KR101574569B1

KR101574569B1 - Automation equipment with transportation robot for transferring individually containers packaging packaged a processed goods

Info

Publication number: KR101574569B1
Application number: KR1020150062936A
Authority: KR
Inventors: 이윤규
Original assignee: (주)로픽
Priority date: 2015-05-06
Filing date: 2015-05-06
Publication date: 2015-12-04

Abstract

The present invention relates to automation equipment for conveying an individual container with processed goods, and more specifically, to automation equipment for converting the direction of an individual container with processed goods, which is put into a conveying device in a large quantity and conveyed at a high speed and aligned consecutively. To achieve this purpose, the automation equipment of the present invention comprises: a conveying unit (10) which arranges multiple individual containers (C) in a row in a convey direction and conveys the containers consecutively; and a conveying robot (20) for adsorbing the multiple individual containers (C) conveyed in a row by the conveying unit (10) one by one and consecutively. The conveying robot (20) comprises an adsorbing-type gripper (26) for adsorbing the multiple individual containers (C). The adsorbing-type gripper (26) comprises multiple grip blocks (263) installed to be distanced from each other to independently work and consecutively adsorb the multiple individual containers (C) conveyed by being put into the conveying unit (10) one by one in the order of conveying.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automation apparatus having a transfer robot for transferring a single piece of packaging material packed with workpieces. BACKGROUND OF THE INVENTION 1. Field of the Invention < RTI ID = 0.0 >

[0001] The present invention relates to an automatic equipment for transferring a single piece of packaging material packed with workpieces, and more particularly, to an automated equipment for transferring a single piece of packaging material packed with high- .

In general, as the development of various processing technologies has been developed due to the development of industrial technology, processed products have been developed in various kinds of varieties in various technical fields. For example, processed food products include processed foods that are easy to eat, digested and absorbed, stored for a long time, and processed with metal, leather or synthetic resin, such as agricultural products, livestock products, and aquatic products, Manufactured parts and the like.

These workpieces are firstly packed into a single packaging container to prevent them from being produced in large quantities through a series of processing steps and then being deteriorated or being damaged by external impacts. In addition, while maintaining the external shape constantly during the distribution process, it is possible to eliminate the problem of breakage of the packaging container when an external impact is applied, and to provide convenience of distribution, Distribution is done by loading.

In the conventional method of loading a single piece of the product packaging container in a transportation box, a single piece of the first packaged product produced through the manufacturing process is transferred to the transfer device and sequentially transferred, The transfer robot is switched to a direction different from the transfer direction of the transfer apparatus and is loaded on the transfer box.

However, in the conventional method of loading a single piece of finished product packaging container in a transportation box, the single packaging container transported through the transport device is switched to a direction different from the transport direction of the transport device using the transport robot, Since the direction changing speed can not keep up with the conveying speed of the conveying device, there is a limit to increase the conveying speed of the conveying device, so that it is practically impossible to mass-produce individual container. Accordingly, automation equipment capable of maximizing the feed rate and realizing mass production is desperately required.

KR 10-1507724 B1, 2015 03. 26. KR 10-1502791 B1, 2015 03. 10. KR 10-1110130 B1, 2012. 01. 19. KR 10-1116191 B1, 2012. 02. 07.

Accordingly, the present invention has been proposed in order to solve the problems of the prior art, and it is an object of the present invention to maximize the packaging efficiency by transferring, orienting and aligning a large number of individual packaging containers packed with various kinds of processed products, It is an object of the present invention to provide an automated facility for transporting individual packaging containers packed with embodied workpieces.

According to an aspect of the present invention, there is provided a conveying apparatus comprising: a conveying device for sequentially conveying a plurality of individual packaging containers in an array in a conveying direction; And a transfer robot (20) for sucking the plurality of individual packaging containers (C) conveyed in a line through the transfer device (10), one by one in order of transfer, (20) includes a suction type gripper (26) for suctioning the plurality of individual packaging containers (C), wherein the suction type grippers (26) are installed on the transfer device And a plurality of grip blocks (263) for sequentially picking up the plurality of individual packaging containers (C) to be transferred sequentially in the order in which they are transferred. The automatic equipment for transferring a single package container to provide.

Preferably, the sensing unit 30 senses the individual packaging containers C transferred through the transfer device 10; And a controller for sequentially operating the plurality of grip blocks (263) in response to a sensing signal transmitted from the sensing unit (30) to sequentially transmit the plurality of individual packaging containers (C) And a control block (40) for sequentially controlling the adsorption using the grip block (263).

The control block 40 controls the conveying speed of the plurality of individual packaging containers C conveyed through the conveying device 10 and the conveying speed of the plurality of single packaging containers C, The time required for each individual packaging container C to reach the grip point is calculated using the distance between the grip points GP1 to GP6 of the grip block 263 and stored in the memory in advance, ) Of the individual packaging containers on the basis of the arrival time pre-stored in the memory, and sequentially recognizes arrival times of the corresponding individual packaging containers reaching the corresponding grip points and sequentially operates the plurality of grip blocks (263) And sequentially adsorbing the container (C).

Preferably, the transfer robot 20 includes a base plate 21; Three robot arms 22; A first drive unit (23) mounted on the base plate (21) and driving the robot arm (22), respectively; An effector (24) coupling the end of the robot arm (22); A second drive unit (25) mounted on the effector (24); And the adsorption gripper (26) mounted on the second drive unit (25) and driven by the second drive unit (25).

Preferably, the suction gripper 26 is coupled to a drive motor and a speed reducer built in the second drive unit 25, and rotates in conjunction with the operation of the drive motor and the speed reducer of the second drive unit 25 A joint portion 261; A fixing bar 262 mounted on the joint part 261; And a plurality of grip blocks 263 spaced apart from each other at a lower portion of the fixing bar 262.

Preferably, the plurality of grip blocks 263 include a bracket 263-1 mounted on a lower portion of the fixing bar 262, respectively; A lift part 263-2 mounted on the bracket 263-1 and linearly moving up and down; And an adsorption pad 262-4 which moves up and down according to the linear motion of the elevating part 262-2 and adsorbs the single packaging container C. [

Preferably, the plurality of grip blocks 263 are detachably mounted on the fixed bar 262, respectively, so that the gap between neighboring ones can be adjusted corresponding to the size of the single packaging container C to be adsorbed .

Preferably, the elevating portion 263-2 includes a cylinder body connected to the bracket 263-1 and a cylinder rod coupled to the cylinder body to be elevated by air pressure, Up and down movements of the vehicle.

Industrial Applicability As described above, according to the present invention, by automating the transfer facility for transferring the individual packaging containers packed with the processed products of various varieties, a large number of individual packaging containers packed with the processed products can be transferred, Maximizing packaging efficiency, mass production can be achieved, and price competitiveness can be secured.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing an automated facility for transporting a single packaging container packed with workpieces according to an embodiment of the present invention; Fig.
2 is a side perspective view of the automation equipment shown in Fig.
Fig. 3 is a front view of the automation equipment shown in Fig. 1 viewed from the front; Fig.
Fig. 4 is a plan view of the automation equipment shown in Fig. 1 viewed from above. Fig.
FIG. 5 is a perspective view illustrating the transfer robot shown in FIG. 1; FIG.
6 is a perspective view for explaining a suction type gripper according to the present invention;
7 (a) is a front view of the adsorptive gripper shown in Fig. 6; Fig.
Fig. 7 (b) is a plan view of the adsorptive gripper shown in Fig.
7 (c) is a bottom view of the adsorptive gripper shown in Fig.
FIG. 8 is an exploded perspective view illustrating the grip block shown in FIG. 6; FIG.
9 is a conceptual diagram for explaining a method of controlling the operation of the adsorption type gripper according to the present invention.
FIGS. 10 to 19 are diagrams for explaining operational characteristics of an automation equipment according to an embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish them, will become apparent by reference to the embodiments described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below, but may be embodied in various other forms.

The present embodiments are provided so that the disclosure of the present invention is thoroughly disclosed and that those skilled in the art will fully understand the scope of the present invention. And the present invention is only defined by the scope of the claims. Thus, in some embodiments, well known components, well known operations, and well-known techniques are not specifically described to avoid an undesirable interpretation of the present invention.

In addition, like reference numerals refer to like elements throughout the specification. Moreover, terms used herein (to be referred to) are intended to illustrate the embodiments and are not intended to limit the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. Also, components and acts referred to as " comprising (or comprising) " do not exclude the presence or addition of one or more other components and operations.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless they are defined.

In the present invention, the processed product is any one of various processed foodstuffs such as agricultural products, livestock products, aquatic products, etc. which are processed as foodstuffs, which can be easily eaten, digested and absorbed and stored for a long time, And may be any one of various processed parts manufactured by processing a leather material or a synthetic resin. And, it can be a comparatively lightweight work product for easy adsorption through the adsorption type gripper of the transfer robot. In addition, individual packaging containers are packaging containers for packaging various kinds of workpieces, and all known packaging materials may be included. For example, a plastic wrapper wrapping the confectionery.

Hereinafter, the technical features of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a perspective view showing an automatic equipment for transporting a single packaging container packed with workpieces according to an embodiment of the present invention, Fig. 2 is a side perspective view of the automation equipment shown in Fig. 1, 1 is a front view of the automation equipment shown in Fig. 1, and Fig. 4 is a plan view of the automation equipment shown in Fig. 1 as viewed from above.

1 to 4, an automation apparatus 100 according to an embodiment of the present invention includes a transfer device 10 and a transfer robot 20. The control unit 40 may further include a sensing unit 30 and a control block 40 (see FIG. 9) for controlling the transfer robot 20. In addition, it may further include a loading device 50. Fig.

The transfer device 10 is a device for sequentially transferring a plurality of individual packaging containers C packaged with various types of workpieces. The transfer device 10 transfers and sequentially arranges the individual packaging containers C sequentially, for example, from a pillow packing machine (not shown) in a line.

1 to 4, the conveying device 10 includes a shearing conveyor 11 for conveying a single packaging container C fed from a pillow packing machine, a shearing conveyor 11 disposed at a rear end of the shearing conveyor 11, And a rear conveyor 12 for receiving a single packaging container C fed in a line by line through the conveying robot 20 and transferring the single packaging container C to a grip point of the transfer robot 20.

The front end conveyor 11 and the rear end conveyor 12 are respectively driven by a drive motor and driven by a conveying unit for conveying the single packaging container C to the downstream end, a supporting unit for supporting the conveying unit at a predetermined height from the ground, And a side guide protruding upward along the longitudinal direction (that is, the direction in which the single packaging container is transported) to prevent the single packaging container C, which is transported through the transporting part, from being detached from the transporting part.

At this time, the supporting parts of the front end conveyor 11 and the rear end conveyor 12 are structured such that the front and rear conveyors 11 and 12 are horizontally aligned to be adjustable in height, thereby stably supporting the single packaging container C It can be transported. For example, the supporting portion may be provided with a bolt at a portion in contact with the ground, and the height may be adjusted by tightening and loosening the bolt. In addition, any known structure capable of adjusting the height can be applied.

1 to 4, a transfer robot 20 according to the present invention is fixedly mounted on a support frame 101 having a box structure and arranged in a line through a transfer unit of the transfer device 10, (The number of the adsorption pads) of the single packaging container C conveyed to the adsorption / desorption unit.

That is, the transfer robot 20 sequentially picks up the individual packaging containers C one by one in the order of being fed through the transfer device 10 and transfers the same in a direction different from the transfer direction of the transfer device 10, for example, 10, and transferred to the stacker 50 for alignment.

FIG. 5 is a perspective view illustrating the transfer robot shown in FIG. 1. FIG.

5, the transfer robot 20 preferably uses a four-axis parallel robot. The transfer robot 20 includes a base plate 21, three robot arms 22, a robot arm (not shown) mounted on the base plate 21, A second drive unit 25 mounted on the effector 24, and a second drive unit 23 mounted on the second arm 24. The first drive unit 23 drives the robot arm 22, And a suction gripper 26 mounted on the unit 25 and driven by the second drive unit 25 to successively pick up the individual packaging containers C one by one sequentially fed to the grip points.

In the embodiment of the present invention, a four-axis parallel robot (delta robot) is taken as an example of the transfer robot 20, but this is for the sake of convenience of explanation. When the transfer robot 20 of the present invention is limited to a four- , And parallel robots with four axes or more can be used.

The first driving unit 23 is mounted on the base plate 21 in correspondence with the number of the robot arms 22 and a drive motor and a speed reducer are built in the robot arm 22 to drive the robot arm 22 respectively.

The robot arm 22 includes an inner arm 221 coupled to the first drive unit 23 including a drive motor and a speed reducer and pivoted, an outer arm 222 pivotally coupled to the inner arm 221, And a joint portion 223 for rotatably coupling the arm 221 and the outer arm 222 to each other.

5, the second drive unit 25 is mounted on the effector 24 and, like the first drive unit 23, a drive motor and a speed reducer are built in the second drive unit 25 to drive the first drive unit 23 Independently of the operation of the suction gripper 26 mounted on the lower portion thereof.

7 is a front view of the suction type gripper shown in FIG. 6, and FIG. 7 (b) is a front view of the suction type gripper shown in FIG. 6, FIG. 7C is a bottom view of the suction gripper shown in FIG. 6, and FIG. 8 is an exploded perspective view illustrating the grip block shown in FIG.

6 to 8, the suction type gripper 26 according to the present invention sequentially operates a plurality of grip blocks 263 to sequentially move a single packaging container C fed through a transfer device 10 Respectively. The suction gripper 26 includes a joint portion 261 coupled to the second drive unit 25 (see FIG. 5), a fixed bar 262 mounted on the joint portion 261, And a plurality of grip blocks 263 mounted at spaced intervals thereunder.

5 and 6, the joint unit 261 is coupled to a drive motor and a speed reducer built in the second drive unit 25 to interlock with the operation of the drive motor and the speed reducer of the second drive unit 25 Rotate.

7B, a plurality of grip blocks 263 are mounted on the lower portion of the fixing bar 262, and a plurality of grip blocks 263 are mounted on the lower portion of the fixing bar 262, A plurality of pneumatic hoses (not shown) may be mounted corresponding to the number of the grip blocks 263, and the pneumatic pressures supplied from the pneumatic hoses may be supplied to the upper and lower grip blocks 263 A penetrating pneumatic supply hole 262-1 may be formed.

As shown in FIGS. 5 and 6, the grip blocks 263 are mounted on the lower portion of the fixing bar 262 so as to be spaced apart from each other. However, the grip blocks 263 may be formed by sequentially arranging six individual packing containers C As an example for adsorption, the grip block 263 may be installed below or below the number of individual packaging containers C to be gripped sequentially at a time.

8, the grip block 263 includes a bracket 263-1 mounted on the lower portion of the fixed bar 262, a lift portion 263-2 mounted on the bracket 263-1 and linearly moving up and down, And an adsorption pad 263-4 which moves up and down in conjunction with the linear motion of the elevation part 263-2. Further, it may further include a mount 263-3 for mounting the adsorption pad 263-4 to the lift portion 263-2.

A through hole 263-1a communicating with the pneumatic supply hole 262-1 of the fixed bar 262 is formed at the center of the bracket 263-1 and protrudes upward to the upper both sides of the fixed bar 262 And a fastening piece 263-1b fastened to the lower portion of the fixing bar 262 through a bolt.

Since the bracket 263-1 is detachably mounted to the lower portion of the fixing bar 262 through the bolt, the spacing between neighboring ones can be arbitrarily adjusted according to the size of the single packaging container C. That is, in the present invention, the bracket 263-1 is detachably mounted to the lower portion of the fixing bar 262 through the bolts to adjust the gap between neighboring grip blocks according to the size of the single packing container C, When the gap between neighboring grip blocks 263 is smaller than the size of the gripping single packaging container C when the single packaging container C is gripped using the block 263, It is possible to prevent interference from occurring during the gripping process.

The elevating portion 263-2 may be a pneumatic cylinder, for example. For example, the elevating portion 263-2 includes a cylinder body connected to the bracket 263-1, and a cylinder rod coupled to the cylinder body to be elevated by air pressure, .

The loading device 50 according to the present invention is a place where a plurality of individual packing containers C transferred through the transfer robot 20 are aligned and is formed of a conveyor device like the transfer device 10, To another transporting device that transports the aligned plurality of individual packaging containers C in the direction parallel to the transporting device 10 or in the other direction.

9 is a conceptual diagram illustrating a method of controlling the operation of the adsorptive gripper according to the present invention.

9, the automation apparatus 100 according to the present invention further includes a sensing unit 30 and a control block 40 to control the operation of the suction gripper 26 mounted on the transfer robot 20 .

4, the sensing unit 30 senses a single packaging container C that is installed in the transfer device 10 and is transferred through the transfer device 10, and transmits the sensing result to the control block 40. [ The sensing unit 30 may use any sensor capable of detecting a single packaging container C transported at a relatively high speed through the transport device 10 in real time. For example, an optical sensor, a magnetic sensor, or the like can be used.

The control block 40 controls the operation of the suction gripper 26 in response to the sensing signal transmitted from the sensing unit 30, as shown in FIG. That is, the control block 40 sequentially operates the grip blocks # 1 to # 6 of the suction type gripper 26 in response to the sensing signal transmitted from the sensing unit 30, (C), which are fed to the respective packaging containers (C).

First, the control block 40 controls the conveying speed of the single packaging container C conveyed through the conveying device 10 and the conveying speed of the sensing part SP of the sensing part 30, (L1 to L6) between the grip points (GP1 to GP6) of the grip blocks (# 1 to # 6) and the grip points (GP1 to GP6) And stores it in advance in the memory.

The time at which the individual packaging container C reaches each of the grip points GP1 to GP6 as the single packaging container C is moved at the same conveying speed through the transfer device 10 is expressed by the following equations Similarly, it is determined by the distance between the sensing point SP and each of the grip points GP1 to GP6.

[Equation 1]

't1' = distance between 'SP' and 'GP1' (L1) / feed rate

't2' = Distance between 'SP' and 'GP2' (L2) / Feed rate

't3' = Distance between 'SP' and 'GP3' (L3) / Feed rate

't4' = distance between 'SP' and 'GP4' (L4) / feed rate

't5' = distance between 'SP' and 'GP5' (L5) / feed rate

't6' = distance between 'SP' and 'GP6' (L6) / feed rate

Here, 't1' is the time at which the individual packaging container reaches the first grip point GP1, 't2' is the time at which the individual packaging container reaches the second grip point GP2, 't3' T5 is the time at which the individual packaging container reaches the fifth grip point GP5, t6 is the time at which the first packaging container reaches the fourth grip point GP4, 'Represents the time at which the individual packaging container reaches the sixth grip point (GP6).

Thereafter, when a single packaging container C conveyed through the conveying device 10 is sensed by the sensing unit 30, the control block 40 responds to the sensing signal of the sensing unit 30, The grip blocks # 1 to # 6 are operated by recognizing the arrival time of the corresponding individual packaging container to reach the corresponding grip point, and sequentially picking up the individual packaging containers C to be transported. That is, each of the grip blocks # 1 to # 6 operates corresponding to the arrival times t1 to t6 of the individual packaging containers C.

The control block 40 is capable of controlling the operation of the adsorptive gripper 26 in accordance with the program stored in the memory and programmed in an algorithm for controlling the operation of the adsorptive gripper 26. [ The distance L1 between the sensing point SP of the sensing unit 30 and the gripping points GP1 to GP6 of the grip blocks # 1 to # 6, To < RTI ID = 0.0 > L6. &Lt; / RTI >

In the present embodiment, the control block 40 is described as directly controlling the adsorptive gripper 26, but this is for convenience of explanation. The control block 40 controls the transfer robot 20 so that the adsorption gripper 26 And the grip blocks # 1 to # 6 of the suction type gripper 26 are supplied to the lift portion 263-2 of each of the grip blocks # 1 to # 6 (Not shown) can be controlled to control the gripping operation of the single packaging container C.

FIGS. 10 to 19 are diagrams for explaining the operational characteristics of the automation equipment according to the embodiment of the present invention, wherein (a) is a perspective view of the automation equipment, (b) Fig. 3 is a view for explaining the gripping operation of the gripper. Fig.

9, 10 to 17, a plurality of individual packaging containers C are fed through the transfer device 10 in the order in which the plurality of individual packaging containers C are inserted into the transfer device 10, The sensing unit 30 senses the individual packaging containers C in the order of arrival at the sensing point SP and transmits the sensed signals to the control block 40. [

The control block 40 sequentially operates a plurality of grip blocks corresponding to the arrival times t1 to t6 previously stored in the memory in synchronization with the sensing signals transmitted from the sensing unit 30 and outputs the grip points GP1 to GP6, (C) sequentially arriving at the bottom of the packaging container (C). That is, the grip blocks # 1 to # 6 sequentially operate in the order of # 1 → # 2 → # 3 → # 4 → # 5 → # 6, and sequentially arrive at the grip points GP1 to GP6 Adsorb the individual packaging containers (C) sequentially.

18 and 19, when the individual packaging containers C are adsorbed to the respective absorption pads 263-4 of the grip blocks # 1 to # 6, The gripper 26 is turned at an angle of about 90 degrees with respect to the conveying direction of the conveying device 10 and moved to the upper portion of the stacking device 50 and then the vacuum is discarded, .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

C: Individual packaging container 100: Automation equipment
10: Feeding device 11: Shearing conveyor
12: rear end conveyor 20: transfer robot
21: base plate 22: robot arm
23: first drive unit 24:
25: second drive unit 26: suction gripper
261: joint portion 262: fixed bar
263: Grip block 30:
40: control block 50: loading device

Claims

A transfer device (10) for sequentially transferring a plurality of individual package containers (C) placed in a line in a transfer direction;
(26) for adsorbing the plurality of individual packaging containers (C) conveyed in a line through the conveying device (10), the adsorptive grippers (26) being spaced apart from one another A transfer robot 20 for sequentially picking up the plurality of individual packaging containers C in the order of being transported, one by one, including the grip block 263 of the gripping block 263;
A sensing unit (30) for sensing the individual packaging containers (C) conveyed through the transfer device (10); And
The plurality of grip blocks 263 are sequentially operated in response to the sensing signal transmitted from the sensing unit 30 so that the plurality of individual packaging containers C transported through the transport device 10 are transported to the plurality of A control block (40) for sequentially controlling the suction by using the grip block (263); &Lt; / RTI >
The control block 40 controls the conveyance speed of the plurality of individual packaging containers C conveyed through the conveyance device 10 and the conveyance speed of the sensing part SP of the sensing part 30 and the plurality of grip blocks (C) to the corresponding grip point by using the distances between the grip points (GP1 to GP6) of the sensing unit (30) and the sensing unit (30) A plurality of grip blocks 263 are sequentially operated independently by recognizing the arrival time at which the corresponding individual packaging container reaches the grip point based on the arrival time previously stored in the memory in response to the signal, (C) are sequentially adsorbed,
Wherein the transfer robot comprises a transfer robot for transferring a single piece of packaging material packaged with the processed product.

delete

The method according to claim 1,
The transfer robot (20)
A base plate 21;
Three robot arms 22;
A first drive unit (23) mounted on the base plate (21) and driving the robot arm (22), respectively;
An effector (24) coupling the end of the robot arm (22);
A second drive unit (25) mounted on the effector (24); And
The adsorptive gripper (26) mounted on the second drive unit (25) and driven by the second drive unit (25);
And a transporting robot for transporting the individual packaging containers packed with the processed products.

5. The method of claim 4,
The adsorptive gripper (26)
A joint unit 261 coupled to a drive motor and a speed reducer built in the second drive unit 25 and rotated in association with the operation of the drive motor and the speed reducer of the second drive unit 25;
A fixing bar 262 mounted on the joint part 261; And
A plurality of grip blocks (263) mounted on a lower portion of the fixed bar (262) so as to be spaced apart from each other;
And a conveying robot for conveying the single package container packed with the processed product.

6. The method of claim 5,
The plurality of grip blocks (263)
A bracket 263-1 mounted on a lower portion of the fixing bar 262;
A lift part 263-2 mounted on the bracket 263-1 and linearly moving up and down; And
An adsorption pad 263-4 for moving up and down according to the linear motion of the elevating part 263-2 and adsorbing the single packing container C;
And a transporting robot for transporting the individual packaging containers packed with the processed products.

The method according to claim 6,
Wherein each of the plurality of grip blocks (263) is detachably mounted on the fixed bar (262), and the gap between adjacent ones of the plurality of grip blocks (263) can be adjusted corresponding to the size of the single packaging container (C) An automated facility equipped with a transfer robot for transferring the packaged single package containers.

The method according to claim 6,
The elevating portion 263-2 includes a cylinder body connected to the bracket 263-1 and a cylinder rod coupled to the cylinder body and elevated by air pressure to vertically move the adsorption pad 263-4 And a lifting / lowering operation of lifting and lowering the lifting / lowering robot.