WO2018101042A1

WO2018101042A1 - Article transfer device

Info

Publication number: WO2018101042A1
Application number: PCT/JP2017/041112
Authority: WO
Inventors: 亮民鈴木
Original assignee: 株式会社イシダ
Priority date: 2016-11-30
Filing date: 2017-11-15
Publication date: 2018-06-07
Also published as: JP2017095282A; JP6845559B2

Abstract

The present invention is provided with: a transport unit that sends articles to a work area; a supply unit that supplies a container to the work area; a robot that stores the articles sent to the work area, in the container supplied to the work area; a discharge unit that discharges, from the work area, the container in which the articles have been stored; and a control unit that controls the supply unit and the discharge unit. The work area is divided into a first work area and a second work area with the transport unit therebetween. While the robot stores the articles in the container in one of the work areas, the control unit controls the discharge unit so as to discharge, from the other work area, the container in which the articles have been stored and controls the supply unit so as to supply a new container to the other work area.

Description

Article transfer device

The present invention relates to an article transfer device that packs articles such as lunch boxes and side dishes into a weight as a delivery container.

Lunch boxes and side dishes sold at convenience stores are manufactured at pack centers. The manufactured lunch boxes and prepared dishes are brought to the distribution center, sorted and distributed by store. On the other hand, at the pack center, in order to process the manufactured lunch in a short time, when the food is placed on the container, the container on which the food is placed becomes a transport container (hereinafter referred to as a transport container). Packed in a container) and transferred to a distribution center.

Therefore, the packing center is provided with a preparation line for placing ingredients in the container in a flow operation, and a container stuffing line that follows, and a plurality of workers are arranged for each.

However, such a pack center has a problem that it is difficult to secure daily workers because lunch boxes are manufactured in the early morning or late at night. For this reason, for example, a “food placement robot” represented by Patent Document 1 below, a “loading system, container transfer device” and the like represented by Patent Document 2 have been developed and put to practical use.

Japanese Patent No. 36060217 JP 2016-78997 A

However, various problems arise when trying to co-exist a non-automated serving line and an automated line in which a lunch box sent from the serving line is stored in a container by a robot. For example, in a non-automated serving line, lunch boxes or the like are not sent out at a constant cycle, and most of them are sent out together or a shortage is sent out in a small amount later. Therefore, in the downstream automation line, as disclosed in Patent Document 2, when a container is transported in a single row while storing lunch boxes, etc., the container in the single row is transported until a series of operations are completed. By staying on the line, there is a problem that loading of a full container onto a delivery truck is delayed.

In addition, in the system and apparatus described in the above-mentioned patent document, since the conveyor for transporting the container is arranged in a plane, it is easy to introduce it into a new pack center, but in existing lines that are narrow with equipment, There is a problem that it is difficult to introduce.

The present invention has been developed in view of the current situation, and even if lunch boxes are transported together from upstream, they can be processed efficiently, and if the container is full, it will be on the line. It is an object of the present invention to provide a compact article transfer device that can be immediately delivered for delivery without being fastened, and can be introduced even in a narrow existing line.

An article transfer apparatus according to one aspect of the present invention includes a transport unit that sends an article to a work area, a supply unit that supplies a container to the work area, and the article that is sent to the work area to a container that is supplied to the work area. A robot for storing, a discharge unit for discharging a container in which articles are stored by the robot from the work area, and a control unit for controlling the supply unit and the discharge unit. The control unit controls the discharge unit while the article is being stored in the container in one of the first work area and the second work area. A container in which articles are stored is discharged from the work area, and the supply unit is controlled to supply a new container to the other work area.

An article transfer device according to another aspect of the present invention is provided with a transport unit that sends articles to the work area, a supply unit that supplies containers to the work area, and the articles sent to the work area are supplied to the work area. A robot that stores the container, and a discharge unit that discharges the container in which the article is stored by the robot from the work area, and the work area is divided into a first work area and a second work area across the transport unit, The supply unit has a first route for supplying the container to the first work area and a second route for supplying the container to the second work area. The second route and the first route are a part of the route. Shared.

The article transfer device according to one aspect of the present invention can perform an article stuffing operation by a robot and an exchange operation of a container in which an article is stored and an empty container alternately and simultaneously in two work areas. it can. As a result, the article transfer device can quickly process an article even if it is conveyed in large quantities. Further, the article transfer device can immediately discharge the container in which the articles are stored in the work area, and load the container on a delivery truck or the like. Thereby, the article transfer apparatus can suppress the work delay generated on the upstream side from expanding on the downstream side.

Since the article transfer device according to another aspect of the present invention supplies a container to each work area from one supply unit, the installation area of the device can be reduced. Further, the article transfer device is operated by the robot by adopting a three-dimensional arrangement of the work area of the robot and the route through which the container is supplied to and discharged from the container. Underneath the first work area, a new empty container can be supplied to the second work area. In addition, the article transfer device can discharge a container filled in the first work area through the second work area where the robot is working. Therefore, the installation area of the apparatus can be made compact as compared with the conventional apparatus in which the conveyor is arranged in a plane, so that the article transfer apparatus can be introduced into a narrow existing line.

FIG. 1 is a layout diagram for explaining a schematic configuration of an article transfer apparatus according to an embodiment. FIG. 2 is a layout diagram for explaining a schematic configuration of a modified example of the article transfer device. FIG. 3 is an external perspective view of the article transfer device according to the embodiment as viewed from the front. FIG. 4 is a partial external perspective view of the article transfer device of FIG. 3 as seen from the back side. FIG. 5 is a perspective view of the main part viewed from the back side with the apparatus frame of FIG. 3 omitted. FIG. 6 is a perspective view of the apparatus shown in FIG. FIG. 7 is a perspective view of FIG. 5 as seen from the diagonally right front side of the apparatus. FIG. 8 is a perspective view of a container supplied to each work area as viewed from below. FIG. 9 is a perspective view showing a structure below each work area in FIG. FIG. 10 is a block diagram of a control system of the article transfer device of FIG.

Hereinafter, an embodiment of an article transfer device including characteristic elements of each invention will be described with reference to the drawings. In addition, the following embodiment is an example and does not limit the technical scope of each invention. Moreover, in each drawing, the same code | symbol is attached | subjected to the same or similar element.

(Schematic configuration of article transfer device)
First, a schematic configuration of the article transfer device according to the embodiment will be described. FIG. 1 is a layout diagram for explaining a configuration of an article transfer apparatus according to an embodiment. In this figure, an article transfer device 100 includes a transport unit 1 that sends an article M to a work area E, a supply unit 2 that supplies a container C to the work area E, and an article M that is sent to the work area E. Controlling the robot 3 that stores the container C supplied to the work area E, the discharge unit 4 that discharges the container Cm in which the article M is stored by the robot 3 from the work area E, and the supply unit 2 and the discharge unit 4 And a control unit 5 for performing the above operation. In FIG. 1, a line indicated by a solid line and an arrow indicates a path through which the container C is supplied, and a broken line and a line indicated by the arrow indicate a path through which the container Cm in which the article M is stored is discharged. .

The article M handled here is, for example, a lunch box or side dish packed in a container, but is not limited thereto. A work area E (an area surrounded by an alternate long and short dash line including the robot 3) is an area where the robot 3 lifts the article M on the transport unit 1 and stores it in the container C. Accordingly, the robot 3 is disposed in the work area E, the transport unit 1 that feeds the article M toward the work area, the supply unit 2 that feeds the container C, and the discharge that discharges the container Cm in which the article M is stored. Part 4 is connected. The conveyance part 1, the supply part 2, and the discharge part 4 here are each comprised with the conveyor. The conveyance part 1, the supply part 2, and the discharge part 4 may be arrange | positioned planarly. Further, as will be described later, the supply unit 2 and the discharge unit 4 are arranged in the lower stage of the work area E so that the empty container C is supplied toward the work area E from below, and is filled with articles M. The container Cm may be configured to be discharged after being lowered.

The work area E is divided into a first work area E1 and a second work area E2. The control unit 5 controls the discharge unit 4 while the robot 3 is storing the article M in the container C in the one work area E1 (or E2), and the article from the other work area E2 (or E1). The container Cm in which M is stored is discharged. Subsequently, the control unit 5 instructs the supply unit 2 to supply a new container C to the work area E2 (or E1).

As a result, the article transfer device 100 performs an operation of storing the article M in the empty container C and an operation of replacing the container Cm in which the article M is stored and the empty container C alternately in the two work areas E1 and E2. It can be switched and processed. Moreover, since the article transfer device 100 can perform them simultaneously, even if the article M is conveyed in large quantities, it can be processed quickly. Further, as in the prior art, the container Cm in which the article M is stored can be immediately discharged and sent for delivery without being kept on the line, so that the article transfer apparatus 100 has a delay in upstream work. Expansion on the downstream side can be suppressed.

The container C supplied by the supply unit 2 is an empty container in which the article M is not stored, or a container in which another article is stored but there is still room for storing the article M. Therefore, in the following description, these containers may be referred to as empty containers. In addition, when the transport unit 1 transports a lunch box, a side dish, or the like, a serving line such as a lunch box is connected to the upstream side of the transport unit 1.

In FIG. 1, the first work area E1 and the second work area E2 are arranged on both sides of the transport unit 1, but this is an example, and the present invention is not limited to this. For example, the work areas E1 and E2 may be arranged side by side, and the conveyance unit 1 may be arranged next to them. In FIG. 1, the container C is supplied to each work area E1, E2 from one branched supply unit 2, but this is also an example, and a separate supply unit 2 is provided for each work area E1, E2. May be provided. The same applies to the discharge unit 4.

In FIG. 1, if a separate supply unit is provided in each of the work areas E1 and E2, the area occupied by the article transfer device 100 is increased. For this reason, the container C is supplied from one supply part 2 to each work area E1, E2. Referring to FIG. 1, the supply unit 2 has a first route R1 for supplying the container C to the first work area E1 and a second route R2 for supplying the container C to the second work area E2. Yes. The first route R1 and the second route R2 are made compact by sharing a part of these routes.

Specifically, the first path R1 is configured by a conveyor 20 that sends the empty container C sent into the article transfer device 100 to the first work area E1. The second path R2 includes the conveyor 20 and a conveyor 21 that branches from the conveyor 20 to the second work area E2. Thereby, the supply part 2 can send the container C supplied to the conveyor 20 into both the 1st work area E1 and the 2nd work area E2.

Similarly, providing the discharge unit 4 for each of the work areas E1 and E2 increases the area occupied by the article transfer device 100. Therefore, the second route R2 from the first work area E1 to the discharge unit 4 that discharges the container Cm in which the article M is stored reaches the adjacent position of the second work area E2 from the adjacent position of the first work area E1. And shared.

Specifically, in FIG. 1, the container Cm filled in the first work area E <b> 1 is discharged out of the apparatus through the conveyor 20 and the conveyor 21. These

conveyors

20 and 21 constitute the above-mentioned second path R2. The second route R2, which is a supply route for the empty container C, becomes a discharge route for the full container Cm, thereby further reducing the size of the apparatus.

The robot 3 simply lifts the article M from the transport unit 1 and transfers it to the container C. For this reason, the robot 3 may be disposed at any base point. However, in order to operate the robot 3 efficiently, it is necessary to minimize the movable range of the robot arm so that the robot 3 can quickly move to the next action. Therefore, in the article transfer apparatus 100, the transport unit 1 is further disposed between the first work area E1 and the second work area E2, and the robot 3 is disposed above the transport unit 1.

As a result, the first work area E1 and the second work area E2 can be arranged symmetrically with respect to the transport unit 1, so that the area where the robot 3 lifts the article M from the transport unit 1 and the container The area stored in a predetermined position of C can be arranged symmetrically. Therefore, the robot 3 can quickly operate because it can perform the operation of stuffing the articles M with a minimum movement in either of the work areas E1 and E2 simply by reversing.

(Modification)
Next, a schematic configuration of a modified example of the article transfer device described with reference to FIG. 1 will be described. If each work area E1, E2, the supply part 2, and the discharge part 4 are arrange | positioned at the same level, the occupation area of the article transfer apparatus 100 will expand. Therefore, in the present modification, as shown in FIG. 2, the first route R1 is further a route for supplying the container C to the first work area E1 from below, and the second route R2 is the first work area E1. A path through which the container C is supplied to the second work area E2 from below through the lower part of the transport unit 1 is used.

FIG. 2 is an example in which the work area E of the robot 3, the supply unit 2 that supplies the container C to the work area E, and the discharge unit 4 that discharges the container Cm therefrom are arranged in a three-dimensional manner. In FIG. 2, the transport unit 1 is disposed between the first work area E1 and the second work area E2. The robot 3 is disposed above the transport unit 1 between the first work area E1 and the second work area E2. And 1st path | route R1 is comprised by the conveyor 20 which makes the container C penetrate | invade below the 1st work area E1, and the lift 22 which raises the container C from there to the 1st work area E1. The second path R2 raises the container C from the conveyor 20, the conveyor 21 extending from there to the lower part of the second work area E2, and from the end of the conveyor 21 to the second work area E2. It consists of a lift 23.

The discharge unit 4 that discharges the container Cm from the first work area E1 is shared with the second route R2 from the adjacent position of the first work area E1 to the adjacent position of the second work area E2.

In such a configuration, when the empty container C is sent onto the conveyor 20, the control unit 5 (not shown) operates the conveyor 20 to convey the empty container C to below the first work area E1. Subsequently, the control unit 5 operates the lift 22 to raise the empty container C to the first work area E1. Subsequently, when a new empty container C is sent from the stacked empty containers, the control unit 5 operates the conveyor 20 and the conveyor 21 to move the sent empty containers C to below the second work area E2. Transport. Subsequently, the control unit 5 operates the lift 23 to raise the empty container C to the second work area E2.

Thus, when the container C is supplied to the first work area E1 or the second work area E2, and the article M is sent from the transport unit 1, the robot 3 lifts the article M on the transport unit 1 and lifts it. Is stored in a container C. Then, when the container C is full, the container Cm filled in the first work area E1 is lowered onto the conveyor 20 via the lift 22, and from there under the conveying unit 1 via the conveyor 21. It passes under the second work area E2 and is discharged out of the apparatus.

As described above, the work areas E1 and E2 of the robot 3 and the path through which the container C is supplied to and discharged from the container Cm are arranged in a three-dimensional manner. As a result, the article transfer device 100 passes the new empty container C to the second work area E2 through the first work area E1 while the robot 3 is working in the first work area E1. While the robot 3 is working in the second work area E2, the container Cm filled in the first work area E1 is passed through the second work area E2 while the robot 3 is working in the second work area E2. It can be discharged outside. For this reason, the area occupied by the article transfer device 100 can be reduced, and the article transfer device 100 can be introduced into a narrow existing line.

Further, the supply unit 2 is connected with a destacking device 6 for taking out the containers C one by one from the stacked containers C. The discharge unit 4 is connected to a stacking device 7 that stacks containers Cm in which articles M are stored one by one.

Thus, the article transfer device 100 can supply the empty containers C taken out from the supply device 2 to the supply unit 2 one after another simply by connecting the leveling device 6 to the supply unit 2. Since the containers Cm in which the articles M are stored are stacked by the stacking device 7 connected to the discharge unit 4, the installation area of the stacking device 6 and the stacking device 7 can be minimized. As a result, the article transfer apparatus 100 can be introduced even in a place that is narrowed by existing facilities.

In FIG. 2, assuming that the side on which the article M is carried into the article transfer device 100 is the front side, a stray device 6 indicated by a two-dot chain line is connected to the left side, and the container C taken out from the separating device 6 is connected. Although the 1st path | route R1 is drawn so that it may be carried in in the supply part 2, this is an example. Depending on the layout of the factory in which the article transfer device 100 is installed, for example, the spreading device 6 is connected to the supply unit 2 from the back or front side of the article transfer device 100, and the containers C are supplied one by one from there. It may be carried into the part 2. Similarly, the stacking device 7 may also be connected to the discharge unit 4 from the back or front side of the article transfer device 100 according to the layout of the factory. Of course, the same applies to FIG.

The container C used here is, for example, a fixed container formed of resin, cardboard or the like, and a plurality of articles M can be stored in a line. Further, if the directions of the containers C are matched, the containers C can be stacked densely, and if the directions are alternately changed, they can be stacked while leaving a space for storing articles. Therefore, in FIG. 2, the stacking device 6 shows a state in which the empty containers C are densely stacked, and the stacking device 7 shows a state in which the space where the articles M are stored is left. Yes. The position where the article M is packed into the container C is determined in advance by the size of the article M and the size of the container C, and the information is stored in the robot 3.

The robot 3 lifts the article M, moves it three-dimensionally, and opens the article at a predetermined position of the container C. As the grip portion 30 for gripping the article M, an appropriate one is used according to the properties of the article M. For example, when the article M can be sucked with a suction cup, as shown in FIG. 2, a suction device having a plurality of suction cups is used, and when the suction cup cannot be used, a finger type that is gripped with a finger is used.

In addition, the robot 3 includes a mass measuring device 31 (see FIG. 2) that detects the mass of the article M while lifting it. When the output of the mass measuring device 31 is abnormal, the robot 3 returns the article that has been lifted or missed to the transport unit 1 as a defective product.

This mass measuring device 31 is a practical application of the technique described in JP2013-079931A. Based on the output of the mass measuring device 31, the robot 3 is programmed to determine whether the lifted article M is excessive or insufficient, and if there is an excess or deficiency, return it to the transport unit 1 as a defective product. ing. Further, when it is determined from the output of the mass measuring device 31 that the article M could not be lifted, the robot 3 conveys the article M that has not been grasped, assuming that the container is not completely covered with the lid. Programmed back to part 1.

In addition, when a lid is not put on the lunch box packed in the container, the robot 3 provided with the suction device cannot lift it. For this reason, the mass measuring device 31 detects it as a gripping error. In that case, the robot 3 lifts the subsequent article M and stores it in the container C. As a result, the container C is filled with a predetermined number of normal articles M. Note that the article M that the robot 3 has not lifted as a defective product or the article M returned to the transport unit 1 as a defective product is stored in a stock area (not shown) connected to the downstream side of the transport unit 1.

Next, the operation of the article transfer apparatus 100 in FIG. 2 will be described.
In use, the article transfer device 100 first operates the leveling device 6 and the supply unit 2 to supply the empty container C to the first work area E1, and subsequently to the second work area E2 as well. Supply and wait. At this time, the

lifts

22 and 23 stand by in the work areas E1 and E2 with the container C lifted. Therefore, the subsequent container C can be passed through the first path R1 and the second path R2 below the containers lifted by the

lifts

22 and 23. When the transport unit 1 is activated and the articles M are sequentially sent to the work area E, the robot 3 lifts it up to a predetermined position of the empty container C when the article M reaches a predetermined position on the transport unit 1. Store in. In that case, the robot 3 may hold a plurality of articles M sent one after another and store them in the container C, or may hold the articles M one by one and store them in the container C. . Further, an article detection sensor (not shown) is provided at the entrance of the work area E on the transport unit 1, and the robot 3 operates based on the detection signal.

In this way, when the container C in the first work area E1 becomes full, the robot 3 continues to store the article M in the container C in the second work area E2 on the opposite side. Meanwhile, the full container Cm is lowered from the first work area E1, and a new empty container C is supplied to the first work area E1 so as to replace it. Further, the full container Cm lowered from the first work area E1 passes through the lower part of the transport unit 1 and further passes under the second work area E2, and is discharged by the discharge conveyor 40. At this time, since the container C in the second work area E2 is lifted by the lift 23, the full container Cm can pass under the second work area E2.

When the container C in the second work area E2 becomes full, the full container Cm is lowered and discharged from there. Then, the empty container C is supplied to the second work area E2 through the bottom of the first work area E1 and further under the transport unit 1 so as to be replaced with the container Cm. At this time as well, the container C in the first work area E1 is lifted by the lift 22, so that the subsequent empty container C can pass thereunder. Meanwhile, the robot 3 stores the article M in the empty container C in the first work area E1.

In this way, while the robot 3 is performing the packing operation in one work area E1 (or E2), in the other work area E2 (or E1), discharging the container Cm in which the article M is stored, The empty container C is supplied. Therefore, even if the articles M are successively sent from the transport unit 1, the robot 3 can process them with a margin.

(Detailed configuration of article transfer device)
Next, a specific detailed configuration of the article transfer apparatus 100 to which the configuration of the article transfer apparatus 100 described with reference to FIGS. 1 and 2 is applied will be described with reference to FIGS.

3 is an external perspective view of the article transfer apparatus 100 as viewed from the front side, and FIG. 4 is an external perspective view of the article transfer device 100 as viewed from the back side. In these drawings, on the front side of the article transfer device 100, an inlet 10 for carrying an article M such as a lunch box conveyed from the serving line into the article transfer device 100 is provided. 1 and a belt conveyor 11 as the conveying unit 1 in FIG. 2 are connected. Sensors S for detecting the articles M are provided on both sides of the belt conveyor 11 at a predetermined distance from the entrance 10. This sensor S is comprised by the light projector and light receiver which are arrange | positioned facing both sides of the belt conveyor 11, for example. In the sensor S, when the light irradiated from the projector is blocked by the article M, the light receiver detects it. The article detection signal of the sensor S is input to the control unit 5 described later. The control unit 5 operates the robot 3 based on the signal.

A first work area E1 is provided on the left side toward the belt conveyor 11, and a second work area E2 is provided on the right side. Each work area E1, E2 is an area in which the article M conveyed by the belt conveyor 11 is stored in the container C of each work area E1, E2 by the robot 3. Therefore, as shown in FIGS. 5 to 7, a support base 32 is installed in a state of straddling the belt conveyor 11 at an intermediate position between the work areas E1 and E2. The robot 3 is attached on the support base 32.

The robot 3 is a horizontal articulated robot having a four-axis configuration as shown in FIGS. The robot 3 moves up and down at the first arm 33 that rotates in the horizontal plane, the second arm 34 that also rotates in the horizontal plane at the rotation end of the first arm 33, and the rotation end of the second arm 34. A third arm 35 that rotates, a servo motor (not shown) that rotates the third arm 35 about a vertical axis, and a suction portion 36 that is attached to the lower end of the third arm 35 and rotates in a horizontal plane by the servo motor. ing. The robot 3 is designed such that when the first arm 33 and the second arm 34 extend in a straight line, the suction portion 36 reaches from the first work area E1 to every corner of the second work area E2. The third arm 35 that lifts and lowers the suction portion 36 lifts the article M from the belt conveyor 11 by a servo motor, lowers the article M in the container C, and starts to rise when the bottom of the article M reaches the container C. Is programmed to do so.

The suction part 36 corresponds to the gripping part 30 in FIG. 2, and in this embodiment, twelve suction disks 37 for sucking the article M are arranged. The suction disk 37 is composed of a bellows type suction pad for sucking and holding the article M. The suction part 36 sucks and holds one article M as a set of four adjacent suction disks 37. Accordingly, the three articles M are sucked and held side by side in the suction portion 36. Further, the four suction plates 37 for sucking and holding one article M are connected to the vacuum chamber via one electromagnetic valve. The four suction disks 37 are switched to a negative pressure when lifting the article M, and are opened to the atmosphere when opening the article M.

The articles M are fed into the belt conveyor 11 one by one from the upstream arrangement line at a substantially constant interval. The robot 3 lifts the article M with the four suction plates 37 at the end. When the next article M arrives, the robot 3 lifts it with the four suction plates 37 in the middle. It is programmed to lift it on board 37. Therefore, for example, as shown in FIGS. 5 to 7, when the articles M are stored in the container C in three rows and four rows, the robot 3 sucks and holds three articles M each time the container C is sucked and held. Then, the negative pressure of the suction plate 37 is released to the atmosphere, and the article M is stored in the container C. This operation is repeated four times to store 12 articles M in one container C.

Between the third arm 35 and the suction part 36, a mass measuring device 31 for determining the weight of the lifted article M from the force and acceleration acting on the moving suction part 36 is attached. Based on the output of the mass measuring device 31, the robot 3 determines whether the lifted article M is excessive or insufficient, and if there is an excess or shortage, returns it to the belt conveyor 11 as a defective product. When it is determined from the output of the mass measuring device 31 that the article M could not be lifted, the robot 3 assumes that the container M of the article M is not completely covered with the lid, and the robot 3 belts the article M that has failed to grasp. After returning to the conveyor 11, it is programmed to lift the next article M to be sent. Note that the article M returned to the belt conveyor 11 dives under the support base 32 and is conveyed to a downstream stock area (not shown) where it is collected.

Further, as shown in FIG. 4, on the back side of the article transfer device 100, a stocking area 2 a in which the stacked empty containers C are placed and a container Cm in which the articles M are stored are stacked. A stacking area 4a is provided. In the stacking area 2a, there is provided a stacking device 6 for taking out the stacked empty containers C one box at a time from the lowest stage, and in the stacking area 4a, containers Cm in which articles M are stored are stacked. A stacking device 7 is provided to be inserted into the lowermost stage of the container Cm. Therefore, the worker first places empty containers stacked in the spreading area 2a, and replenishes new empty containers before the empty containers disappear. Note that the spread area 2a is provided with a container sensor 50 of FIG. 10 that detects that an empty container C has been supplied thereto. The spreading device 6 operates on the condition that the container sensor 50 detects the container C. 5 to 7 is connected to a lift 9 for lowering the container Cm stacked at a higher position to a cart level (not shown).

The leveling device 6 includes a pair of parallel roller conveyors (conveyors) 20 that move up and down, and a pair of retainers 61 that hold the second container C of the stacked container C lifted upward from both sides, And a pusher 24 for pushing out the lowest container C. And when taking out the lowest container C, the spreading device 6 raises the roller conveyor 20 and lifts the stacked container C placed there to a predetermined position. Subsequently, the leveling device 6 lowers the roller conveyor 20 in a state where the holder 61 holds the second-stage container C. Then, in a state where the second and higher stacked containers C are held by the holder 61, only the lowest container C remains on the roller conveyor 20 and descends. When the roller conveyor 20 descends to the lower limit position, the leveling device 6 operates the pusher 24 to push out the lowermost container C placed on the roller conveyor 20 from the leveling device 6. By repeating these operations, the stacked empty containers C are taken out one box at a time from the lowermost stage.

Also, the spreading device 6 incorporates a rotating plate 62 that changes the direction of the empty container C by 180 degrees. When the containers C for storing articles are stacked in the same direction, they can be densely stacked like the empty container C of FIG. 4, and when the directions are alternately changed, the containers C are stored inside like the container Cm of FIG. Can be stacked, leaving a space that can be stored. Therefore, the spreading device 6 is provided with a sensor (not shown) that detects the direction of the container C on the roller conveyor 20. When it is necessary to change the direction of the container C from the detection signal of the sensor, the rotating plate 62 lifts the container C and rotates it 180 degrees, and then lowers it onto the roller conveyor 20. By repeating this operation every other time, the orientations of the containers C before and after are alternately changed. Therefore, when the containers C whose directions are alternately changed are discharged to the stacking device 7 in this state, as shown in FIG. 4, the containers C are stacked leaving a space in which the articles M can be stored. The

The stacking device 7 basically has the same structure as the stacking device 6, and the containers C can be stacked one by one by changing its operation control. For example, when the container Cm is carried into the last stage roller conveyor 20 of the stacking apparatus 7, the roller conveyor 20 lifts the container Cm to a predetermined position. The raised container Cm is held by a pair of similar holders on the left and right. With the container Cm held, the roller conveyor 20 descends and waits for a newly fed container Cm. When the next container Cm is fed into the roller conveyor 20, the roller conveyor 20 rises again and lifts the container Cm. At that time, the roller conveyor 20 stops at the timing when the upper surface of the lifted container Cm reaches the bottom surface of the container Cm held by the cage. Subsequently, the upper container Cm overlaps the lower container Cm when the retainer retreats from the holding position. Subsequently, the roller conveyor 20 moves up again and stops at a predetermined holding position where the cage is located. Then, the retracted cage pops out and holds all the stacked containers Cm. The stacking device 7 repeats these operations, and inserts and stacks new containers Cm under the stacked containers Cm. Therefore, since the bottom surface of the bottom layer of the stacked containers Cm is one step higher, the above-described lift 9 is prepared to lower this to the carriage level.

5 to 7, the first work area E1 is provided with an opening H for supplying the empty container C from below. In the article transfer device 100, a first path R1 for supplying the article M to the opening H from below is formed. The first path R1 includes a first support base 25a that receives an empty container C sent from the separation device 6 on the back side of the apparatus, and a container C placed on the first support base 25a to the first work area E1. It is comprised with the 1st lift (lift) 22 to raise. The empty container C is supplied to the first support base 25 a by pushing out the empty container C placed on the roller conveyor 20 with the pusher 24 by the leveling device 6. Therefore, when the pusher 24 moves to the stroke end, the empty container C is pushed out to a predetermined position of the first support base 25a. In this state, the pusher 24 moves backward to stop the empty container C at a predetermined position on the first support base 25a.

The first support base 25a is formed by arranging a plurality of portal frames extending in the direction of the second path R2 of the container C in a direction orthogonal to the second path R2. A first pusher 24a that moves in a direction perpendicular to the first path R1 and an actuator 24C that reciprocates the second pusher 25b in front of the second support base 25b are located in the central gap between the portal frames. Has been placed. Further, a pair of cantilever brackets 22B of the first lift 22 shown in FIG. 8 is housed in a gap formed by the portal frames on both sides so as to be able to protrude and retract in the vertical direction. When the first pusher 24a moves to the stroke end, the empty container C on the first support base 25a stops at a predetermined position on the second support base 25b. Further, the actuator 24C for driving the first pusher 24a has the same configuration as the actuator 24C for driving the pusher 24 of the spreading device 6, and therefore, the same reference numerals are given here.

As shown in FIG. 8 showing a state viewed from below, the first lift 22 includes a pair of cantilever brackets 22B that support the bottom surface of the container C, an actuator 22C that raises and lowers the brackets 22B, and a cantilever bracket 22B. And a linear guide 22D that guides in a vertical direction while maintaining a constant posture. The cantilever bracket 22B is buried between the portal frames of the first support base 25a in the initial position. The cantilever bracket 22B lifts the empty container C placed on the first support base 25a while supporting the empty container C from below when the actuator 22C is actuated and lifted. Thus, after lifting the empty container C to the first work area E1, the cantilever bracket 22B waits for the articles M to be stored therein and descends when the container C is full. Therefore, since the lower part is opened while the container C is lifted to the first work area E1, the subsequent empty container C pushed out from the leveling device 6 passes through the first support base 25a. It can move to the lower part of the next second work area E2.

5 and 6, the pusher 24 of the spreading device 6 linearly reciprocates to the front of the first support base 25a while pushing the lower part of the side surface of the container C by driving the actuator 24C. The actuator 24 </ b> C is configured by a rodless air cylinder having the same structure as the actuator 22 </ b> C of the first lift 22. Further, for example, a ball screw mechanism or a linear motor may be used as the actuator 24C instead of the rodless air cylinder.

When discharging the container Cm filled in the first work area E1, the first lift 22 lowers the container Cm to the first support base 25a. Then, the container Cm passes through the lower side of the belt conveyor 11 and the lower side of the second work area E2, and is discharged via a second path R2 having an L shape in plan view that reaches the stacking device 7 on the rear surface of the apparatus.

As shown in FIG. 5 to FIG. 7 and FIG. 9, the second path R2 is configured such that the first support base 25a disposed below the first work area E1 and the container C lowered there are conveyed to the belt conveyor 11. The first pusher 24a that pushes down to the second support base 25b, the roller conveyor 20 that is disposed below the belt conveyor 11 and supports the container C pushed out there, and is provided below the second work area E2. And a second pusher 24b for pushing out the container C placed on the second support base 25b to the stacking device 7 on the back side of the apparatus.

The roller conveyors 20 of the first support platform 25a and the second support platform 25b, the first pusher 24a and the second pusher 24b, the stacking device 6 and the stacking device 7 used here have the same configuration. In addition, the conveying surfaces of the roller conveyor 20 from the roller conveyor 20 to the first roller carrier (conveyor) 21 to the second roller carrier 25 to the subsequent roller conveyor 20 of the stacking apparatus 7 are set to the same level. Thereby, the container C is smoothly conveyed from 1st path | route R1 to 2nd path | route R2.

The supply of the empty container C to the second work area E2 is performed using a part of the first route R1 and the second route R2 described above. That is, the empty container C pushed out from the leveling device 6 is fed onto the first support base 25a of the first path R1 and then passed through the first pusher 24a of the second path R2 and the roller conveyor 21. It is sent to the support base 25b. Subsequently, the second lift (lift) 23 raises the empty container C placed on the second support base 25b and supplies the empty container C to the second work area E2. The second lift 23 used here has the same configuration as the first lift 22. Similar to the first lift 22, the second lift 23 includes a cantilever bracket 23B, an actuator 23C, and a linear guide 23D.

Further, the container Cm filled in the second work area E2 is lowered to the second support base 25b by the second lift 23, and then pushed out to the roller conveyor 20 of the stacking device 7 by the second pusher 24b. In the stacking device 7, as described above, the container Cm in which the articles M are stored is inserted into the lower stage of the stacked container Cm.

The stacking device 7 is provided with an extrusion panel 70 that pushes the stacked containers Cm toward the lift 9 downstream. The push-out panel 70 is connected to the rodless air cylinder 71 and moves in the horizontal direction, and is supported by three linear guides 72 in the upper, lower, left, and right directions and can move in parallel. Even if a plurality of containers Cm in which the articles M are stored are stacked by the extrusion panel 70, the containers Cm are smoothly pushed out onto the lift 9.

In addition, when the stacked containers Cm are placed on the lift 9, the stacked containers 90 are moved by moving the extrusion panel 70 after raising the mounting table 90 of the lift 9 to the discharge level of the stacked containers Cm. Cm is pushed out to the mounting table 90 of the lift 9. In addition, the upper end of the back panel 91 of the mounting table 90 becomes the above-mentioned discharge level. Accordingly, air cylinders 92 that raise and lower the mounting table 90 to the discharge level are provided on both sides of the mounting table 90.

FIG. 10 shows a configuration block diagram of a control system of the article transfer device 100. In this figure, the control unit 5 controls the article transfer device 100 and is constituted by a computer. The control unit 5 includes the robot 3, the belt conveyor 11, the sensor S for detecting the article M on the belt conveyor 11, the stacking device 6, the stacking device 7, the container sensor 50, the first lift 22, the second The lift 23, the first pusher 24a, and the second pusher 24b are electrically connected to each other, and each operation described later is executed by reading and executing the built-in program.

Next, each operation of the article transfer device 100 controlled by the control unit 5 will be described. First, as an initial setting, the robot 3 stores an article stuffing procedure determined based on the container size and the article size. Moreover, the conveyance speed of the belt conveyor 11 is set according to the operation speed of the upstream arrangement line. In this state, the worker first accumulates a plurality of stacked empty containers C in the separation area 2a.

In this state, when the operation start key of the operation unit 51 in FIG. 1 is operated and the operation is started, the control unit 5 first checks the container sensor 50, and sets the empty container C in the spreading area 2a. Check whether it is done. If the empty container C is set, the control unit 5 outputs an operation command to the spreading device 6. Upon receiving the operation command, the leveling device 6 raises the roller conveyor 20 to lift the stacked empty containers C to a predetermined position, and then the retainer 61 operates to move the second and higher level stacked containers C. Hold. Subsequently, when the roller conveyor 20 descends and stops at the lower limit position, the control unit 5 checks the direction of the empty container C taken out from the leveling device 6. The direction is checked by the detection output of a sensor (not shown).

If the direction of the empty container C is reversed, the control unit 5 raises the rotating plate 62, rotates it 180 degrees, and returns it to the original position. Thereby, the direction of the lifted empty container C is opposite. When the direction of the empty container C is adjusted in this way, the control unit 5 operates the pusher 24 to push out the empty container C of the roller conveyor 20 toward the first support base 25a.

A sensor is incorporated at the stroke end of the pusher 24. When a signal indicating that the pusher 24 has reached the stroke end is output from the sensor to the control unit 5, since the empty container C has reached the first support base 25 a, the control unit 5 performs the first lift 22. An operation command is output to. Then, when the actuator 22C of the first lift 22 is operated, the cantilever bracket 22B is raised to the stroke end. Thereby, the empty container C on the first support base 25a is supplied to the first work area E1 and stands by there.

A sensor is incorporated in the actuator 22C of the first lift 22 as described above. When the first lift 22 rises to the stroke end and the sensor outputs an arrival signal, the control unit 5 operates the belt conveyor 11 and outputs the next operation command to the leveling device 6. Then, the spreading device 6 repeats the same operation as described above, and pushes the second-stage empty container C toward the first support base 25a.

In the meantime, when the article M reaches the work area by the belt conveyor 11 and the above-described sensor S detects it, the control unit 5 informs that the empty container C is set in the first work area E1. And an operation start command are output to the robot 3. Then, the robot 3 starts its operation, and first sucks and lifts the article M with the four suction plates 37 at the end, and waits for the next operation command while holding it at a predetermined height.

On the other hand, when the second empty container C is sent to the first support base 25a, an arrival signal is output from the pusher 24 to the control unit 5. The control part 5 operates the 1st pusher 24a based on it. Then, the empty container C on the 1st support stand 25a is sent out toward the 2nd support stand 25b.

When the first pusher 24a moves to the stroke end and the arrival signal is input to the control unit 5, the control unit 5 next operates the second lift 23. At this time, since the second empty container C is fed onto the second support base 25b, the second lift 23 raises it to the second work area E2 and stops. Thus, the second empty container C is set in the second work area E2.

In the meantime, when the subsequent article M is conveyed by the belt conveyor 11, the control unit 5 outputs an operation command to the robot 3 using the detection signal of the sensor S as a trigger. Then, the robot 3 lifts the next article M with the next four suction disks 37 while sucking it. As a result, the robot 3 holds the two articles M.

Subsequently, when the subsequent article M is detected by the sensor S, the robot 3 lifts it while adsorbing it with the remaining four adsorbing boards 37 as described above. The robot 3 counts the number of times the article M is lifted, and when the count value reaches 3, the robot 3 moves the lifted three articles M to a predetermined position of the empty container C in the first work area E1 and descends. At that time, the suction disk 37 is opened to the atmosphere. Subsequently, the robot 3 clears the count value, returns to the initial position, and waits for the next article M to arrive.

Thus, every time the article M is detected by the sensor S, the robot 3 lifts it and waits, and when three articles M are gathered, they are stored in the container C. Thus, when the container C is full of the articles M, the robot 3 confirms that the empty container C is set in the second work area E2, and then sends the next article M to be sent to the second work area. Store in container C of E2.

When the container C in the first work area E1 is full, the robot 3 outputs it to the control unit 5. Then, the control unit 5 operates the first lift 22 to lower the container Cm filled in the first work area E1 to the first support base 25a, and then operates the first pusher 24a to operate the first lifter 24a. The container Cm lowered onto the support base 25a is sent out toward the second support base 25b.

When the actuated first pusher 24a reaches the stroke end and the arrival signal is output to the control unit 5, the control unit 5 operates the second pusher 24b to move the container Cm on the second support base 25b. It sends out to the roller conveyor 20 of the stacking apparatus 7. When the full container Cm is sent out to the roller conveyor 20 in this way, the stacking device 7 raises the roller conveyor 20 to a predetermined position and then operates a pair of retainers (not shown). Thereby, the filled container Cm is held at a predetermined position of the stacking device 7. Subsequently, the roller conveyor 20 descends to the initial position and waits for the next full container Cm.

On the other hand, when the full container Cm is lowered from the first work area E1, an arrival signal is output from the lowered actuator 22C, so that the control unit 5 operates the spreading device 6 using it as a trigger. Then, the spreading device 6 repeats the above-described operation to push the next empty container C onto the first support base 25a. When it is pushed out, the pusher 24 of the spreading device 6 is activated, and an arrival signal is output from the actuator 24C. Then, the control part 5 operates the 1st lift 22, and supplies the empty container C on the 1st support stand 25a to the 1st work area E1.

While doing so, the robot 3 lifts the articles M that are sent one after another while sucking them with the suction board 37, and when the three articles M that have been lifted are gathered, they are emptied in the empty container C in the second work area E2. Store in.

Then, when the container Cm in the second work area E2 becomes full, the robot 3 notifies the control unit 5 of it. The control part 5 operates the 2nd lift 23 based on it. Then, the container Cm held in the second work area E2 is lowered onto the second support base 25b, and then the second pusher 24b is operated, and from there to the roller conveyor 20 of the stacking device 7 Pushed out.

In this way, the replacement work of the empty container C and the full container Cm is alternately repeated in the first work area E1 and the second work area E2. In the meantime, even if the articles M are sent to the work area without interruption, the robot 3 can store the articles M conveyed one after another in the container C while switching the work areas E1 (E2).

As mentioned above, although embodiment was described, it is not limited to this, Other aspects are employable. For example, in this embodiment, a horizontal articulated robot having a four-axis configuration is used, but instead, for example, a parallel link robot may be used. Moreover, although this embodiment mainly demonstrated the case where a lunch box etc. were accommodated in a container in a pack center, for example, it is applicable also when sorting a lunch box etc. into the container according to a store in a distribution center. In that case, some articles may be stored in the container supplied to the supply unit. In addition, when the container is molded in a cardboard case, a box making machine for assembling the folded cardboard into a box shape is installed instead of the spreader 6.

Even if packed lunches are transported from the upstream, they can be processed efficiently, and if the container is full, it can be immediately sent for delivery without being on the line. It is possible to provide a compact article transfer device that can be introduced even in existing lines.

DESCRIPTION OF SYMBOLS 100 ... Article transfer apparatus, 1 ... Conveyance part, 2 ... Supply part, 3 ... Robot, 4 ... Discharge part, 5 ... Control part, 6 ... Stacking apparatus, 7 ... Stacking apparatus, 31 ... Mass measuring apparatus, M ... goods, C ... container, E ... work area, E1 ... first work area, E2 ... second work area, R1 ... first route, R2 ... second route.

Claims

A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot for storing the article sent to the work area in the container supplied to the work area;
A discharge unit for discharging the container in which the article is stored by the robot from the work area;
A control unit for controlling the supply unit and the discharge unit,
The work area is divided into a first work area and a second work area,
The control unit controls the discharge unit while the robot stores the article in the container in one of the first work area and the second work area, and controls the other An article transfer device that discharges the container in which the article is stored from a work area and controls the supply unit to supply the new container to the other work area.
A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot for storing the article sent to the work area in the container supplied to the work area;
A discharge unit that discharges the container in which the article is stored by the robot from the work area;
The work area is divided into a first work area and a second work area across the transport unit,
The supply unit has a first path for supplying the container to the first work area, and a second path for supplying the container to the second work area,
The article transfer apparatus, wherein the second route and the first route share a part of the route.
The supply unit includes a first path for supplying the container to the first work area, and a second path for supplying the container to the second work area.
The article transfer apparatus according to claim 1, wherein the second route and the first route share a part of the route.
The first route is a route for supplying the container to the first work area from below,
4. The article transfer according to claim 2, wherein the second path is a path that passes under the first work area and the transport unit and supplies the container to the second work area from below. apparatus.
The discharge unit that discharges the container storing the article from the first work area is shared with the second route from an adjacent position of the first work area to an adjacent position of the second work area. The article transfer device according to any one of claims 2 to 4.
The transport unit is disposed between the first work area and the second work area,
The article transfer device according to any one of claims 1 to 5, wherein the robot is disposed above the transport unit.
The supply unit is connected to a destacking device for taking out the containers one by one from the stacked containers.
The article transfer device according to any one of claims 1 to 6, wherein a stacking device that stacks the containers in which the articles are stored one by one is connected to the discharge unit.
The robot includes a mass measuring device that detects the mass of the article while lifting the article. If the output of the mass measuring apparatus is abnormal, the robot lifts or fails to lift the article as a defective product. The article transfer apparatus according to claim 1, wherein the article transfer apparatus is returned to the section.