JPH10236432A - Casing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently case even such objects that are likely to lose form by providing a transfer device having a holding mechanism for holding an object on a reception conveyer based on detection results of a detector and transferring the object held by the holding mechanism onto an arrangement/ collection conveyer. SOLUTION: In a cake transfer device 13, a cake 1a held by a holding mechanism attached to a tip of an arm of a robot 25 based on detection results by a detector 12 is transferred to a cake mount 26a of a turn table 26. The turn table 26 rotates by 90 degrees and, at a transfer station ST1, rotates to move the cake mount 26a with the cake 1a transferred to a send-out station ST2 in the vicinity of a tact feed conveyer 35. Then a send-out device 27 sends out the cake 1a on the cake mount 26a which has moved to the send-out station ST2 in the vicinity of the tact feed conveyer 35 horizontally onto the tact feed conveyer 35.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for automatically packing a predetermined number of articles conveyed from an upstream line into a packaging box, and more particularly to a system suitable for use in box packaging of cakes. For boxing systems.

[0002]

2. Description of the Related Art Cakes manufactured by coating the surface of a castella table with cream or the like cannot be automatically packaged in a box because the castella table is soft and easily broken. 1 cakes using
A predetermined number is held in the packaging box while being gripped individually.

[0003]

As described above, conventionally,
Since the boxing of cakes is performed manually, the boxing and packaging work is inefficient, and a series of steps from the production of the cakes to the packaging cannot be fully automated, increasing the burden on the workers. At the same time, the production cost of cakes increases, and there is also a problem in food hygiene due to the necessity of manual work by workers. In particular, when the frozen cakes are manually packed in boxes, the burden on the operator becomes greater.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and enables even a product which easily loses its shape to be efficiently packed in a box without the need for human intervention, thereby reducing the burden on the worker and the working environment. It is an object of the present invention to provide a boxing system that aims to improve food quality and reduce production costs and eliminate food hygiene problems.

[0005]

In order to achieve the above object, a box packing system (Claim 1) of the present invention comprises a receiving conveyor for receiving and transporting articles from an upstream line, and a transporting apparatus while aligning articles. In addition to having an aligning / accumulating conveyor for accumulating a predetermined number and a filling device for feeding a predetermined number of articles accumulated by the aligning / accumulating conveyor into a packaging box, the position and posture of the article being conveyed by the receiving conveyor are determined. A detecting device for detecting, and a transfer device having a gripping mechanism for gripping the articles on the receiving conveyor based on the detection result by the detecting device and moving the articles gripped by the gripping mechanism onto the alignment / stacking conveyor. It is characterized by having.

At this time, the transfer device is provided with a robot having a gripping mechanism and a mounting portion on which articles are transferred by the robot, and the mounting portion is rotated from the vicinity of the robot to the vicinity of the alignment / stacking conveyor. A turntable to be moved, and a delivery device for horizontally sending out the articles on the placement section to the alignment / stacking conveyor while moving the stacking section of the turntable to the vicinity of the alignment / stacking conveyor. (Claim 2).

Further, in order to send out articles onto an alignment / stacking conveyor in a state where the articles are placed on the sheets, a magazine for holding a number of sheets in a pile, and the sheets held on the magazines are sucked one by one. A sheet supply device including a suction unit for supplying the magazine unit to the mounting unit on the turntable may be provided (claim 3). In addition, two rows of receiving conveyors and one row of alignment / stacking conveyor are provided, and one transfer device and one detection device are provided for each of two rows of receiving conveyors. It may be configured such that articles on the conveyor are alternately transferred onto the alignment / stacking conveyor (claim 4). In this case, the mounting portion on the turntable is rotatably provided, and when only one of the two rows of receiving conveyors is used, the mounting portion is configured to be rotationally driven according to the shape of the article. (Claim 5).

[0008] A detector for detecting that the article being conveyed by the receiving conveyor has reached a predetermined position, and a detecting operation by the detector as a trigger to detect a distance to the article in a conveying direction. At least two distance meters arranged at different positions along the distance, and the position of the article based on the distance detected by these distance meters, the distance between the known detector and the distance meter, and the known shape of the article And a calculation unit for calculating the posture.

At this time, at least two distance meters are arranged on each side of the article, and the arithmetic unit uses the distances detected by the at least two distance meters arranged on one side of the article to determine the position of the article. And calculate the posture, calculate the position and orientation of the article using the distance detected by at least two rangefinders disposed on the other side of the article, the average value of the calculation results on each side of the article, The position and orientation of the article may be calculated (claim 7).

Further, the gripping mechanism comprises a finger member capable of gripping the article from at least two directions, and pressing means for pressing each finger member toward the article, and each finger member can abut against the article. The pressing means may be constituted by a plurality of cylinders which respectively press the plurality of contact portions toward the article, in addition to the plurality of contact portions.

At this time, when the plurality of cylinders operate up to the extension limit or the contraction limit, the plurality of abutting portions may reach a position where they can be gripped while pressing without deforming the article. Or, (claim 9), a vertical groove (claim 10) for discharging dew-condensed water or a blowout port (claim 11) for blowing hot air may be formed in each of the plurality of contact portions.

Further, in the sheet feeding apparatus, when the suction pad sucks the uppermost sheet in the magazine section, a slide drive mechanism for sliding the suction pad (claim 12) and a large number of sheets held in the magazine section And a resistance applying means for applying resistance to the sheet held in the magazine portion when the sheet is taken out by the suction pad (claim 14). ) May be included.

[0013] On the other hand, when the articles are transferred by the transfer device, the aligning / accumulating conveyer conveys the articles by a certain distance, and the articles conveyed by the tact conveyers are transferred to the downstream side. And a transfer unit conveyor for accumulating a predetermined number of articles conveyed by the connecting conveyor and transferring the articles to the filling device (claim 15).

At this time, the belt constituting the transfer conveyor may be guided by a knife edge type guide member at both ends adjacent to the tact feeding conveyor and the transfer section conveyor, respectively. A counter for detecting the number of articles conveyed by the transfer section conveyor and counting the number thereof; a gate capable of closing the article conveyance space on the transfer section conveyor to prevent conveyance of the articles; When the counter detects that a predetermined number of articles have been accumulated by the counter with the gate closed, the drive mechanism is operated to open the gate and send out the predetermined number of articles to the filling device. A control unit for controlling may be provided.

[0015] The filling device may be constituted by a delivery mechanism for receiving a predetermined number of articles conveyed on the transfer section conveyor along with the opening operation of the gate, and sending the articles horizontally to the packaging box. 18).

[0016]

Embodiments of the present invention will be described below with reference to the drawings. [1] Overall Configuration and Operation of System The overall configuration of a box packing system as one embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 is a plan view, FIG. 2 is a side view, and FIG.
And FIG. 3B are a plan view and a side view, respectively, showing the entire line to which the box packing system of the present embodiment is applied.

In the box packing system 10 of the present embodiment, as shown in FIG. 3A, a torte-type cake [30-degree fan-shaped (approximately two Triangular prism-shaped cake having a horizontal cross-sectional shape of an isosceles triangle) 1a is an article to be packed in a box. Then, the box packing system of this embodiment arranges and accumulates the cakes 1a alternately facing each other as shown in FIGS. 1 and 3 (a), and packs the cakes 1a into one packing box 2 by a predetermined number. Is what you do.

First, the configuration of the entire line to which the box packing system 10 of the present embodiment is applied will be described with reference to FIGS. 3 (a) and 3 (b).
As shown in FIG. 3 and FIG. 3B, a cake separating line 3, a film sticking line 4, and a metal detection line 5 are provided on the upstream side (left side in the figure) of the box packing system 10 of the present embodiment. A cartoner 6 is provided on the downstream side (the right side in the figure) of 10.

In the boxing system 10 of the present embodiment, the receiving conveyor 11 for receiving the cake 1a
Since two lines (described later) are provided, two lines are also provided for the cake cutting line 3, the film attaching line 4, and the metal detection line 5 corresponding to each line. Here, the cake cutting line 3 is a circular frozen cake 1
Is cut into 12 equally-divided 30-degree fan-shaped cakes 1a, and the cakes 1a are sent out one by one to the film sticking line 4. At this time, each cake 1a is sent out with the arc surface directed in the traveling direction (rightward in the figure).

The film sticking line 4 is for sticking the film 7a to the outer periphery of the cake 1a. The film 7a is unwound from the rolls 7, 7 disposed on both sides of the line 4, and the film 7a is rolled out. It is arranged so as to cover the traveling direction (arc surface). In the film sticking line 4, when the cake 1a is conveyed on the line 4, the film 7a is first stuck on the arc surface of the cake 1a and then stuck on both sides of the cake 1a with the conveyance of the cake 1a. Stick. Then, on the rear end side of the cake 1a,
By cutting means not shown, only the film 7a stuck on the outer periphery of the cake 1a is cut off without cutting the film 7a between the rolls 7, 7. The cake 1a around which the film 7a is wound around in this manner is sent to the metal detection line 5.

The metal detection line 5 is for detecting the presence or absence of metal in the cake 1a by the metal detector 5a. For example, part of the machine is missing and cake 1a
If mixed into the cake, the cake 1
a can be detected by the metal detection line 5 and can be reliably removed. The cartoner 6 is placed on an accumulating unit conveyor 37 (described later) of the box packing system 10.
When the cakes 1a are accumulated, one folded packaging box 2 set in the stacker 6a is taken out, and the packaging box 2 can store six cakes 1a from the folded state. The packing device 2 of the boxing system 10 is further expanded into
When six cakes 1a are inserted (described later), the lid of the packaging box 2 is closed so as to cover the cake 1a, and then sent out onto the unloading roller 6b.

Then, the box packing system 10 of the present embodiment
As shown in FIG. 1, FIG. 2, FIG. 3 (a) and FIG. 3 (b), the receiving conveyor 11, the detecting device 12, the cake transferring device 13, the aluminum sheet feeding device 14, the aligning / accumulating conveyor 15 and In addition to having a filling device 16, a control panel 1 for managing and controlling the operation of the boxing system 10
7 as well. The control panel 17 is provided with an operation panel 17a for performing various inputs by an operator.

The receiving conveyor 11 receives the cake 1a from the metal detection line 5 and transports the cake 1a to the cake transfer device 13 described later. As described above, the receiving conveyor 11 has two rows. Then, corresponding to each receiving conveyor 11, a detecting device 12, a cake transferring device 13
And an aluminum sheet supply device 14 are also provided in a pair, respectively, and two rows of receiving conveyors 1 arranged in parallel.
They are arranged approximately symmetrically about the center line between 1 and 11.

Although not shown, in the present embodiment, the receiving conveyor 11 is provided with a mechanism for pressing the film 7a wound on the cake 1a against the side surface of the cake 1a. This mechanism is, for example, a film 7
Nozzle for blowing air to a or film 7a
And a brush roller or the like that presses directly on the cake 1a side by directly contacting the cake 1a. By securely attaching the film 7a to the side surface of the cake 1a using such a mechanism, when the cake 1a is gripped by the gripping mechanism 30 described later, the gripping mechanism 30 and the film 7a interfere with each other. It can be prevented.

The detecting device 12 detects the position of the cake 1a being conveyed by the receiving conveyor 11 (the position of the center of gravity of the fan 1a when the cake 1a is viewed from above) and the posture (the angle with respect to the conveying direction). Trigger photoelectric sensor 20 (light emitting element 2)
0a and light receiving element 20b) and two laser distance meters 21
a, 21b and a sequencer 22.

The cake transfer device 13 comprises a robot 25, a turntable 26, and a delivery device 27. The cake transfer device 13 transfers the cake 1a conveyed by the receiving conveyor 11 to a tact feeding conveyor 35 (to be described later).
5) It is moved upward. Here, the robot 25
Corresponds to the sequencer 2 according to the detection result by the detection device 12.
2 (see FIGS. 9 and 12), and a gripping mechanism 30 for gripping the cake 1a on the receiving conveyor 11 based on the detection result by the detecting device 12 is attached to the tip of the arm. Holding mechanism 30
The cake 1a gripped by the robot 25 is
The cake is transferred to a cake placing portion 26a of a turntable 26 described later. As shown in FIG. 28, the robot 25 is configured to be rotatable about three axes R1, R2, and R3 in the vertical direction, and to be capable of vertically moving the gripping mechanism 30 attached to the arm tip 25a. The detailed configuration of the gripping mechanism 30 for the arm tip 25a will be described later with reference to FIGS.

The turntable 26 has four cake placing portions 26a at 90-degree intervals. The cake placing portion 26a arranged near the robot 25 (transfer station ST1) is attached to the cake placing portion 26a by the robot 25. The cake 1a is transferred. Then, the turntable 26 rotates by 90 degrees, thereby rotating and moving the cake placing portion 26a on which the cake 1a has been transferred at the transfer station ST1 to the vicinity of the tact feeding conveyor 35 (delivery station ST2). It is configured as follows. The detailed configuration of the turntable 26 will be described later with reference to FIGS.

The sending device 27 includes a tact feeding conveyor 35.
Of the cake 1a on the cake placing portion 26a that has moved to the vicinity (delivery station ST2), is horizontally sent out onto the tact feeding conveyor 35. The cake 1a comes into contact with and fits with the cake 1a and pushes out the cake 1a. Contact Claw 27
a, and is constituted by a single-axis robot 27b that reciprocates the contact claw 27a. This sending device 2
7 and the detailed shape of the contact claw 27a will be described later with reference to FIGS.

In the present embodiment, the cake 1a which has been conveyed on the receiving conveyor 11 with the arc surface directed in the traveling direction (to the right in FIGS. 1 to 3) is rotated 180 degrees by the robot 25. Then, the transfer station ST1
Is placed on the cake placing section 26a. When the cake placing section 26a rotates to the delivery station ST2, the cake 1a moves along its circular surface in a direction perpendicular to the direction of conveyance by the tact feeding conveyor 35 [FIGS.
(A) upward or downward]. In such a state, the cake 1a is pushed out by the delivery device 27 onto the stopped tact feeding conveyor 35.

Therefore, as shown in FIGS. 1 and 3 (a), the torte-type cake 1a is sent out from the pair of left and right cake transfer devices 13, 13 onto the tact feeding conveyor 35 so as to face each other alternately. , Alignment / stacking conveyor 1
5 (conveyors 35 to 37 to be described later), one side is conveyed in the traveling direction. In the present embodiment, as will be described later with reference to FIG. 21, each cake placing portion 26a of the turntable 26 is rotatably provided. Thus, even if only one of the two rows of receiving conveyors 11 is used, if the cake placing portions 26a of the turntable 26 are alternately rotated 180 degrees, as shown in FIG. 1 and FIG. And the torte-type cakes 1a can be alternately opposed to be fed onto the tact feeding conveyor 35.

In the present embodiment, an aluminum sheet supply device 14 is provided for feeding the cake 1a onto the tact feeding conveyor 35 while being placed on the aluminum sheet 8. This aluminum sheet supply device 14
Cake placing part 26a moved to transfer station ST1
In order to place the aluminum sheet 8 on the turntable 26 in advance at a position (aluminum sheet supply station ST3) which is shifted by 180 degrees from the transfer station ST1 on the turntable 26,
The aluminum sheet 8 is supplied to the cake placing portion 26a.

The aluminum sheet supply device 14 includes a magazine section 50 for holding a large number of aluminum sheets 8 in an overlapping manner,
It has a suction pad 51 that sucks the aluminum sheets 8 held in the magazine section 50 one by one and supplies the aluminum sheet 8 from the magazine section 50 to the cake placing section 26a in the aluminum sheet supply station ST3 on the turntable 26. ing.

As will be described later with reference to FIG.
1 is a set of two, and in this embodiment, two sets are provided. The two sets of suction pads 51, 51;
They are attached to support members (suction arms) 58, 58, respectively, and are provided so as to be capable of 180-degree inversion drive and vertically movable. Then, one set of the suction pads 51, 5
When 1 is located above the aluminum sheet 8 of the magazine section 50, the other set of suction pads 51, 51 is connected to the cake placing section 26 in the aluminum sheet supply station ST3.
The suction pad 51 is driven up and down so that the suction of the aluminum sheet 8 from the magazine section 50 and the supply of the aluminum sheet 8 onto the cake placing section 26a are simultaneously performed. Is being done. In addition, as described later with reference to FIG. 20, the supplied aluminum sheet 8 is adsorbed on the cake placing portion 26a side.
Three suction holes connected to a vacuum generator (not shown) are formed. The detailed configuration of the aluminum sheet supply device 14 will be described later with reference to FIGS.

On the other hand, two rows of receiving conveyors 11, 11
An alignment / accumulating conveyor 15 is arranged on the center line between the conveyors 11 on the downstream side of the conveyor. The sorting / accumulating conveyor 15 conveys the cakes 1a while arranging them and accumulates them by a predetermined number (six in the present embodiment). As shown in FIGS. 4 and 5, the tact feeding conveyor 35 and the connecting conveyor 36 are provided. And a transfer section conveyor 37. 4 and 5
6 are a plan view and a side view, respectively, showing the alignment / integration conveyor 15, and FIG. 6 and FIG.
It is an enlarged view of a part and a VII part.

Here, the tact feeding conveyor 35 conveys the cake 1a by a fixed distance when the cake 1a is transferred by the cake transfer device 13, and the connecting conveyor 36 is conveyed by the tact feeding conveyor 35. For transferring the cake 1a to the downstream side.
The transfer unit conveyor 37 transfers the cake 1a conveyed by the connecting conveyor 36 to a predetermined number (6 in this embodiment).
) Are transferred to the filling device 16.
The transfer conveyor 36 and the transfer section conveyor 37 are continuously fed.

A transfer conveyor 36 adjacent to the tact feed conveyor 35 and the transfer section conveyor 37, respectively.
As shown in FIGS. 6 and 7, belts 36 a constituting the connecting conveyor 36 are provided at both ends of the connecting conveyor 36.
Are guided by knife-edge guide members 38, 39. The ends of the knife edge type guide members 38, 39 are respectively formed at the ends of the tact feeding conveyor 35 and the transfer unit conveyor 37 at the ends of the rollers 35b, 37b which are wound and guided by the belts 35a, 37a. Also, arc portions 38a and 39a having sufficiently small diameters are formed.

Then, the knife edge type guide members 38, 3
The belt 36a guided by the belt 9 is provided at both ends thereof with a tact feed conveyor 35 and a transfer unit conveyor 3 respectively.
7 are arranged so as to pass over the belts 35a and 37a at the end of the tact feeding conveyor 3,
The transfer surface from the transfer conveyor 5 to the transfer conveyor 36 and the transfer surface from the transfer conveyor 36 to the transfer unit conveyor 37 are substantially flush with each other.

The transfer section conveyor 37 is provided with a photoelectric sensor 40 for detecting the passage of the cake 1a in order to count the number of cakes 1a conveyed on the transfer section conveyor 37. A gate (stopper) 41 capable of closing the space for transporting the cake 1a on the 37 to prevent the cake 1a from being transported, and a motor (drive mechanism) 42 for opening and closing the gate 41 are provided.

The gate 41 is provided above the transfer section conveyor 37 so as to be rotatable in a direction perpendicular to the conveying direction of the conveyor 37 and around a horizontally disposed rotating shaft 41a.
While the transport space of the cake 1a is closed in a state of being arranged orthogonally to the transport surface of the conveyor 37 as shown by the broken line in FIG. 5, while being parallel to the transport surface of the conveyor 37 as shown by the two-dot chain line in FIG. It is configured such that the transport space of the cake 1a is opened in the arranged state.

The photoelectric sensor 40 is composed of a light emitting element 40a and a light receiving element 40b arranged on both sides of the conveyor 37 upstream of the gate 41. The light receiving element 40b always receives the light from the light emitting element 40a, but the light is blocked by passing through the cake 1a.
Therefore, by detecting the interruption of the light by the photoelectric sensor 40, the number of cakes 1a conveyed to the gate 41 side by the transfer unit conveyor 37 and accumulated by closing the gate 41 is counted.

In the present embodiment, a computer or the like (not shown) built in or external to the control panel 17 is used.
Has a function as a counter for counting by a signal from the photoelectric sensor 40, and further has a gate 41
When a predetermined number (6 in this embodiment) of cakes 1a is detected by the above-described counting function in a state in which is closed, the motor 42 is operated, and the gate is turned on as shown by a two-dot chain line in FIG. Open 41 and add 6 cakes 1a
Control to be sent to the filling device 16 as a set,
It also has a function as a control unit.

On the downstream side of the gate 41 described above, the six cakes 1a accumulated on the transfer unit conveyor 37 are collectively placed on the transfer unit conveyor 37 into the packaging box 2 in the cartoner 6. A filling device 16 for feeding is provided. FIG. 8 is a plan view showing the filling device 16. As shown in FIG.
, The transfer unit conveyor 37 in accordance with the opening operation of the gate 41.
An L-shaped frame member 16a for receiving the six cakes 1a conveyed thereon is provided. This frame member 16
a on the gate 41 side, the closing member 16b is
It is attached so as to be rotatable around c and is driven to rotate by a motor or the like (not shown).

In the state of waiting for the six cakes 1a, the frame member 16a is arranged on the transfer section conveyor 37, and the closing member 16b is arranged at the open position as shown by the solid line in FIG. ing. When the six cakes 1a are received by the frame member 16a in accordance with the opening operation of the gate 41, the closing member 16b is driven to rotate to the closed position by a motor or the like as shown by a two-dot chain line in FIG. And six cakes 1a by the closing member 16b
Is held.

The filling device 16 is provided with a cylinder 16d for horizontally pushing the frame member 16a in the direction of arrow A (the packaging box 2 in the cartoner 6), and six cylinders 16d are provided by the frame member 16a and the closing member 16b. By operating the cylinder 16 d while holding the cake 1 a, the six cakes 1 a are sent out horizontally to the packaging box 2. That is, the delivery mechanism is constituted by the frame member 16a, the closing member 16b, and the cylinder 16d.

In FIGS. 1 and 3A,
Reference numeral 18 denotes a safety guard, which surrounds the robot 25, the turntable 26, and the delivery device 27 in the cake transfer device 13, and prevents these movable parts from coming into contact with an operator or the like. In FIG. 1 and FIG. 3A, reference numeral ST4 denotes a cake placing section reversing station. At the cake placing section reversing station ST4, the box packing system 10 operates using only one row of the receiving conveyor 11. In this case, as described later with reference to FIG. 21, every other one of the cake placing portions 26a on the turntable 26 is driven to rotate by 180 degrees.
When the box packing system 10 operates using the two rows of the receiving conveyors 11 as described above, no operation is particularly performed in the cake placing unit reversing station ST4.

In the box packing system 10 of the present embodiment configured as described above, six torte-type cakes 1a are packed in the packing box 2 in the following manner. The operation will be described with reference to the flowcharts (steps S11 to S43) shown in FIG. 29 and FIG. First, the cake 1a is cut out by cutting the circular cake 1 into 12 equal parts on each cake cutting line 3 (step S11), and is sent to the film sticking line 4 one by one (step S12). After the film 1a is attached to the outer periphery of the cake 1a on the film attaching line 4 (step S13), the presence or absence of metal in the cake 1a is detected on the metal detection line 5 (step S14). If not detected (NO route), it is sent to each receiving conveyor 11 of the box packing system 10 of this embodiment as it is. On the other hand, when metal is detected (YES route), the receiving conveyor 11 is stopped (step S1).
5) After removing the cake (NG cake) 1a in which metal has been detected (step S16), the receiving conveyor 11
Is restarted (step S17).

The receiving conveyor 11, the detecting device 1
2. Cake transfer device 13 and aluminum sheet supply device 1
4 is provided with two systems as described above in the present embodiment, but since each system performs exactly the same operation, in the following description, only the operation of one system will be described. The cake 1a sent to the receiving conveyor 11 is conveyed by the receiving conveyor 11 to the vicinity of the robot 25, and reaches a predetermined position (cake center of gravity / tilt measurement position) near the robot 25 (in the case of YES determination in step S18). The detection device 12 detects the position of the center of gravity and the angle with respect to the transport direction (step S19), and the detection data is transferred to the robot 25 (step S2).
0).

Then, when it is detected that the cake 1a has reached the gripping position on the receiving conveyor 11 by the gripping position reaching sensor (not shown) arranged near the robot 25 (ON route from step S21), The transport operation of the receiving conveyor 11 is temporarily stopped (step S
22), the robot 25 operates according to the detection data,
The gripping mechanism 30 at the tip of the arm is moved to a position corresponding to the position and angle of the center of gravity of the cake 1a.
The cake 1a on the receiving conveyor 11 is gripped by the gripping mechanism 30 by taking a posture corresponding to the position and angle of the center of gravity of each cake 1a conveyed above (step S2).
3).

The robot 25 holding the cake 1a by the holding mechanism 30 transfers the cake 1a to the transfer station S.
Cake placing part 26 on turntable 26 at T1
Transfer to a. The aluminum sheet 8 is supplied in advance by the aluminum sheet supply device 14 at the aluminum sheet supply station ST3 onto the cake placing portion 26a in the transfer station ST1 (Steps S25 to S25 to be described later).
S31), the robot 25 places the cake 1a on the aluminum sheet 8 and releases the holding state by the holding mechanism 30 (step S24).

On the other hand, the aluminum sheet supply station ST
In 3, the supply of the aluminum sheet 8 by the aluminum sheet supply device 14 is performed as follows. That is, the suction arm 58 is lowered (step S25), suction on the cake mounting portion 26a side of the turntable 26 (suction by the suction hole described above) is turned on (step S26), and the suction pad on the turntable 26 side is turned on. At the same time, the suction of 51 is turned off (step S27),
The suction of the suction pad 51 on the side is turned ON (step S2).
8).

Thus, the adsorption of the aluminum sheet 8 from the magazine section 50 and the supply of the aluminum sheet 8 onto the cake placing section 26a are performed simultaneously. Thereafter, the suction arm 58 is raised (Step S29), the suction arm 58 is turned 180 degrees (Step S30), and the turntable 26 is rotated (Step S31). On the cake placing portion 26a on which the aluminum sheet 8 is placed as described above,
The cake 1a is transferred in step S23 described above.

The above-mentioned gripping position reaching sensor detects the cake 1
a is turned off by gripping / transferring (step S32).
, The conveying operation of the receiving conveyor 11 is restarted (step S33). When the transfer of the cake 1a from the conveyor 11 to the turntable 26 is completed (YES route from step S34),
The cake placing section 26a on which the cake 1a has been transferred at the transfer station ST1 is rotated by 90 degrees by the rotation of the turntable 26 (step S35), and is arranged at the delivery station ST2. In the delivery station ST2, the cake 1a on the cake placing portion 26a is pushed out by the delivery device 27 while being in contact with / fitting with the contact claw 27a, and the stopped tact feeding conveyor 3 is stopped.
5 is fed horizontally upward (step S36).

The stations ST1, ST2, ST
3 and ST4, as described above, are arranged at every 90 degrees, and four cake placing portions 26a on the turntable 26 are also provided at every 90 degrees.
Operation in ST4 (in the above embodiment, the station ST4)
1 to ST3) can be executed simultaneously.

As described above, the cake 1a is transferred from the receiving conveyor 11 to the tact feeding conveyor 35 by the cake transfer device 13. The tact feeding conveyor 35 operates when the cake 1a is transferred, and the cake 1a is moved.
a is conveyed downstream by a certain distance. The above-described operation is performed by two systems of receiving conveyors 1 symmetrically arranged.
1, the detection device 12, the cake transfer device 13 and the aluminum sheet supply device 14 make the cake 1a
As shown in FIG. 1 and FIG. 3 (a), the paper is fed onto the tact feeding conveyor 35 so as to face each other alternately, and is conveyed in an aligned state at an appropriate interval by the tact operation of the tact feeding conveyor 35.

When a pair of cakes 1a, 1a facing each other are being fed onto the tact feeding conveyor 35 (YES route from step S37), the tact feeding conveyor 35 carries out a conveying operation for a fixed distance (step). S38). The cake 1a conveyed by the tact feeding conveyor 35 is the connecting conveyor 3 which is continuously fed.
6 and is sent to the transfer section conveyor 37 which is also continuously fed.

At this time, as described above with reference to FIGS. 6 and 7, the belt 36a of the transfer conveyor 36 is guided by the knife edge type guide members 38 and 39 at both ends thereof. The transport surface leading to the conveyor 36 and the transport surface leading from the transfer conveyor 36 to the transfer unit conveyor 37 are substantially flush with each other. Therefore, the connecting conveyor 36
In this embodiment, the belt 36a is guided by rollers having substantially the same diameter as the rollers 35b and 37b at the ends of the conveyors 35 and 37. Are clearly smaller.

On the aligning / accumulating conveyor 15 (conveyors 35 to 37) of the present embodiment, as described above, the cake 1a
Is transported in a state in which its longitudinal direction is orthogonal to the transport direction (horizontal direction), so that the cake 1a has its longitudinal direction and transport direction parallel to each other as on the receiving conveyor 11 (vertical direction). The cake 1a is more likely to fall as compared with the case where the cake 1a is transported in the (oriented state). In such a case, if the concave portion between the conveyors 35 to 37 is large, the cake 1a will fall over. However, in the present embodiment, the concave portion is extremely small as described above, so that the cake 1a Is reliably transported by the conveyors 35 to 37 without falling over.

On the other hand, the cake 1a sent to the transfer section conveyor 37 is blocked by the gate 41 and accumulated. At this time, the passage of the cake 1a is detected one by one by the photoelectric sensor 40, and based on the detection signal, the number of cakes 1a accumulated by the gate 41 is counted by a counting function of a computer or the like (not shown) (step). S39). When the number reaches a predetermined number (here, six) (YES route from step S40), the motor 42 is controlled by the computer or the like to open the gate 41 (step S41), and the six cakes are opened. 1a is sent out to the filling device 16 as one set. At this time, the count value by the counting function is cleared to 0 at the same time.

Then, in the filling device 16, as shown by the solid line in FIG.
When the gate 41 is opened and the six cakes 1a are conveyed by the transfer unit conveyor 37, these cakes 1a are received by the frame member 16a, and the closing member 16b is closed. While being held by the frame member 16a and the closing member 16b, it is horizontally pushed out by the cylinder 16d and sent into the packaging box 2 expanded by the cartoner 6 at a time.

The frame member 16a and the closing member 16b which have finished sending out the cake 1a are pulled back onto the transfer section conveyor 37 by the cylinder 16d, and the next time the closing member 16b is opened as shown by the solid line in FIG. 6 cakes 1a
Waits for. In the cartoner 6, when six cakes 1a are accumulated on the accumulation section conveyor 37 of the box packing system 10, one folded packaging box 2 set in the stacker 6a is taken out, and the packaging box 2 is taken out. 2 is expanded from the folded state to a state where six cakes 1a can be stored. When the six cakes 1a are inserted into the expanded packaging box 2 by the filling device 16 as described above, the lid of the packaging box 2 is closed so as to cover the cake 1a, and the six cakes 1a are removed. The accommodated packaging box 2 is sent out onto the unloading roller 6b (step S43).

As described above, according to the box packing system 10 according to one embodiment of the present invention, the cake 1 which is easy to lose its shape is used.
a even if it is frozen in addition to the cake 1a
Can be efficiently packed in the packaging box 2 without any need for manual operation, and a series of steps from the production of the cake 1a to the packaging can be completely automated. Therefore, the burden on the worker is greatly reduced, and the working environment is greatly improved. Further, the complete automation greatly reduces the manufacturing cost of the cake 1a, and also eliminates food hygiene problems.

The cake transfer device 13 can reliably transfer the cake 1a from the receiving conveyor 11 to the alignment / stacking conveyor 15 by using the robot 25, the turntable 26, and the sending device 27. The cake 1a that has been conveyed in the directional state can be transferred to the tact feeding conveyor 35 while changing its direction to the lateral state.

In the present embodiment, the aluminum sheet 8 is previously supplied onto the cake placing portion 26a of the turntable 26 by the aluminum sheet supplying device 14, and the cake 1a is placed thereon, and the cake 1a is removed. The aluminum sheet 8 can be held while being transferred from the receiving conveyor 11 to the alignment / stacking conveyor 15, and the aluminum sheet 8 can be efficiently applied to each cake 1a.

Furthermore, in the present embodiment, FIGS.
As described later, four cake placing portions 26a on the turntable 26 are provided every 90 degrees, and the four stations ST1 to ST4 simultaneously perform separate operations (in the above-described embodiment, cake transfer, cake transfer, (The three operations of sending and supplying the aluminum sheet) can be performed, so that the processing time can be greatly reduced and the processing can be made more efficient.

In this embodiment, the receiving conveyor 11, the detecting device 12, the cake transferring device 13 and the aluminum sheet feeding device 14 are provided in two systems, and the cakes 1a are alternately arranged on one line of the aligning / accumulating conveyor from these two systems. , The processing time of the entire system can be significantly reduced, and the efficiency of the processing can be further improved.

On the other hand, the arrangement / accumulation conveyor 15 is composed of the tact feeding conveyor 35, the transfer conveyor 36 and the transfer section conveyor 37, so that the cake transfer apparatus 1
3, the cakes 1a transferred are sent out in a state where they are arranged at regular intervals.
Can be accurately detected by the photoelectric sensor 40 one by one, and the number of cakes 1a passed can be accurately counted, and when the gate 41 is opened, it is possible to prevent more than six cakes 1a from being sent out, and The process of accumulating a predetermined number and sending it to the filling device 16 can be performed accurately without mistaken number.

At this time, the belt 36a constituting the connecting conveyor 36 is guided at both ends by the knife edge type guide members 38 and 39, so that the concave portions between the conveyors 35 and 36 and the conveyors 36 and 37 are connected to each other. Can be reduced, and the cake 1a in the horizontal state can be reliably transported without falling down during transportation by the conveyors 35 to 37.

Further, the flow of the cake 1a is blocked by the gate 41, and only when a predetermined number of cakes 1a are accumulated at the gate 41, the operation of the motor 42 is controlled and the gate 41 is controlled.
Is opened, so that a process of accumulating a predetermined number of cakes 1a and sending out the same to the filling device 16 can be performed reliably. In the filling device 16, a delivery mechanism including a frame member 16a, a closing member 16b, a cylinder 16d, and the like,
The six cakes 1a conveyed on the transfer part conveyor 37 along with the opening operation of the gate 41 are sent out horizontally toward the packaging box 2, so that the six cakes 1a enter the packaging box 2 in the cartoner 6.
The individual cakes 1a can be reliably filled.

[2] Configuration and Operation of Detector 12 Next, the configuration and operation of the detector 12 in the present embodiment will be described with reference to FIGS. Here, FIG. 9 is a block diagram showing the configuration, FIG. 10 is a flowchart for explaining the operation, FIG. 11 is a diagram for explaining a calculation formula of the angle and the position of the center of gravity of the cake 1a, and FIG. It is a block diagram which shows the structure of an example.

The cake 1a from the metal detection line 5 is sent to the receiving conveyor 11 with its arc surface facing forward, but the shape and size of the cake 1a are almost constant.
The position and posture on the cake 1 are different for each cake 1a and are not constant. Therefore, unless the position and posture are detected and grasped for each cake 1a being conveyed, the gripping mechanism 30 of the robot 25 is required.
Accordingly, the cake 1a cannot be gripped.

Therefore, in the present embodiment, the detection device 12 is located downstream of the receiving conveyor 11 (near the robot 25).
Is provided. As described above, the detection device 12 is configured to transfer the cake 1a being conveyed by the receiving conveyor 11.
(The position of the fan-shaped center of gravity when the cake 1a is viewed from above) and the attitude (the angle with respect to the transport direction). As shown in FIG. 9, the trigger photoelectric sensor 20 (the light emitting element 20a and the light receiving element 20b) And two laser distance meters 21 a and 21 b and a sequencer (or computer) 22.

The trigger photoelectric sensor (detector) 20 is for detecting that the cake 1a being conveyed by the receiving conveyor 11 has reached a predetermined position for position / posture detection. 11 comprises a light emitting element 20a and a light receiving element 20b arranged on both sides. Light emitting element 20a to light receiving element 20b
, Slit light perpendicular to the transport surface and transport direction of the receiving conveyor 11 is incident.

As shown in FIG. 9, when the arc surface of the cake 1a reaches between the light emitting element 20a and the light receiving element 20b and blocks the slit light, the trigger photoelectric sensor 20 sets the cake 1a to Upon detecting the arrival at the predetermined position, a trigger signal is output to the sequencer 22. Also,
Two laser distance meters 21a and 21b are provided on the side of the conveyor 11 downstream of the trigger photoelectric sensor 20.
a are arranged at different positions along the carrying direction. Trigger photoelectric sensor 20 and laser distance meters 21a, 21b
As will be described later with reference to FIG.
It is arranged with a gap. These laser rangefinders 21
a and 21b are distances A1 and A1, respectively, from a direction perpendicular to the transport direction to one side surface of the cake 1a when the arc surface of the cake 1a reaches the trigger photoelectric sensor 20.
No. 2 is detected by a laser beam in a non-contact manner.

The sequencer 22 includes the trigger photoelectric sensor 20
Are received by the laser rangefinders 21a and 21b at that time.
Then, based on the distances A1 and A2, the known distances a and b described later with reference to FIG. 11, and the basic plane shape (30-degree sector, size) of the cake 1a, the cake 1a in the transport direction is obtained. And a two-dimensional position x, y of the center of gravity.

The sequencer 22 calculates the angle θ and the center of gravity x, y calculated for each cake 1 a by, for example, R
Output to the robot 25 via the S-232C interface. Note that the origin of the two-dimensional positions x and y is a position where the slit light (the detection position of the cake 1a) of the trigger photoelectric sensor 20 and the center line of the receiving conveyor 11 intersect as shown in FIG.

The operation of the detection device 12 according to the present embodiment configured as described above will be described with reference to FIGS. First, a detection operation procedure performed by the detection device 12 will be described with reference to a flowchart (steps S1 to S6) illustrated in FIG. First, when there is a measurement command from the control panel 17 or the like (YES determination in step S1), it is determined whether a trigger signal has been output from the trigger photoelectric sensor 20 (step S2), and when the trigger signal is detected (step S2). At S2, the distances A1 and A2 to one side of the cake 1a detected by the laser rangefinders 21a and 21b at that time are captured (step S3).

Then, based on the distances A1 and A2, the known distances a and b, and the basic plane shape (30-degree sector, size) of the cake 1a, as described later, the cake 1a moves in the transport direction. The angle θ and the barycentric positions x and y are calculated (step S4). After outputting the calculation result to the robot 25 (step S5), it is determined whether or not the measurement is completed (step S6). If the measurement is not completed (NO determination in step S6), the process returns to step S2, and is completed. If there is (YES in step S6), the process returns to step S1.

Next, a calculation formula used for calculating the angle θ of the cake 1a and the barycentric positions x and y in the above-mentioned step S4 will be described with reference to FIG. As shown in FIG. 11, the radius of cake 1a is r, the distance between trigger photoelectric sensor 20 and laser rangefinder 21a is a, the distance between laser rangefinders 21a and 21 is b, and cake 1 is
The distance from the center of the fan to the center of gravity is ow, cake 1a
Is the sector angle of w, and the distances (displacements) detected by the laser rangefinders 21a and 21b are A1, A2 and cake 1, respectively.
The angle formed by one side surface with the traveling direction is θ, the position of the center of gravity in the traveling direction is x, and the position of the center of gravity in the lateral direction is y.

Here, the radius r, the distances a and b, the center-of-gravity position distance ow, and the angle w are known, the distances a and b are constant, and the radius r, the center-of-gravity position distance ow, and the angle w are substantially constant. Value. To give specific numerical examples in the present embodiment,
The radius r is 105 mm, the distance a is 20 mm, the distance b is 30 mm,
The center-of-gravity position distance ow is 69 mm, and the angle w is 30 degrees. The center-of-gravity position distance ow is calculated by the following general formula (1).

Ow = [(4 * r) / (3 * w)] sin (w / 2) (1) Further, the angle θ that one side surface of the cake 1a forms with the traveling direction is:
Based on the distances A1 and A2 detected by the laser distance meters 21a and 21b, respectively, it is calculated by the following equation (2). θ = tan ⁻¹ [(A1−A2) / b] (2) Then, according to the angle θ calculated by the equation (2),
From the following equations (3) to (8), the center of gravity x in the traveling direction of the cake 1a
And the lateral center of gravity position y are calculated.

When 0 ° <θ, x = r * cos θ−ow * cos (θ + 15) (3) y = ow * sin (θ + 15) − [r * cosθ− (a + b)] * tanθ (4) When −30 ° <θ ≦ 0 ° x = r−ow * cos (θ + 15) (5) y = ow * sin (θ + 15) − [r− (a + b)] * tanθ (6) θ ≦ −30 X = r * cos (θ + 30) −ow * cos (θ + 15) (7) y = ow * sin (θ + 15) − [r * cos (θ + 15) − (a + b)] * tanθ (8) As described above, according to the detection device 12 of the present embodiment, the trigger photoelectric sensor 20 and the two laser distance meters 21a,
21b, using the detection result by the receiving conveyor 11b.
Thus, the posture (angle θ) and position (center of gravity position x, y) of the cake 1a being conveyed can be reliably detected for each cake 1a, and the cake 1a is held by the gripping mechanism 30 of the robot 25 according to the detection result. Can be surely grasped.

As a method of detecting the position and posture of the cake 1a, for example, an image of the cake 1a is taken by using a CCD camera or the like, the image pickup result is processed to recognize the cake 1a, and the position and posture thereof are obtained. Is also conceivable. In such a detection method, the receiving conveyor 11 and the cake 1a
Is the same color, or the cake 1
a is attached and receiving conveyor 11 is cake 1a
If the color becomes the same as that of the above, the cake 1a cannot be recognized by the image processing, and the position and the posture cannot be detected. On the other hand, according to the detection device 12 of the present embodiment, the cake 1a is optically detected with a very simple configuration, and the color of the receiving conveyor 11 and the cake 1a are detected.
Regardless of the color of “a”, the position and the posture can be reliably detected.

In the example shown in FIG. 9, the laser rangefinders 21a and 21b are provided only on one side of the conveyor 11, but for example, as shown in FIG. 12, another pair of laser rangefinders 21c and 21d are provided. May be arranged on the opposite side of the conveyor 11 so as to face the laser distance meters 21a and 21b.
In this case, in the sequencer 22, the laser distance meter 2
Distance (displacement) A measured by 1a and 21b, respectively
1 and A2, the angle θ of the cake 1a and the barycentric positions x and y are calculated by the above-described equations (2) to (8), and the distances (displacements) B1 measured by the laser distance meters 21c and 21d, respectively. , B2, exactly the same way,
The angle θ of the cake 1a and the position of the center of gravity x, y are calculated by the above equations (2) to (8). And sequencer 22
Outputs the average value of the calculation results obtained on both sides of the cake 1a as the angle θ and the barycentric position x, y of the cake 1a. Thereby, the angle θ of the cake 1a and the position of the center of gravity x, y
Detection accuracy can be improved.

[3] Configuration and Operation of the Grasping Mechanism 30 The gripping mechanism 3 attached to the arm tip 25a of the robot 25 (see FIG. 28) with reference to FIGS.
The configuration and operation of 0 will be described. Here, FIG.
14 is a front view thereof, FIG. 14 is a side view thereof (as viewed in the direction of the arrow XIV in FIG. 13), FIG. 15 is a plan view showing an arrangement state of the special fingers 33, FIG. 16 is a view in the direction of the arrow XVI in FIG. FIG. 4 is a plan view for explaining the operation of a finger 33.

As shown in FIGS. 13 to 15, the gripping mechanism 30 of this embodiment includes a robot hand mounting jig 31, a robot hand 32, and a special finger 33. The robot hand mounting jig 31 includes the gripping mechanism 3
0 is attached to the arm tip 25a of the robot 25 (see FIG. 28). The robot hand 32 has a lower surface to which a special finger 33 described later is attached.
Four cylinders (pressing means) 34 for driving the special fingers 33 are built in. From both sides of the robot hand 32, the rods 34 of the four cylinders 34
a is projected two by two, at the tip of each rod 34,
A contact portion 33b described later is connected.

The special finger 33 is a pair of left and right finger members 33 capable of gripping the cake 1a from both sides of the straight part.
a, 33a, and each finger member 33a is composed of two plate-shaped contact portions 33b, 33b that can respectively contact one side surface of the cake 1a. Then, the finger members 33a, 33a of this embodiment
As shown in FIG. 15, the (contact portions 33b, 33b) are arranged in accordance with the angle (30 degrees) of the acute angle portion of the cake 1a.

Each contact portion 33b is connected to a rod 34a, as shown in FIGS. 13 and 14, and the special finger 33 is opened and closed by expanding and contracting each rod 34a by a cylinder 34. It has become. That is, when the rod 34a is extended, the special finger 33 is opened, and when the rod 34a is contracted, each of the contact portions 33b is pressed toward the side surface of the cake 1a (closed state). . In particular, in the gripping state, when the cylinder 34 operates up to the contraction limit, each abutting portion 33b is configured to reach a grippable position while pressing the cake 1a without deforming the cake 1a.

On the other hand, each contact portion 33 of the finger member 33a
b is formed so as to have an inclination of about 1/100 so as to reduce the distance between the contact portion 33b facing downward. Also, as shown in FIG.
A vertical groove 33c is formed on an inner side surface (a surface in contact with the cake 1a) of each abutting portion 33b of the 3a, and communicates with a hot air supply source (not shown) to blow out hot air. The connected hot air blowing port 33d is formed with an opening.

When the cake 1a is gripped by the gripping mechanism 30 of the present embodiment configured as described above, the robot 25 operates according to the detection result by the detection device 12, and the pair of left and right finger members 33a, 33a of the gripping mechanism 30 Are arranged on both sides of the cake 1a. At this time, the finger members 33a, 33a are in an open state by extending the rod 34a of each cylinder 34.

By operating the rod 34a of each cylinder 34 to the contraction limit, each contact portion 33b
However, the cake 1a reaches a position where the cake 1a can be gripped while being pressed without being deformed, and the cake 1a is gripped by the special finger 33. Thereafter, the robot 25 operates to transfer the cake 1a to the cake placing portion 26a of the turntable 26.

As described above, in the present embodiment, only by operating the rod 34a of each cylinder 34 to the contraction limit,
Since the cake 1a can be gripped without being deformed by the special finger 33, it is not necessary to adjust the expansion / contraction state of the cylinder 34 and control the expansion / contraction position of the rod 34a in order to grip the cake 1a without deforming it. The operation control of the special finger 33 (grip mechanism 30) can be performed very easily.

By the way, when the cake 1a is frozen as described above, when the operation of gripping the cake 1a by the gripping mechanism 30 for a long time is performed, the finger member 33a itself is cooled, and the surface of the finger member 33a is cooled. Condensation occurs, and the cake 1a becomes slippery, making it difficult to grip the cake 1a. But,
In the present embodiment, each finger member 33a has a plurality (two pieces).
Of each finger member 33a, the finger members 33a are more easily adapted to the cake 1a in the gripped state, and the frozen cake Even if it is 1a, it can be gripped reliably without slipping.

The shapes of the cakes 1a are basically all the same, but there may be a slight difference in the shape at the time of cutting. For example, as shown in FIG. 17, when the angle of the acute angle portion of the cake 1a is slightly smaller than 30 degrees, the finger members 33a, 33a
Can not be adjusted, but in the gripping mechanism 30 of the present embodiment, each finger member 33a has two contact portions 3a.
3b, each of which is pressed and driven by the cylinder 34, so that both sides of the cake 1a are
1, P2 and two positions P3, P4 can be pressed and gripped. When the number of the finger members 33a is one, there is only one pressing portion on each surface, and the gripping state becomes extremely unstable. Therefore, according to the gripping mechanism 30 (special finger 33) of the present embodiment, the cake 1
Even if there is a change in the shape of “a”, it is possible to reliably grip.

Further, in this embodiment, the finger members 3
Since each contact portion 33b of 3a is provided with an appropriate inclination so as to narrow the interval between the contact portions 33b facing downward, the cake 1a becomes difficult to fall, and the special fingers 33 It is transported reliably while being held.
Further, in the present embodiment, since the vertical groove 33c is formed on the inner surface of each contact portion 33b of the finger member 33a, even if dew condensation occurs, water condensed by the vertical groove 33c can be released. In addition to being able to grip the cake 1a without slipping, the finger member 33a can be reliably blown out from the hot air blowout opening 33d by blowing out hot air at an appropriate temperature.
It can warm itself and prevent the occurrence of condensation.

Also, when the finger member 33a is separated from the cake 1a after the cake 1a is transferred to the turntable 26 by the gripping mechanism 30 and the robot 25, air is blown from the blowing port 33d toward the cake 1a (film 7a). Thus, the film 7a wound around the outer periphery of the cake 1a can be reliably peeled off from the contact portion 33b, and the film 7a can be prevented from adhering to the finger member 33a.

In the above-described gripping mechanism 30, a case has been described where each finger member 33a is composed of two abutting portions 33b. However, the present invention is not limited to this. May be composed of three or more contact portions. In addition, both sides (straight line portion) of cake 1a
In addition to the finger member 33a that presses the cake 1a, a finger member that presses and supports the arc surface of the cake 1a may be provided, and the cake 1a may be configured to be pressed and gripped from three sides. The stability of the grip (support) will be further improved.

Further, in the above-described gripping mechanism 30, the cake 1a is gripped at the contraction limit of the cylinder 34. However, the cake 1a may be gripped at the extension limit of the cylinder 34. In this case, the same operation and effect as described above can be obtained. Further, a heating means such as a heater may be built in each finger member 33a, and by heating each finger member 33a by this heating means,
The occurrence of dew can be prevented.

[4] Structure and Operation of Turntable 26 and Sending Device 27 Next, the structure and operation of the turntable 26 and the sending device 27 of the present embodiment will be described with reference to FIGS. 18 and 19 are a plan view and a side view showing the turntable 26 and the delivery device 27 together with the aluminum sheet supply device 14, respectively. In FIGS. 18 and 19, the aluminum sheet supply device 14 is also shown. Although illustrated, a detailed description thereof will be made in the following items with reference to FIGS.

FIG. 20 is a plan view showing only one cake placing portion 26a of the turntable 26, and FIG. 21 is a diagram showing a single-row operation of the present embodiment (only one line of the receiving conveyor 11 is used). FIG. 6 is a plan view for explaining an operation of the turntable 26 during an operation performed during the operation. 22 to 24 show the sending device 27, FIG. 22 is a plan view thereof, FIG. 23 is a view taken along arrow XXIII of FIG. 22, and FIG. 24 is a view taken along arrow XXIV of FIG.

Now, as shown in FIGS. 18 and 19,
The turntable 26, the delivery device 27, and the aluminum sheet supply device 14 are provided on a gantry 43. As described above with reference to FIGS. 1 to 3, the turntable 26 has four cake placing portions 26 a at 90-degree intervals, and is rotated and driven by the motor 44 every 90 degrees. Each of the four cake placing sections 26a has 9
Four stations ST1 to ST4 arranged at every 0 degree
Are arranged sequentially. Each cake placing portion 26a is provided so as to be able to be turned 180 degrees by a rotary actuator 26c (see FIG. 25).

Here, as described above, in the transfer station ST1 near the robot 25, the cake placing section 26a
The cake 1a is transferred by the robot 25. 90 degrees ahead of the transfer station ST1 (9 clockwise in FIG. 18).
At the delivery station ST2 near the tact feeding conveyor 35 at a position advanced by 0 degree), the cake 1a held by the aluminum sheet 8 on the cake placing portion 26a is horizontally moved by the sending device 27 toward the tact feeding conveyor 35. Will be sent out.

At the aluminum sheet supply station ST3 near the aluminum sheet supply device 90 at 90 degrees ahead of the delivery station ST2, the aluminum sheet 8 is supplied onto the cake placing portion 26a by the aluminum sheet supply device 14.
At the cake placing part reversing station ST4 90 degrees ahead of the aluminum sheet supply station ST3, when the box packing system 10 operates using only one row of the receiving conveyor 11, as shown in FIG. Cake placing part 2 on 26
6a is rotated 180 degrees every other one.

At this time, when the cake placing portion 26a inverted by 180 degrees reaches the transfer station ST1, the robot 25 places the hand portion (gripping mechanism 30) of the arm tip 25a on the cake placing portion 26a. Is cake 1
After a is inverted by 180 degrees, the cake 1a is placed. When the box packing system 10 operates using the two rows of the receiving conveyors 11, no particular operation is performed in the cake placing unit reversing station ST4.

Further, in this embodiment, as shown in FIG. 20, the aluminum sheet 8 supplied by the aluminum sheet supply device 14 is displaced from the predetermined position on the cake mounting section 26a. 3 connected to a vacuum generator (not shown) in order to adsorb the aluminum sheet 8
Two suction holes 26b are formed. The suction of the aluminum sheet 8 by the suction holes 26b is started at the same time as the aluminum sheet 8 is supplied at the aluminum sheet supply station ST3, and immediately after the cake 1a is transferred at the transfer station ST1 or at the delivery station ST2. It is stopped just before sending out the cake 1a.

On the other hand, the sending device 27 is connected to the sending station ST near the tact feeding conveyor 35 as described above.
2. The cake 1a on the cake placing part 26a moved to 2 is horizontally sent out onto the tact feeding conveyor 35,
It has a contact claw 27a for contacting and fitting with the cake 1a and pushing out the cake 1a, and is constituted by a single-axis robot 27b that reciprocates the contact claw 27a.

The single-axis robot 27b is similar to that shown in FIGS.
9. As shown in FIGS. 21 to 24, the single-axis robot 27 is supported on the gantry 43 by two columns 45 and 46.
The movable claw 27c of FIG.
a is attached. In addition, the single-axis robot 27b
Is at least the cake 1a at the position A1 as shown in FIG.
Move the upper cake 1a) to position A2 (tact feed conveyor 3).
It has a stroke that can be extruded up to 5).

In the present embodiment, the contact claw 27
As shown in FIGS. 19 and 23, a is horizontally arranged at a position where it can come into contact with the lower part of the cake 1a on the cake placing portion 26a of the delivery station ST3, and has an appropriate plate thickness (for example, about 15 mm). Have. As shown in FIG. 22, the contact claw 27a is tightly fitted to the acute angle portion of the cake 1a so that the torte-type cake 1a can be reliably pushed out from the acute angle portion side or the arc portion side. A cut portion 27e for fitting an acute angle portion is formed, and a notch portion for fitting an arc portion that can fit tightly with both sides of the arc portion of the cake 1a on both sides of the notch portion 27e near the tact feeding conveyor 35. 27f, 27f are formed.

Further, as shown in FIGS. 23 and 24, the notch portions 27f, 2 for fitting the arc portions of the contact claws 27a.
On both sides of 7f, inclined surfaces 27g, 27g which scoop up both sides of the aluminum sheet 8 placed under the cake 1a when the cake 1a is sent out are formed. Further, since the abutment claw 27a is formed with an appropriate plate thickness as described above, the plate thickness is such that both sides of the aluminum sheet 8 scooped up by the inclined surfaces 27g and 27g can be used for the cake 1a. Acts to stand up along both sides.

In the turntable 26 of the present embodiment configured as described above, the transfer operation of the cake 1a by the robot 25 at the transfer station ST1 and the transfer of the cake 1a held by the aluminum sheet 8 at the delivery station ST2. The feeding operation, the supplying operation of the aluminum sheet 8 by the aluminum sheet supplying device 14 at the aluminum sheet supplying station ST3, and the cake placing section reversing station ST
4 can be performed simultaneously with the reversal operation by the rotary actuator 26c, and the processing time can be greatly reduced, and the processing can be made more efficient.

Further, when the receiving conveyor 11 is operated in one row, as shown in FIG. 21, in the cake placing part reversing station ST4, every other one of the cake placing parts 26a on the turntable 26 is rotated 180 degrees by the rotary actuator 26c. The transfer station ST1 is placed on the cake placing portion 26a that has been turned 180 degrees and turned 180 degrees.
Then, the robot 25 reverses the gripping mechanism 30 (that is, the cake 1a) of the arm tip 25a by 180 degrees, and the cake 1a is placed.

Thus, the two rows of the receiving conveyor 11
Even if only one of them is used, as shown by the two-dot chain line in FIG. 21, the torte type cakes 1a are alternately opposed to each other on the tact feeding conveyor 35 as in the case where the two rows of receiving conveyors 11 are used. Can be sent to Further, in the present embodiment, as shown in FIG. 20, the suction holes 26 formed in each cake placing portion 26a are formed.
b, the aluminum sheet 8 is adsorbed on the cake mounting part 26a side, so that the cake mounting part 26a is transferred from the aluminum sheet supply station ST3 to the unloading station ST2.
, The aluminum sheet 8 can be reliably prevented from slipping and falling or flying with the rotation of the turntable 26 and the cake placing portion 26a.

On the other hand, in the delivery device 27 of the present embodiment configured as described above, the cake 1a on the mounting portion 26a in the delivery station ST2 fits and abuts on the abutment claw 27a together with the aluminum sheet 8, and By driving the contact claw 27 by the single-axis robot 27b, the contact claw 27
While the lower part of the cake 1a is pressed by a, the cake 1a is fed horizontally onto the tact feeding conveyor 35.

At this time, the contacting claw 27a has the notch 27e for fitting the acute angle portion and the notch 27f for fitting the arc portion.
Since the cake 1a is formed on the cake placing portion 26a of the delivery station ST2 as shown in FIG.
When placed as shown in the figure, the cake 1a
The acute angle of the notch 27e is tightly fitted to the acute angle fitting notch 27e.
On the other hand, the cake 1a is in contact with the delivery station S
When the cake 1a is placed on the cake placing portion 26a of T2 as shown in FIG. 21, both sides of the arc portion of the cake 1a are tightly fitted and abutted with the notch portions 27f, 27f for fitting the arc portions. .

Therefore, in any case, the cake 1a is
It fits into or fits into the notch 27e or 27f according to its shape, and is reliably fed out to the tact feeding conveyor 35 by the contacting claw 27a. When the abutment claw 27a fits and abuts on the cake 1a, both sides of the aluminum sheet 8 placed under the cake 1a are scooped up by the inclined surfaces 27g, 27g, and the abutment claw is formed. 2
Due to the plate thickness of 7a, both sides of the aluminum sheet 8 scooped up by the inclined surfaces 27g, 27g stand up along both sides of the cake 1a, and the aluminum sheet 8 does not wrinkle, etc. It can be adapted to the outer peripheral shape of 1a.

[5] Configuration and Operation of Aluminum Sheet Supply Apparatus 14 Next, the configuration and operation of the aluminum sheet supply apparatus 14 of the present embodiment will be described with reference to FIGS. Here, FIG. 25 is a side view, FIG. 26 is a plan view showing the magazine section 50, FIG. 27 (a) is a plan view showing an arrangement state of a slide drive mechanism 52 of the suction pad 51, and FIG. 27 (b). FIG. 27 is a view as viewed in the direction of the arrow XXVIIb in FIG.

As described above, the aluminum sheet supply device 14 sends the cake 1a on the aluminum sheet 8 to the tact feeding conveyor 35 in a state where the cake 1a is placed on the aluminum sheet supply station ST3.
In addition, as shown in FIG. 25, a magazine section 50 provided on a pedestal 43 and holding a large number of aluminum sheets 8 in piles, and an aluminum sheet held in the magazine section 50 are provided. It comprises a plurality of suction pads 51 for sucking the sheets 8 one by one and supplying them from the magazine section 50 to the cake placing section 26a in the aluminum sheet supply station ST3. In addition, each suction pad 51
Is connected to a vacuum generator (not shown), and an aluminum sheet 8
Can be sucked.

As shown in FIGS. 25 and 26, the magazine section 50 has a pair of aluminum sheet holding sections 50a, 50a.
And each aluminum sheet holding portion 50a has 200
About 0 aluminum sheets 8 are held. An opening 50a smaller than the aluminum sheet 8 is formed at the bottom of each aluminum sheet holding portion 50a. The magazine section 50 is driven to rotate 180 degrees by a rotary actuator 54 provided on the gantry 43. When the aluminum sheet 8 in one aluminum sheet holding section 50a is lost, the magazine section 50 is rotated 180 degrees by the rotary actuator 54. The aluminum sheet 8
The other aluminum sheet holding part 50 a holding the suction pad 51 is disposed immediately below the suction pad 51. As shown in FIG. 26, the magazine portion 50 is detachably attached to a pedestal 54a connected to the rotary shaft of the rotary actuator 54, and the pins 54b, 54b on both sides of the pedestal 54a are inserted into the magazine portion 50a. Is to be fixed.

Further, as shown in FIG.
0 is a loosening air cylinder (air cylinder for a kneading mechanism) 5 for pressing and loosening a large number of aluminum sheets 8 in each aluminum sheet holding portion 50a from both side surfaces thereof.
3,53 are provided. At the tip of the rod 53a of each air cylinder 53, a contact portion 53b which is in contact with the side surface of the aluminum sheet 8 is attached, and the contact portion 53b is pushed and pulled by the air cylinder 53 against the side surface of the aluminum sheet 8. It has become so. In FIG. 25, illustration of the air cylinder 53 is omitted.

Further, each aluminum sheet holding portion 50a of the magazine portion 50 has a brush (resistance applying) for applying resistance to the aluminum sheet 8 held by the holding portion 50a when the aluminum sheet 8 is taken out by the suction pad 51. Means 62 are provided. As a means for imparting resistance in this way, a file, a plate-shaped spring (made of steel, plastic, or the like), a hook-and-loop fastener, or the like may be used instead of the brush 62.

On the other hand, as shown in FIG.
1 is a set of two, and in this embodiment, two sets are provided. The two sets of suction pads 51, 51;
The support members (suction arms) 58 are respectively attached to the support members (suction arms) 58, and each support member 58 is attached to a rotation shaft 59. These two sets of suction pads 51 are provided on the rotating shaft 5.
9 through a rotary actuator 60 for 180-degree inversion drive.

The rotary actuator 60 is provided with a guide cylinder 6 supported on a support 63 on a base 43.
2 sets of suction pads 5 attached to one telescopic end
1 is driven up and down by a cylinder 61 via a support member 58, a rotating shaft 59 and a rotary actuator 60. Then, one set of suction pads 5
1, 51 are aluminum sheets 8 of the aluminum sheet holding portion 50a.
Is located above the other set of suction pads 51,
51 is located on the cake placing portion 26a in the aluminum sheet supply station ST3.

In the present embodiment, as shown in FIGS. 27A and 27B, two sets of suction pads 51,
51; 51, 51 are slidably attached to a support member (suction arm) 58 by a slide drive mechanism 52. That is, each suction pad 51 penetrates the long hole 58a formed in the support member 58, is driven by the air cylinder 52a provided on the support member 58, and moves along the long hole 58a as shown in FIG. Arrow A inside,
It can be slid in the B direction. Two sets of air cylinders 52a provided for each suction pad 51,
52a; 52a, 52a are arranged point-symmetrically with respect to the rotation center of the rotation shaft 59 to which the support member 58 is attached. Each air cylinder 52a is attached to an eye plate 58b on a support member 58, and each air cylinder 52a
The suction pad 51 is attached to the tip of a rod 52b that is driven to expand and contract.

The sliding movement of the suction pad 51 by the slide drive mechanism 52 (air cylinder 52a) is performed when the suction pad 51 sucks the uppermost aluminum sheet 8 of the aluminum sheet holding portion 50a. When one suction pad 51 is driven in the direction A by the air cylinder 52a, the other suction pad 51 is
2a drives in the B direction.

Each suction pad 51 is connected to a vacuum generator (not shown) through a suction pad air hose 51a, and as shown in FIG.
1 moves the support member 58 up and down via a spring (not shown) so that the support member 58 can absorb the pressing force when the support member 58 is lowered and pressed against the aluminum sheet 8 or the cake placing portion 26a. Mounted as possible. Each air cylinder 52a is connected to an air supply system through an air cylinder air hose 52c.

Note that the slide drive mechanism 52 may be provided on only one of the two suction pads 51, 51. Also,
In FIG. 25, the illustration of the slide drive mechanism 52 described above is omitted. Furthermore, in the present embodiment, in order to always make the uppermost surface of the aluminum sheet 8 held by the aluminum sheet holding portion 50a and the upper surface of the cake placing portion 26a almost the same, immediately below the suction pad 51 on the magazine portion 50 side. Is a mechanism for pushing up the aluminum sheet 8, that is, a push-up member 55,
A reversible motor 56 and a ball screw 57 are provided.

Here, the lifting member 55 is a ball screw 57
The upper end of the aluminum sheet 8 passes through an opening 50b formed at the bottom of the aluminum sheet holder 50a.
Abuts on the lowermost surface. Reversible motor 5
Reference numeral 6 denotes a device for raising and lowering the push-up member 55 by rotating and driving the ball screw 57 to move up and down. Push-up member 5
5 is driven up and down by a reversible motor 56 and a ball screw 57 to push up the aluminum sheet 8 in the aluminum sheet holding portion 50a disposed immediately below the suction pad 51, and the uppermost surface thereof is always in contact with the upper surface of the cake placing portion 26a. It is adjusted to be almost the same.

In the aluminum sheet supply device 14 of the present embodiment configured as described above, the aluminum sheet 8 is taken out (cut out) from the magazine section 50 (aluminum sheet holding section 50a) and the aluminum sheet is The supply of the aluminum sheet 8 to the cake placing portion 26a of the sheet supply station ST3 is performed at the same time. That is, the two sets of suction pads 51 are respectively connected to the magazine section 50 and the cake placing section 26a of the aluminum sheet supply station ST3.
In a state of being placed immediately above the aluminum sheet 8, the cylinder 61 is moved down to the position of the uppermost aluminum sheet 8 and the cake placing portion 26a.

Then, the suction pad 5 on the magazine section 50 side
In 1, the aluminum sheet 8 is sucked by suction by the vacuum generator, while the suction by the vacuum generator is stopped in the suction pad 51 on the cake placing portion 26 a side, and the sucked aluminum sheet 8 is released. At this time, the aluminum sheet 8 is suctioned by the suction holes 26b on the cake mounting portion 26a side as described above.

Thereafter, the two sets of suction pads 51 that have performed the suction of the aluminum sheet 8 and the supply of the aluminum sheet 8 are
It is raised again by the cylinder 61, and is rotated 180 degrees by the rotary actuator 60.
Cake placing part 2 of aluminum sheet supply station ST3
6a and the magazine unit 50, and the same operation as described above is repeated thereafter.

Incidentally, the aluminum sheet 8 is usually formed by stacking a large number of aluminum sheets and press forming (cutting) them at once.
By doing so, it is formed into a predetermined shape corresponding to the cake 1a. In this case, burrs are generated on the outer periphery of the aluminum sheet 8, and the aluminum sheets 8 are in close contact with each other. Due to the burrs, two or more aluminum sheets 8 may be simultaneously sucked and cut out by the suction pad 51.

In this embodiment, it is possible to prevent two or more aluminum sheets 8 from being cut out at the same time.
As described above, the slide driving mechanism 52, the loosening air cylinder 53, and the brush (resistance applying means) 62 are provided so that the aluminum sheet 8 can be cut out one by one without fail. That is, when the suction pad 51 sucks the uppermost aluminum sheet 8 of the aluminum sheet holding portion 50a, before the aluminum sheet 8 is lifted by the cylinder 61, as shown in FIG.
As shown in (a), the operation of driving one suction pad 51 in the direction A by the air cylinder 52a and simultaneously driving the other suction pad 51 in the direction B by the air cylinder 52a is repeated several times. The uppermost aluminum sheet 8 is easily distorted due to distortion, and the uppermost aluminum sheet 8 can be reliably separated from the second or less aluminum sheet 8.

Further, in the state where a large number of aluminum sheets 8 are held by the aluminum sheet holding section 50a immediately below the suction pad 51, the contact sections 53b, 53b are driven by using the air cylinders 53, 53 for loosening. Thereby, it is pressed and bent from both sides. As a result, the portion adhered by burrs or the like is loosened, and it becomes easy to cut out one by one.

Further, when the uppermost aluminum sheet 8 of the aluminum sheet holding portion 50a is sucked and lifted by the suction pad 51, the plurality of aluminum sheets 8 near the uppermost portion are
Since the brush 62 provided on the aluminum sheet holding section 50a comes into contact with the brush 62 to provide resistance, the suction pad 5
The second or less aluminum sheet 8 not sucked by 1
Falls due to the resistance and falls by two or more aluminum sheets 8
Can be reliably prevented from being cut out.

As described above, according to the aluminum sheet supply device 14 of the present embodiment, it is possible to prevent two or more aluminum sheets 8 from being simultaneously sucked and cut out by the suction pad 51, and one aluminum sheet 8 can be prevented. It becomes possible to cut out each time. For example, a slide mechanism 52 for the suction pad 51 is provided, the magazine section 50 is provided with a resistance applying means using a hook-and-loop fastener, and the aluminum sheet 8 is provided.
The aluminum sheet 8 was cut out 1346 times under the condition that the side surface of the aluminum sheet was polished with a SUS brush. As a result, the number of times that one sheet was cut out was 1,316.
It was confirmed by experiments that one sheet could be cut out at a rate of 97.8%.

As means for surely cutting out the aluminum sheet 8 one by one, in addition to the slide drive mechanism 52, the loosening air cylinder 53, the brush (resistance applying means) 62, a magazine section An electrostatic method in which the aluminum sheet 8 in the magazine 50 is charged to the same polarity to utilize the repulsion of each other, or an electromagnetic wave is generated by applying an electromagnetic wave to the aluminum sheet 8 in the magazine section 50 to generate an eddy current, The aluminum sheet 8), or an electromagnetic method using a force between eddy currents (between the aluminum sheets 8) can be used, and the same operation and effect as described above can be obtained by either method.

Although not shown, the turntable 26
The (aluminum sheet supply station ST3) may be provided with an aluminum sheet side-standing device for adjusting the shape of the aluminum sheet 8 when the aluminum sheet 8 is supplied by the suction pad 51. In this device, both sides of the aluminum sheet 8 are cake 1
This is for preliminarily adjusting the shape of the aluminum sheet 8 so as to stand up along both side surfaces (linear portions) of FIG.

[6] Others In the boxing system 10 of the present embodiment described above,
Although the case where the torte-type cakes 1a are packed in boxes of six each has been described, the shape and the number are not limited. By changing the robot hand (gripping mechanism 30, special finger 33), cubic cakes can be packed in a box. The objects to be boxed by the boxing system of the present invention are not limited to cakes, and by applying the present invention to boxing of frozen or easily collapsed ones, the same operational effects as described above can be obtained. Obtainable.

Further, in the above-described box packing system 10 of the present embodiment, the case where the aluminum sheet supply device 14 that cuts out a large number of aluminum sheets 8 stocked in the magazine section 50 one by one using the suction pad 51 is used. However, the present invention is not limited to this, and an aluminum sheet cut and formed from a roll-shaped aluminum sheet one by one into a predetermined shape and supplied one by one to a turntable A supply device may be used. In this case, it is possible to completely prevent the two or more aluminum sheets from being supplied to the cake placing portion 26a without any sticking of the aluminum sheets due to burrs.

[0139]

As described above, according to the box packing system of the present invention, the following operations and effects can be obtained. (1) The position and orientation of the article being conveyed by the receiving conveyor is detected by the detection device, and the detection result is used to grasp the article by the grasping mechanism of the transfer apparatus and transfer the article to the alignment / accumulation conveyor. When a predetermined number of articles are accumulated on a conveyor, a predetermined number of articles are collectively filled into a packaging box by a filling device. Therefore, even if the articles are easily deformed or frozen, the articles are manually transferred. Can be efficiently packed in a packaging box without the need for
A series of steps from manufacturing of the article to be packed to packaging can be completely automated. Therefore, the burden on the workers is greatly reduced, the working environment is greatly improved, and the complete automation greatly reduces the manufacturing costs of the products.
Hygiene problems can also be completely eliminated (claim 1).

(2) In the transfer device, articles can be reliably transferred from the receiving conveyor to the alignment / stacking conveyor by using the robot, the turntable and the sending device (claim 2). (3) The sheet supply device supplies a sheet in advance on the placement portion of the turntable, places the article on the sheet, and transfers the article from the receiving conveyor to the alignment / stacking conveyor by the sheet. Can be held,
A sheet can be efficiently applied to each article (claim 3).

(4) Two systems of receiving conveyors, transfer devices, and detecting devices are provided, and articles are alternately sent out from these two systems to a single row of alignment / stacking conveyors, thereby reducing the processing time of the entire system. It is possible to greatly reduce the processing time, and to improve the processing efficiency. (5) When two article delivery systems are provided as described above, the placement section on the turntable is rotatably provided, and the placement section is driven to rotate in accordance with the shape of the article. Even if only one of them is used, it is possible to realize the same article delivery processing as in the case where two systems are provided (claim 5).

(6) The distance to the article is detected by at least two distance meters triggered by the detection operation of the detector, and the detection result, the distance between the known detector and the distance meter, and the shape of the known article are detected. Since the position and orientation of the article are calculated based on the position and orientation of the article, the position and orientation of the article being conveyed by the receiving conveyor can be reliably detected for each article with an extremely simple configuration, and the gripping mechanism is determined according to the detection result. Thereby, the article can be securely held. Further, the position and the posture of the article can be reliably detected regardless of the color of the receiving conveyor or the color of the article.

(7) The distance to the article is detected by a distance meter provided on each side of the article, and the average value of the position and attitude obtained based on each detection result is used as the final position and attitude of the article. Thereby, the detection accuracy of the position and the posture of the article can be further improved (claim 7). (8) Since each finger member is composed of a plurality of abutting portions, each finger member is easily adapted to the article in the gripped state, and even if dew condensation occurs on each finger member,
In addition, even if the shape of the article fluctuates, the article can be reliably gripped (claim 8).

(9) The article can be grasped without being deformed by the finger members only by operating each cylinder to the extension limit or the contraction limit. It is not necessary to adjust and control the operation, and the operation control of the gripping mechanism can be performed extremely easily. (10) By forming a vertical groove in each abutting portion of the finger member, even if dew condensation occurs, water condensed by the vertical groove can be released, so that it is difficult to slip and the article can be securely gripped ( Claim 10).

(11) By blowing out hot air from the hot air outlet, the finger member itself is warmed, and the occurrence of dew condensation can be prevented (claim 11). (12) When the suction pad sucks the sheet of the magazine portion, the slide driving mechanism slides the suction pad, so that the top sheet is slightly distorted, so that the top sheet is the second sheet. The sheet is reliably peeled off from the following sheets, and the sheets can be reliably supplied one by one.

(13) By pressing a large number of sheets from both side surfaces with a loosening cylinder, a portion adhered by burrs or the like is loosened, so that it is easy to cut out one by one (claim 13). (14) When the uppermost sheet is sucked and lifted by the suction pad, resistance is applied to the plurality of sheets in the vicinity of the uppermost part by the resistance applying means. Can be reliably prevented from falling due to the resistance and cutting out two or more aluminum sheets.

(15) By arranging the aligning / accumulating conveyor with a tact feeding conveyor, a transfer conveyor, and a transfer section conveyor, articles transferred by the transfer device are sent out in a state of being aligned at a predetermined interval. In addition to accurately detecting the passage of articles one by one on the downstream side, the number of articles passed can be counted accurately, and the process of accumulating a predetermined number of articles and sending them to the filling device can be performed accurately without mistakes. (Claim 15).

(16) By guiding the belt constituting the connecting conveyor at both ends by the knife edge type guide member, the concave portion between the conveyors can be reduced, and the article falls over during the transportation by the conveyor. It is possible to reliably transport without causing
6). (17) The flow of articles is blocked by the gate, and only when a predetermined number of articles are accumulated at the gate, the drive mechanism is operated and the gate is opened by the control unit, so that a predetermined number of articles are accumulated. Thus, it is possible to surely carry out the processing of sending out to the filling device (claim 17).

(18) In the filling device, the delivery mechanism
Since a predetermined number of articles conveyed on the transfer unit conveyor are horizontally sent out toward the packaging box with the opening operation of the gate, it is possible to reliably fill the packaging box with the predetermined number of articles. 18).

[Brief description of the drawings]

FIG. 1 is a plan view showing a box packing system as one embodiment of the present invention.

FIG. 2 is a side view showing a box packing system as one embodiment of the present invention.

FIGS. 3A and 3B are a plan view and a side view, respectively, showing an entire line to which the boxing system of the present embodiment is applied.

FIG. 4 is a plan view showing an alignment / integration conveyor of the present embodiment.

FIG. 5 is a side view showing an alignment / integration conveyor of the present embodiment.

FIG. 6 is an enlarged view of a portion VI in FIG. 5;

FIG. 7 is an enlarged view of a portion VII in FIG. 5;

FIG. 8 is a plan view showing a filling device of the present embodiment.

FIG. 9 is a block diagram illustrating a configuration of a detection device according to the present embodiment.

FIG. 10 is a flowchart for explaining the operation of the detection device of the present embodiment.

FIG. 11 is a diagram for explaining a calculation formula of the angle of the cake and the position of the center of gravity used in the detection device of the present embodiment.

FIG. 12 is a block diagram illustrating a configuration of a modification of the detection device of the present embodiment.

FIG. 13 is a front view showing the gripping mechanism of the embodiment.

FIG. 14 is a side view showing the gripping mechanism of the present embodiment (FIG. 13);
XIV arrow view).

FIG. 15 is a plan view showing an arrangement state of special fingers in the gripping mechanism of the embodiment.

FIG. 16 is a view taken in the direction of the arrow XVI in FIG. 13;

FIG. 17 is a plan view for explaining the operation of a special finger in the gripping mechanism of the embodiment.

FIG. 18 is a plan view showing a turntable, a delivery device, and an aluminum sheet supply device of the present embodiment.

FIG. 19 is a side view showing a turntable, a delivery device, and an aluminum sheet supply device of the present embodiment.

FIG. 20 is a plan view showing a cake placing portion of the turntable of the present embodiment.

FIG. 21 is a plan view for explaining the operation of the turntable during single-row operation of the present embodiment.

FIG. 22 is a plan view showing a sending device of the present embodiment.

FIG. 23 is a view taken in the direction of the arrow XXIII in FIG. 22;

24 is a view as viewed in the direction of the arrow XXIV in FIG. 22.

FIG. 25 is a side view showing the aluminum sheet supply device of the present embodiment.

FIG. 26 is a plan view showing a magazine section in the aluminum sheet supply device of the present embodiment.

FIGS. 27A and 27B are views showing the arrangement of the slide drive mechanism of the suction pad in the aluminum sheet supply device of the present embodiment, wherein FIG. 27A is a plan view thereof, and FIG. 27B is a view taken along the line XXVIIb of FIG.

FIG. 28 is a side view showing the robot having the gripping mechanism of the embodiment.

FIG. 29 is a flowchart for explaining the operation of the box packing system of the present embodiment.

FIG. 30 is a flowchart for explaining the operation of the box packing system of the present embodiment.

[Explanation of symbols]

1a Cake (article) 2 Packaging box 5 Metal detection line (upstream line) 6 Carton 8 Aluminum sheet (sheet) 10 Boxing system 11 Receiving conveyor 12 Detector 13 Cake transfer device (Transfer device) 14 Aluminum sheet supply device ( Sheet feeding device) 15 Alignment / stacking conveyor 16 Filling device 16a Frame member (delivery mechanism) 16b Closing member (delivery mechanism) 16d Cylinder (delivery mechanism) 17 Control panel (control unit, counter) 20 Trigger photoelectric sensor (detector) 21a, 21b, 21c, 21d Laser distance meter (distance meter) 22 Sequencer (arithmetic unit) 25 Robot 26 Turntable 26a Cake placing unit (placing unit) 27 Sending device 27a Contact claw 27b Single axis robot 30 Grasping mechanism 33 Special finger 33a Finger member 33b Contact part 33c Vertical groove 3d Hot air outlet 34 Cylinder (pressing means) 34a Rod 35 Tact feed conveyor 36 Transfer conveyor 37 Transfer conveyor 35a, 36a, 37a Belt 38, 39 Knife edge type guide member 40 Photoelectric sensor (counter) 41 Gate (stopper) 42 Motor (drive mechanism) 50 Magazine part 51 Suction pad 52 Slide drive mechanism 52a Air cylinder 53 Air cylinder for loosening (air cylinder for kneading mechanism) 62 Brush (resistance applying means)

Continued on the front page (72) Inventor Kazumi Yamashita 12 Nishikicho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Masaki 12 Nishikicho, Naka-ku, Yokohama-shi, Ryohi Engineering Co., Ltd.

Claims (18)

[Claims] 1. A receiving conveyor for receiving and transporting articles from an upstream line, an alignment / accumulation conveyor for transporting the articles while aligning them and accumulating a predetermined number of articles, and the predetermined accumulators accumulated by the alignment / accumulation conveyor. A detecting device for detecting the position and orientation of the article being conveyed by the receiving conveyor, and a filling device for feeding the number of the articles into the packaging box; A box packing system, comprising: a transfer mechanism that has a gripping mechanism for gripping the article, and moves the article gripped by the gripping mechanism onto the alignment / stacking conveyor. 2. The transfer device, comprising: a robot having the gripping mechanism; and a mounting portion on which the article is transferred by the robot, wherein the mounting portion is arranged and integrated from near the robot. A turntable for rotating and moving to a position near the conveyor; and moving the mounting portion of the turntable to a position near the alignment / stacking conveyor, and placing the articles on the mounting portion on the alignment / stacking conveyor. 2. The box packing system according to claim 1, further comprising a delivery device that sends the product horizontally. 3. A magazine for holding a large number of sheets in a stack so that the articles are placed on the sheets and sent out onto the alignment / accumulation conveyor, and one sheet held on the magazine. 3. The box packing system according to claim 2, further comprising a sheet feeding device including suction pads for sucking each of the magazines and feeding the magazine from the magazine to the mounting portion on the turntable. 4. The receiving conveyor is provided in two rows, the aligning / accumulating conveyor is provided in one row, and the transfer device and the detecting device are provided one for each of the two rows of receiving conveyors. The box packing system according to claim 2 or 3, wherein the articles on the two rows of receiving conveyors are alternately transferred onto the alignment / stacking conveyor by a transfer device. 5. The mounting portion on the turntable is rotatably provided, and when only one of the two rows of receiving conveyors is used, the mounting portion is set according to the shape of the article. 5. The boxing system according to claim 4, wherein the boxing system is configured to be driven to rotate. 6. A detector for detecting that the article being conveyed by the receiving conveyor has reached a predetermined position, and a detecting operation by the detector as a trigger to detect a distance to the article. At least two distance meters arranged at different positions along the transport direction; a distance detected by the at least two distance meters and a known distance between the detector and the distance meter; The box packing system according to any one of claims 1 to 5, further comprising a calculation unit configured to calculate a position and a posture of the article based on the shape of the article. 7. The at least two rangefinders are arranged on both sides of the article, and the arithmetic unit uses a distance detected by the at least two rangefinders arranged on one side of the article. Calculating the position and orientation of the article by using the distances detected by the at least two rangefinders disposed on the other side of the article, and calculating the position and orientation of the article by using 7. The box packing system according to claim 6, wherein an average value of the calculation results obtained in step (a) is calculated as the position and orientation of the article. 8. The gripping mechanism includes a finger member capable of gripping the article from at least two directions, and pressing means for pressing each finger member toward the article, wherein each of the finger members is And a plurality of abutting portions each of which can abut the article, and wherein the pressing means is configured by a plurality of cylinders each pressing the plurality of abutting portions toward the article. The boxing system according to any one of claims 1 to 5, wherein 9. When the plurality of cylinders are operated to an extension limit or a contraction limit, the plurality of abutments are configured to reach a grippable position while pressing the article without deforming the article. 9. The boxing system according to claim 8, wherein: 10. The box packing system according to claim 8, wherein each of the plurality of contact portions is formed with a vertical groove for releasing condensed water. 11. The box packing system according to claim 8, wherein an outlet for blowing hot air is formed in each of the plurality of contact portions. 12. The slide drive mechanism according to claim 3, further comprising a slide drive mechanism for slidingly moving the suction pad when the suction pad sucks the uppermost sheet in the magazine portion. Boxing system. 13. The box packing system according to claim 12, further comprising a loosening cylinder for pressing and loosening a large number of the sheets held in the magazine part from side surfaces thereof. 14. The apparatus according to claim 12, further comprising resistance applying means for applying resistance to said sheet held in said magazine portion when said sheet is taken out by said suction pad. 14. The box packing system according to 13. 15. A tact feeding conveyor for transferring the articles by a fixed distance when the articles are transferred by the transfer device, and an article conveyed by the tact feeding conveyor. A transfer conveyor for transferring to the downstream side, and a transfer part conveyor for collecting the articles conveyed by the transfer conveyor by the predetermined number and transferring the articles to the filling device. , Claims 1 to
A boxing system according to claim 5. 16. A belt comprising the connecting conveyor is guided by a knife-edge type guide member at both ends adjacent to the tact feeding conveyor and the transfer section conveyor, respectively. Item 16. A boxing system according to Item 15. 17. A counter for detecting the articles conveyed by the transfer section conveyor and counting the number thereof, and closing the article transfer space on the transfer section conveyor to convey the articles. A gate that can be blocked, a drive mechanism that opens and closes the gate, and, when the counter detects that the predetermined number of the articles have been accumulated with the gate closed, operates the drive mechanism to operate the drive mechanism. 17. The box packing system according to claim 15, further comprising a control unit that controls a gate to be opened and to send the predetermined number of the articles to the filling device. 18. The filling device has a delivery mechanism for receiving the predetermined number of the articles conveyed on the transfer section conveyor with the opening operation of the gate and sending the articles horizontally to the packaging box. 18. The boxing system according to claim 17, wherein the boxing system is configured.