, the stopper 68 and the like. The air cylinder 72 is the conveyor 2 that conveys the holder 12 containing the container 14.
Is arranged on the side of the container 14 and is operated by a signal from a checker 74 (see FIGS. 1 and 2) that detects the front and back of the container 14. By the operation of the air cylinder 72, the stopper 68 is momentarily hit, moves to the position shown by the imaginary line in FIG. 4, and the engagement with the pin 64a or 64b is released. As a result, the rotating disk 56, which is always given a rotational force by the friction plate 60, rotates.

The operation of the article taking-out and inserting apparatus having the above-described arrangement mechanism will be described. The holder 12 having the container 14 accommodated therein is continuously conveyed by the conveyor 2. The container 14 in the holder 12 is front and back checked by the checker 74 before reaching the lower side of the container removing / inserting mechanism 10. The holders 12 are positioned by a timing screw so as to match a predetermined interval, that is, an interval between the grippers 11 of the container take-out / inserting mechanism 10. The container 14 and the holder 12 are advanced directly under the grippers 11, respectively. With these forward movements, the upper and lower lifting rods 28 to which the grippers 11 are attached descend according to the curve of the cam 42. At this point, both levers 30 of the gripper 11 are expanded.

The gripper 11 descends and its both levers 30
When the container 14 is positioned between the two, the lifting rod 2
8, an air cylinder 36 for opening and closing the gripper is operated to close both levers 30 of the gripper 11,
To hold. After that, the lifting rod 28 is moved by the cam 42.
And the gripper 11 is raised to move the container 14 to the holder 12
Take out from within.

After the containers 14 are taken out of the holder 12 by raising the grippers 11, all the containers 14 are aligned so as to face the same direction by a signal from the checker 74 which has detected the front and back of the containers 14 in advance. When the container 14 faces in the correct direction, the air cylinder 72 for rotating the gripper is not operated, and the container 14 is gripped and conveyed by the gripper 11 as it is. On the other hand, in the case of the container 14 facing the back surface, the air cylinder 72 is operated by the signal from the checker 74. Air cylinder 72
Is activated, the stopper 68 is momentarily hit and the tip 68a of the stopper 68 is disengaged from the engaged pin 64a or 64b. Since the rotating disc 56 at the lower end of the rotating shaft 48 is constantly given a rotational force by the friction plate 60, when the regulation by the stopper 68 is released, the rotating disc 56 and the upper disc 62 rotate. The rotation of the upper and lower discs 56, 62 and the rotary shaft 48 is caused by the gear 52, the timing belt 5
4 and the gear 44, and is transmitted to the elevating rod 28. The two pins 64a and 64b are provided at symmetrical positions on the upper disc 62. When the stopper 68 is hit by the air cylinder 72 and momentarily swings, the spring 70 returns to its original position. The pin 64a or 64b different from the pin 64a or 64b that has been engaged with the stopper 68 until then is engaged by rotating 180 degrees and the rotation of the upper disc 62 and the rotating disc 56 is stopped again. Therefore, the gripper 11 of the elevating rod 28 is also 1
/ 2 rotations and then stopped. As a result, the container 14 facing the back surface is also aligned in the correct direction. After that, the gripper 11 descends again to move the grasped container 14 to the holder 1
Insert into 2. The gripper 11 in which the container 14 is inserted into the holder 12 releases the container 14 by the operation of the cylinder 36, then reverses around the sprocket 18 and returns to the upstream side of the conveyor 2. In addition, in the alignment step of rotating and aligning the container 14 facing the back surface, after the container 14 is taken out of the holder 12 by the lift of the gripper 11 and is inserted into the holder 12 again (see FIG. 2). R range)
Performed in.

As described above, in the apparatus of this embodiment, the holder 12
Since the step of taking out the container 14 from the container, the step of aligning the direction of the container 14 and the step of inserting the container 14 into the holder again are performed while being gripped by the same gripper 11, the entire apparatus can be made compact. Moreover, the structure can be simplified and the cost can be reduced as compared with the case where the extraction, the direction change and the insertion are performed by the separate mechanisms. In this embodiment, the front and the back of the container 14 are detected and aligned so as to face the same surface. The pins 64a and 64b are provided,
However, the present invention is not limited to this. For example, four pins may be arranged every 90 degrees in order to align all the rectangular containers so that they face the same plane.

Next, a second embodiment will be described with reference to FIGS. FIG. 5 is a plan view showing a simplified arrangement of an article take-out and insertion device provided with a rotary type alignment mechanism, and a holder accommodating a container is a conveyor 1
10 are continuously conveyed in a single row, and the timing screws 111 set mutual positions at predetermined intervals, are housed in respective pockets (not shown) of the introduction star wheel 112, and are conveyed along the guide plate 113. Then, it is introduced into the article take-out and insertion apparatus 100 according to the present embodiment. This article removal and insertion device 100 removes the containers from the holder and rotates only the particular container (ie, the container that is not oriented in the correct direction) detected by the checker (not shown) to ensure that all containers are After being aligned so as to face the same direction, they are again inserted into the same holder and discharged to the downstream side of the conveyor 110 via the discharge star wheel 114. In this embodiment, the container has the same shape on the front surface and the back surface,
In addition, both sides have the same shape different from the front and back surfaces, and when the surface of the container facing outward in the radial direction of the article ejection and insertion device 100 is the front surface or the back surface, it is in the correct orientation. As it is, it is discharged as it is, and when the side faces are directed outward in the radial direction, they are rotated by 90 degrees so that the front and back surfaces of all the containers are aligned so as to be directed outward in the radial direction of the article removing device 110. .

The structure of the article take-out and insertion apparatus 100 having the above-mentioned alignment mechanism will be described with reference to FIGS. 6 and 7. The fixed shaft 101 is vertically arranged and fixed to a machine base (not shown), and the bearings 102, 1 are provided around the fixed shaft 101.
The rotary cylinder 104 is rotatably fitted through 03. A rotary table 105 is integrally fixed to the lower part of the rotary cylinder 104, and a plurality of container support members 107 are provided on the rotary table 105 at equal intervals in the circumferential direction. A holder accommodating a container is supplied to each container support member 7 via 112.

At the upper end of the rotary cylinder 104, the first rotary member 1
A second rotary member 126 is mounted above the first rotary member 125 at a predetermined interval and is rotatably supported by the fixed shaft 101 via a bearing 127. The rotating member 126 and the first rotating member 125 are integrally connected to each other by a plurality of guide rods 128 parallel to the fixed shaft 101. Then, a gripper 130, which will be described below, is provided on the first and second rotating members 125 and 126 at positions directly above the container supporting members 107 so as to be vertically movable and rotatable.

Each gripper 130 is attached to a cylindrical main body 131 which is rotatably supported by the first and second rotating members 125 and 126. A bracket 134 is rotatably supported at an intermediate portion of the cylindrical body 131, and a cam follower 135 provided on the bracket 134 is attached to the cam 13.
6 by engaging with the cam groove 136a of the cylindrical body 1
31 can be raised and lowered. The guide rods 128 connecting the first and second rotating members 125 and 126 are arranged between the cylindrical main bodies 131 arranged at equal intervals in the circumferential direction, and the guide rods 128 axially supported by the respective cylindrical main bodies 131 are arranged. The brackets 134 are attached to the adjacent guide rods 128 so that they can be raised and lowered so that the brackets 134 do not rotate together with the tubular body 131. Further, the cam 136 is provided with the first and second rotation members 12
It is arranged between 5, 126 and is attached to the fixed shaft 101.

The gripper 1 is attached to the lower end of the cylindrical body 131.
30 are provided. This gripper 130, like the gripper 11 of the first embodiment, has two levers 141.
And a pad 142 attached to the surfaces of the levers 141 that face each other, and is opened and closed by a cylinder 143 provided in the lower portion of the tubular body 131 to grip or open the container. The pressure chamber of the cylinder 143 is
A passage 144 in the tubular body 131, a rotary joint 145 that allows the tubular body 131 to rotate, a flexible tube 146 that allows the rotary joint 145 to move up and down integrally with the tubular body 131, and a second rotating member 126. And fixed shaft 10
1 is connected to an air supply source (not shown) via a rotary joint 147 and a conduit 148 which allow rotation with the cylinder 143 by supplying / discharging air to / from the pressure chamber.
Is operated to open and close the gripper 130.

At the upper end of the cylindrical body 131,
A rotation drive mechanism 150 that rotates the gripper 130 to align the direction of the container in a certain direction is provided. As shown in FIGS. 6 and 7, the rotary drive mechanism 150 includes an impeller 151 fixed to the tubular main body 131. In this embodiment, the impeller 151 has a tubular body 131 that
It has four blades 152 for rotating each time, and the blades 152 are fixed on the operating rod 153 as will be described later.
Impeller 151 and tubular body 131
The container can be rotated 90 degrees via the gripper 130.

The impeller 1 is attached to the cylindrical body 131.
At a position below 51, a cam 154 for accurately rotating the tubular body 131 by 90 degrees is provided. The cam 154 has recesses 154a at four positions every 90 degrees, and a cam follower 155 is pressed against the recesses 154a so that the rotational angle position of the tubular main body 131 is accurately at every 90 degrees. . The cam follower 155 has a pin 15
6 is attached to the tip end of an arm 157 swingably provided on the cam 6, and is elastically contacted with the cam 154 by a spring 159 stretched between the arm 157 and a bracket 158 supporting the pin 156. . The bracket 158 is rotatably supported on the tubular body 131, and is erected on the second rotating member 126 to prevent the bracket 158 from rotating integrally with the tubular body 131. It is engaged with the guide rod 160 so as to be able to move up and down. The article take-out and insertion apparatus 100 is provided with a checker (detector) similar to that in the above-mentioned embodiment, and the cylinder device 167 shown in FIG. 6 is operated by a detection signal from the checker. . In the present embodiment, when the side surface of the container is facing outward in the radial direction of the article removing / inserting device (when it is not in the correct direction), the cylinder device 67 is operated to move the above-mentioned operating rod 153 to the lower end position. It can be lowered. Further, when the front surface or the back surface of the container is facing outward in the radial direction (when facing the correct direction), the cylinder device 167 is held in the non-operating position to stop the operating rod 153 at the rising end position. I will let you. When the operating rod 153 is located at the rising end, the operating rod 153 does not contact the impeller 151 and the operating rod 153 does not come into contact with the impeller 151.
When the lever is lowered to the lower end, the operating rod 153 can be brought into contact with the impeller 151.

The operation of the device of the second embodiment having the above construction will be described. The holders conveyed in one row on the conveyor 110 are set at a predetermined interval (the interval equal to the interval of the gripper 130 of the article take-out and insertion apparatus 100) by the timing screw 111, and the holder is conveyed through the introduction star wheel 112. It is introduced into the ejection and insertion device 100. The holders containing the containers are supplied one by one to the container support members 107 provided on the rotary table 105 of the article take-out and insertion apparatus 100 at equal intervals. With the rotation of the rotary table 105, first, the tubular body 131 to which the gripper 130 is attached is lowered by the cam 136. At this time, the gripper 130
Both levers 141 are in the expanded state. Gripper 130 up to the height where the container is located between both levers 141
When the gripper descends, the gripper opening / closing cylinder 14
3 is operated, both levers 141 of the gripper 130 are closed, and the container is gripped (range A in FIG. 5). Then, the tubular body 131 is lifted by the cam 136 and the container is taken out from the holder (range B in FIG. 5).

Subsequently, in the rotation zone shown in FIG. 5C, all the containers are aligned and aligned. In the rotation zone C, the rotation drive mechanism 150 is operated according to the orientation of the container previously detected by a checker (not shown). That is, when the side surface of the container faces the outside in the radial direction of the rotary table 105, the cylinder device 16
7 is operated to lower the operating rod 153. Then, the blades 152 of the impeller 151 come into contact with the operating rod 153, and the impeller 151 is rotated clockwise in FIG.
The tubular body 131 and the cam 1 which are integral with the impeller 151
54 is rotated, and further the rotation of the gripper 130 rotates the container.

With the rotation of the impeller 151, the cam 1
When 54 is rotated, the cam follower 155 engaged with the concave portion 154a of the cam 154 is moved to the concave portion 154a.
To relatively move to the adjacent recess 154a. This rotates the container exactly 90 degrees and aligns the front or back surface radially outward. Further, when the container gripped by the gripper 130 has the front surface or the back surface thereof directed outward in the radial direction of the rotary table 105 from the beginning, the cylinder device 167 does not operate, so that the gripper 130 is not rotated and the orientation is maintained. To transport the containers and eventually all of the containers are aligned with their front or back faces radially outward.

The gripper 130, which transports all the containers in the same direction so that they are oriented in the same direction, is again lowered by the cam 136 in the descending zone D and the inserting zone E following the rotating zone C, and the lower gripper 130 moves downward. The container is inserted into the holder that is being conveyed together with the upper and lower positions of the gripper 11 on the rotary table 105 aligned. Then, the cylinder 143 opens the gripper 130. The container released from the gripper 130 is discharged onto the conveyor 110 by the discharge star wheel 114 and sent to the next step. As described above, also in the apparatus of the present embodiment, similarly to the above-described embodiment, in a single device, the step of taking out the container from the holder, and the step of aligning by rotating only the container oriented in a specific direction. Since the insertion step of returning the container to the holder in which the container is taken out can be performed, the length of the container processing line can be shortened, and while the container is gripped by one gripper 130. Since each of the above steps is performed, the configuration of the entire apparatus can be simplified and the cost can be reduced.

In the above embodiment, the number of the blades 152 is four for every 90 degrees, but, for example, eight blades are for every 45 degrees, and two operating rods 153 are provided so that the blades are rotated by 45 degrees. It is also possible to set the number of blades corresponding to the shape of other polygonal or elliptical containers in the same manner.

FIG. 8 shows a third embodiment, which is an article removing / inserting device 100 from a rotary type holder similar to that of the second embodiment, and the same parts as those of the above embodiment are the same. The reference numerals are given and the description thereof is omitted. Second above
In this embodiment, the gripper 130 is moved up and down to remove the container from the holder, but in this embodiment, the cylindrical body 131 to which the gripper 130 is attached is attached.
Without the cam 136 for moving up and down the gripper 13
0 does not move up and down, and each gripper 130
Independent container bases 170 are provided below the container bases, and these container bases 170 can be moved up and down. Each container stand 170
Is provided on the rod 171 and is supported so as to be able to move up and down with respect to the rotary table 105. A cam follower 172 is attached to each rod 171, and these cam followers 172 are fitted into the cam groove 173a of the fixed cam 173,
The rods 171 and the container table 170 are moved up and down according to the shape of the cam groove 173a.

In this apparatus, the container on the container stand 170 is gripped by the gripper 130 in the A zone of FIG. 5, the container stand 170 is lowered in the B zone, and the container is taken out from the holder, and in the C zone, The containers are aligned so as to face the same direction, the container base 170 is raised again in the D zone, and the container held by the gripper 130 is inserted into the holder in the E zone. After that, the holder accommodating and holding the container is discharged onto the conveyor 110 by the discharge star wheel 114. Also in this embodiment, the same effects as those of the above-mentioned embodiments can be obtained.

[0033]

As described above, according to the present invention, the conveying means for conveying the holder containing the article, the grip means for grasping the article in the holder, and either the conveying means or the grip means are moved up and down. Elevating means for rotating, rotating means for rotating the gripping means, and detecting means for detecting the direction of the container are provided, the gripping means grasps the article in the holder, and the elevating means raises the gripping means or lowers the conveying means. Take out the article from the holder, and when the direction of the article detected by the detection means is different from a certain direction, the grip means holding the article taken out from the holder is rotated by the rotation means, and then the article is raised first. Inserting the article into the original holder by lowering the grip means that has been moved or the transport means that was moved down first. More, a takeout step of taking out the article from the holder, an alignment step of aligning the article in a predetermined direction,
Since the step of returning the article to the original holder can be performed in a single apparatus, the processing line for processing the article can be shortened and made compact, and the apparatus can be simplified and the cost can be reduced. Can be planned.

[Brief description of drawings]

FIG. 1 is a schematic plan view of an article taking-out and inserting apparatus including an alignment mechanism according to an embodiment of the present invention.

FIG. 2 is a side view of an article take-out and insertion device including the alignment mechanism.

FIG. 3 is a vertical cross-sectional view of a main part of an article take-out and insertion device including the alignment mechanism.

FIG. 4 is a plan view of a main part of FIG.

FIG. 5 is a schematic plan view of the second embodiment.

FIG. 6 is a vertical cross-sectional view of a main part of the second embodiment.

7 is a cross-sectional view taken along the line VII-VII of FIG.

FIG. 8 is a view corresponding to FIG. 6 of the third embodiment.

FIG. 9 is a plan view showing an example of a holder.

10 is a cross-sectional view taken along line XX of FIG.

11 is a cross-sectional view taken along the line XI-XI of FIG.

[Explanation of symbols]

 2 Transport Means (Holder Transport Conveyor) 11 Grip Means (Gripper) 12 Holder 14 Article (Container) 41 Elevating Means 61 Rotating Means 74 Detecting Means (Checkers)

Claims (1)

[Claims] 1. A carrying means for carrying a holder containing an article, a grip means for holding an article in the holder, an elevating means for elevating and lowering one of the carrying means and the grip means, and a rotation for rotating the grip means. Means and a detecting means for detecting the direction of the container, wherein the grip means grips the article in the holder, and the lifting means raises the grip means or lowers the transport means to take out the article from the holder, and the detection means When the detected direction of the article is different from the fixed direction, the grip means holding the article taken out from the holder is rotated by the rotating means to align the articles in the fixed direction, and then the grip is held. An aligning mechanism characterized by inserting the article into the original holder by lowering the means or raising the conveying means. An article picking and inserting device provided.