WO2018101042A1 - Dispositif de transfert d'articles - Google Patents

Dispositif de transfert d'articles Download PDF

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Publication number
WO2018101042A1
WO2018101042A1 PCT/JP2017/041112 JP2017041112W WO2018101042A1 WO 2018101042 A1 WO2018101042 A1 WO 2018101042A1 JP 2017041112 W JP2017041112 W JP 2017041112W WO 2018101042 A1 WO2018101042 A1 WO 2018101042A1
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WO
WIPO (PCT)
Prior art keywords
work area
container
article
robot
unit
Prior art date
Application number
PCT/JP2017/041112
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English (en)
Japanese (ja)
Inventor
亮民 鈴木
Original Assignee
株式会社イシダ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社イシダ filed Critical 株式会社イシダ
Publication of WO2018101042A1 publication Critical patent/WO2018101042A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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 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 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.
  • the article transfer device can quickly process an article even if it is conveyed in large quantities.
  • 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.
  • 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.
  • FIG. 1 is a layout diagram for explaining a configuration of an article transfer apparatus according to an embodiment.
  • 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.
  • a control unit 5 for performing the above operation.
  • a line indicated by a solid line and an arrow indicates a path through which the container C is supplied
  • 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
  • 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.
  • the control unit 5 instructs the supply unit 2 to supply a new container C to the work area E2 (or E1).
  • 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.
  • a serving line such as a lunch box is connected to the upstream side of the transport unit 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.
  • the work areas E1 and E2 may be arranged side by side, and the conveyance unit 1 may be arranged next to them.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first route R1 is further a route for supplying the container C to the first work area E1 from below
  • 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.
  • 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.
  • route R1 is comprised by the conveyor 20 which makes the container C penetrate
  • 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.
  • the control unit 5 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • route R1 is drawn so that it may be carried in in the supply part 2, this is an 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the robot 3 continues to store the article M in the container C in the second work area E2 on the opposite side.
  • 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.
  • 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.
  • the full container Cm can pass under the second work area E2.
  • 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.
  • FIG. 3 is an external perspective view of the article transfer apparatus 100 as viewed from the front side
  • FIG. 4 is an external perspective view of the article transfer device 100 as viewed from the back side.
  • an inlet 10 for carrying an article M such as a lunch box conveyed from the serving line into the article transfer device 100
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the spread area 2a is provided with a container sensor 50 of FIG.
  • 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.
  • the leveling device 6 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.
  • the spreading device 6 incorporates a rotating plate 62 that changes the direction of the empty container C by 180 degrees.
  • 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.
  • the rotating plate 62 lifts the container C and rotates it 180 degrees, and then lowers it onto the roller conveyor 20.
  • 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.
  • 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.
  • the roller conveyor 20 descends and waits for a newly fed container Cm.
  • the roller conveyor 20 rises again and lifts the container Cm.
  • 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.
  • 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.
  • the first work area E1 is provided with an opening H for supplying the empty container C from below.
  • 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.
  • 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.
  • 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.
  • the empty container C on the first support base 25a stops at a predetermined position on the second support base 25b.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first lift 22 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the control unit 5 performs the first lift 22.
  • An operation command is output to.
  • the actuator 22C of the first lift 22 is operated, the cantilever bracket 22B is raised to the stroke end.
  • 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.
  • the control unit 5 operates the belt conveyor 11 and outputs the next operation command to the leveling device 6.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the robot 3 lifts it and waits, and when three articles M are gathered, they are stored in the container C.
  • 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.
  • the robot 3 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.
  • the control unit 5 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.
  • 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.
  • 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.
  • the robot 3 notifies the control unit 5 of it.
  • the control part 5 operates the 2nd lift 23 based on it.
  • 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.
  • the robot 3 can store the articles M conveyed one after another in the container C while switching the work areas E1 (E2).
  • a horizontal articulated robot having a four-axis configuration is used, but instead, for example, a parallel link robot may be used.
  • 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.
  • a box making machine for assembling the folded cardboard into a box shape is installed instead of the spreader 6.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

La présente invention comprend : une unité de transport qui envoie des articles à une zone de travail ; une unité d'alimentation qui amène un réceptacle à la zone de travail ; un robot qui stocke les articles envoyés à la zone de travail dans le réceptacle amené à la zone de travail ; une unité de retrait qui enlève de la zone de travail le réceptacle dans lequel les articles ont été stockés ; et une unité de commande qui commande l'unité d'alimentation et l'unité de retrait. La zone de travail est divisée en une première zone de travail et une seconde zone de travail avec l'unité de transport entre elles. Pendant que le robot stocke les articles dans le réceptacle dans l'une des zones de travail, l'unité de commande commande l'unité de retrait de façon à enlever de l'autre zone de travail le réceptacle dans lequel les articles ont été stockés et commande l'unité d'alimentation de façon à amener un nouveau réceptacle à l'autre zone de travail.
PCT/JP2017/041112 2016-11-30 2017-11-15 Dispositif de transfert d'articles WO2018101042A1 (fr)

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JP2016231958A JP6845559B2 (ja) 2016-11-30 2016-11-30 物品移載装置
JP2016-231958 2016-11-30

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WO2018101042A1 true WO2018101042A1 (fr) 2018-06-07

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CN113619974A (zh) * 2021-08-11 2021-11-09 北京施德尔汽车部件有限公司 一种用于轮胎分类码垛的智能装置
TWI829763B (zh) * 2018-10-31 2024-01-21 日商大福股份有限公司 物品移載設備

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JP7076124B2 (ja) * 2017-06-20 2022-05-27 株式会社イシダ 物品移載装置
KR101984467B1 (ko) * 2017-08-01 2019-09-03 주식회사 엘파워 포장용 로봇시스템
JP6921411B2 (ja) 2017-11-07 2021-08-18 株式会社イシダ 物品供給装置及び組合せ計量装置
CN107902426A (zh) * 2017-11-28 2018-04-13 醴陵市绿源商贸有限公司 一种物料智能配送箱叠码装配装置及叠码装配方法
JP6591639B1 (ja) * 2018-09-14 2019-10-16 株式会社東芝 荷降し装置、荷降し制御装置及び荷降し制御プログラム
JP7341727B2 (ja) * 2019-05-28 2023-09-11 株式会社メイキコウ 物品の積み込み装置
DK180355B1 (en) 2019-09-06 2021-02-01 Marel Iceland Ehf A method and a system for filling containers with food items
JP7491543B2 (ja) 2019-09-26 2024-05-28 株式会社イシダ 計量装置
JP7409078B2 (ja) * 2019-12-27 2024-01-09 富士電機株式会社 搬送装置
CN111645925A (zh) * 2020-06-15 2020-09-11 嘉善融汇金属制品有限公司 一种板状件包装装置
CN111908106B (zh) * 2020-08-20 2021-06-25 广西鸿凌塑料有限公司 一种可降解透明塑料餐盒制备码垛机械及码垛方法

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TWI829763B (zh) * 2018-10-31 2024-01-21 日商大福股份有限公司 物品移載設備
CN113619974A (zh) * 2021-08-11 2021-11-09 北京施德尔汽车部件有限公司 一种用于轮胎分类码垛的智能装置

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