WO2021261263A1 - Dispositif de transfert - Google Patents

Dispositif de transfert Download PDF

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Publication number
WO2021261263A1
WO2021261263A1 PCT/JP2021/022040 JP2021022040W WO2021261263A1 WO 2021261263 A1 WO2021261263 A1 WO 2021261263A1 JP 2021022040 W JP2021022040 W JP 2021022040W WO 2021261263 A1 WO2021261263 A1 WO 2021261263A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport
shuttle
delivery
rail
transfer
Prior art date
Application number
PCT/JP2021/022040
Other languages
English (en)
Japanese (ja)
Inventor
浩朗 田中
祥之 岡崎
Original Assignee
株式会社京都製作所
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 株式会社京都製作所 filed Critical 株式会社京都製作所
Publication of WO2021261263A1 publication Critical patent/WO2021261263A1/fr

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Classifications

    • 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
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • B65B11/004—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material in blanks, e.g. sheets precut and creased for folding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/126—Feeding carton blanks in flat or collapsed state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/001—Arrangements to enable adjustments related to the product to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • B65B61/205—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for adding drinking straws to a container
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • B65B65/006—Multiple parallel packaging lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/02—Driving gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/20—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B2210/00—Specific aspects of the packaging machine
    • B65B2210/02—Plurality of alternative input or output lines or plurality of alternative packaging units on the same packaging line for improving machine flexibility
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B53/00—Shrinking wrappers, containers, or container covers during or after packaging
    • 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
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices

Definitions

  • Japanese Patent Application Laid-Open No. 2015-525176 discloses a linear transport device using a linear motor as a device for transporting articles.
  • This linear transfer device includes a stator of a linear motor in which an electromagnet is arranged, and a transfer member provided with a permanent magnet.
  • a linear motor system is formed by an electromagnet and a permanent magnet.
  • the transport member has a holder or a corresponding holder, and the product is transported by sandwiching the product between the holders arranged in the transport direction and the corresponding holder and moving the transport member.
  • an object of the present invention is to provide a transfer device for quickly and surely transferring a carried-in object to a different transport means.
  • the storage circuit 602 is a circuit that includes or is connected to a semiconductor memory such as a ROM or RAM, a portable memory such as a flash memory, and a storage medium such as a hard disk.
  • Various programs such as a control program or a processing program may be stored in the storage circuit 602, the program corresponding to the processing may be called as necessary, and the program may be operated by the processing circuit 601 to perform the processing. ..
  • the elements connected to the control unit 600 and their controls will be described when each element is described.
  • FIG. 3 is a plan view of a state in which the first transport shuttle 31 and the second transport shuttle 32 holding the transported object Pc are moving along the linear transport rail 20s.
  • FIG. 4 is a view of the first transport shuttle 31 and the second transport shuttle 32 shown in FIG. 3 as viewed from the outside.
  • FIG. 5 is a view seen from the rear side of the transport direction Tr of the first transport shuttle 31 and the second transport shuttle 32.
  • the surface of the nip roller 12 is made of a material that has high friction with the surface of the object to be transported Pc. for that reason.
  • the control unit 600 can send the objects to be conveyed Pc conveyed by the carry-in conveyor 11 one by one toward the transfer conveyor unit 111 at a predetermined timing. be.
  • the first transport shuttle 31 and the second transport shuttle 32 that have moved along the second curved portion 204 move behind the transport direction Tr of the first straight line portion 201.
  • the second curved section 204 can be a standby area in which the first transport shuttle 31 and the second transport shuttle 32 stand by before the next transfer operation of the transported object Pc is performed.
  • the first transport shuttle 31 and the second transport shuttle 32 may be stopped or may be moving at a lower speed than during transport.
  • Two upper rollers 33 are arranged on the main body 30.
  • the two upper rollers 33 are rotatably supported by the upper roller support portion 302 of the main body portion 30. More specifically, the upper roller 33 is orthogonal to the transport direction Tr and is rotatably arranged around a rotation axis parallel to the outer surface of the transport rail 20.
  • the two upper rollers 33 are separated from each other in the transport direction Tr and are arranged at different positions in the vertical direction.
  • the upper roller 33 (see FIG. 4) on the front side of the transport direction Tr is arranged so as to be on the lower side.
  • the second transport support portion 37 is arranged below the second transport engaging portion 38.
  • the second transport support portion 37 has a support portion mounting portion 370 and a support plate portion 371.
  • the support portion mounting portion 370 has the same configuration as the support portion mounting portion 350.
  • the support plate portion 371 has the same configuration as the support plate portion 351.
  • the upper surface of the support plate portion 371 is a horizontal plane.
  • the claw portion 382 extends from the outer end of the arm body 381 to the front of the transport direction Tr.
  • the pressing portion 383 extends forward from the end portion of the arm body 381 on the side close to the transport rail 20 in the transport direction Tr.
  • the end portion of the presser portion 383 in front of the transport direction Tr is located in front of the end portion of the claw portion 382 in front of the transport direction Tr.
  • the contact surface 384 is a surface in front of the transport direction Tr of the portion between the claw portion 382 and the pressing portion 383 of the arm main body 381.
  • the contact surface 384 faces the front of the transport direction Tr as it goes outward.
  • the corner portion Pc1 on the transport rail 20 side at the front end of the transport direction Tr on the bottom surface of the transported object Pc is the support plate portion 351. It is supported by the corner portion 352 behind the transport direction Tr at the outer end of the. Further, the corner portion Pc2 on the transport rail 20 side at the rear end of the transport direction Tr on the bottom surface of the object to be transported Pc is supported by the front corner portion 372 of the transport direction Tr at the outer end of the support plate portion 371.
  • the claw portion 362 and the claw portion 382 are configured to engage with a part of the surface of the object to be transported Pc on the opposite side to the transport rail 20t, the claw portion 362 is generated when the claw portion 362 moves along the curved transport rail 20t. Centrifugal force can be received by the claw portion 362 and the claw portion 382. As a result, even when the first transport shuttle 31 and the second transport shuttle 32 move along the curved transport rail 20t, it is possible to prevent the transported object Pc from popping out or falling.
  • the pusher 13 moves along the circular orbit Cr1.
  • the angles of the pusher 13 with respect to the transport direction Tr of the first push portion 131 and the second push portion 132 are constant regardless of the positions on the circular orbit Cr1.
  • the surface of the transported object Pc transported on the transfer conveyor unit 111 on the opposite side to the transport rail 20s is brought into contact with the first push portion 131 of the pusher 13, and the rear side of the transport direction Tr.
  • the surface of the pusher 13 is brought into contact with the second push portion 132 of the pusher 13.
  • the linear driver 243 of the transfer linear motor mechanism 24 is driven synchronously by the control unit 600.
  • the upper surface of the corner portion 352 of the support plate portion 351 of the first transport support portion 35 is flush with the upper surface of the carry-in conveyor 11. It is arranged so as to be. With this configuration, the corner portion Pc1 of the object to be transported Pc pushed by the pusher 13 smoothly moves from the upper surface of the carry-in conveyor 11 to the upper surface of the corner portion 352 behind the transport direction Tr at the outer end of the support plate portion 351. You can move to.
  • the first transport shuttle 31 and the second transport shuttle 32 holding the transported object Pc move the first straight line portion 201 of the transport loop portion 2 along the transport rail 20s.
  • the pusher 13 moves along the circular orbit Cr1. Therefore, as the first transfer shuttle 31 and the second transfer shuttle 32 move, the pusher 13 moves in a direction away from the transfer rail 20s, that is, the object to be transported Pc.
  • the control unit 600 makes the moving speed of the first transport shuttle 31 and the second transport shuttle 32 holding the transported object Pc faster than the moving speed of the transport direction Tr of the pusher 13. As a result, it is possible to prevent the transported object Pc held by the first transport shuttle 31 and the second transport shuttle 32 from being pushed by the pusher 13 more than necessary. Therefore, it is possible to suppress defects such as deformation and breakage of the transported object Pc.
  • the transfer conveyor portion 111 is formed so as to extend halfway through the first straight line portion 201 of the transfer loop portion 2. Therefore, when the first transfer shuttle 31 and the second transfer shuttle 32 move in front of the transfer direction Tr from the end of the transfer conveyor unit 111, the bottom surface of the held object Pc is from the upper surface of the carry-in conveyor 11. Separated, they are supported by the corners 352 of the first transport support 35 and the corners 372 of the second transport support 37.
  • the object to be transported Pc held by the first transport shuttle 31 and the second transport shuttle 32 is restricted from moving in both the front and back of the transport direction Tr and in both directions orthogonal to the transport direction Tr. Therefore, it is possible to perform the processing on the transported object Pc, here, the straw sticking process by the straw sticking portion 26 while transporting the transported object Pc. As a result, the time required from the manufacture of the transported object Pc to the shipment can be shortened.
  • the transported object Pc is received from the first transfer shuttle 31 and the second transfer shuttle 32 that move the transfer loop unit 2 to the first transfer shuttle 51 and the second transfer shuttle 52 that move the transfer loop unit 4. Passed.
  • the delivered personal computer delivered to the first delivery shuttle 51 and the second delivery shuttle 52 moves along the delivery loop section 4 and is transported to the next processing section, here, the transfer device 400.
  • the first delivery shuttle 51 and the second delivery shuttle 52 move in the counterclockwise direction in a plan view along the delivery rail 40.
  • the first delivery shuttle 51 and the second delivery shuttle 52 include a main body 50, an upper roller 53, and a lower roller 54 having a common configuration. If the first delivery shuttle 51 and the second delivery shuttle 52 are movable along the transfer rail 20, they may be provided with a main body portion, an upper roller, and a lower roller having different configurations, respectively.
  • the front contact surface 586 is the front surface of the transport direction Tr of the portion between the front claw portion 582 and the front holding portion 584 of the arm main body 581.
  • the front contact surface 586 extends in front of the transport direction Tr as it goes outward.
  • the rear contact surface 587 is a rear surface of the transport direction Tr of the portion between the rear claw portion 583 and the rear pressing portion 585 of the arm main body 581.
  • the rear contact surface 587 extends to the rear of the transport direction Tr as it goes outward.
  • the angle of the front contact surface 586 with respect to the transport direction Tr is larger than the angle of the rear contact surface 587 with respect to the transport direction Tr. That is, the front contact surface 586 extends at an angle closer to orthogonal to the transport direction Tr than the rear contact surface 587.
  • the control unit 600 can change the relative positions of the first transfer shuttle 31 and the second transfer shuttle 32 while the control unit 600 is attached to the transfer rail 40.
  • the front claw portion 582 of the second delivery engagement portion 58 engages with a part of the rear end of the surface of the transported object Pc opposite to the delivery rail 40.
  • the front holding portion 584 engages with a part of the rear end of the surface of the transported object Pc on the delivery rail 40 side.
  • the outer end of the front contact surface 586 comes into contact with the outer end of the rear surface of the transport direction Tr of the object to be transported Pc.
  • a gap is formed on the front pressing portion 584 side of the front contact surface 586.
  • the first delivery shuttle 51 and the second delivery shuttle 52 in the first holding state St1 holding the transported object Pc can move along the curved delivery rail 40t.
  • the control unit 600 makes the distance in the direction along the delivery rail 40t of the first delivery shuttle 51 and the second delivery shuttle 52 on the curved delivery rail 40t shorter than that on the linear delivery rail 40s. Control.
  • the distance of the transport direction Tr of the distance between the outer ends of the arm body 561 and the arm body 581 is shortened, and the rear claw portion 562 and the front claw portion 582 are the delivery rails of the transported object Pc. It can engage with a part of the front end and a part of the rear end of the surface opposite to 40t. Therefore, the delivered object Pc can be firmly held by the first delivery shuttle 51 and the second delivery shuttle 52 that move along the curved delivery rail 40t.
  • the corner Pca1 on the side near the delivery rail 40 at the front end of the transport direction Tr on the bottom surface of the transported object Pca is supported by the first rear support portion 552 of the first delivery shuttle 51.
  • the corner Pcb2 on the side of the bottom surface of the object to be transported Pcb on the rear end of the transport direction Tr near the delivery rail 40 is supported by the second front support portion 572 of the second delivery shuttle 52.
  • a force is applied to the transported object Pca so that the upper portion falls behind the transport direction Tr, and a force acts on the transported object Pcb so that the upper portion falls forward in the transport direction Tr.
  • the transported object Pca and the transported object Pcb are arranged in contact with each other in the front-rear direction, the forces acting on each of them cancel each other out and are thus stably held.
  • the front claw portion 563 of the first delivery engagement portion 56 engages with a part of the rear end of the surface of the rearmost transported object Pcb opposite to the delivery rail 40.
  • the front retainer 565 engages a portion of the rear end of the rearmost surface of the transported object Pcb on the delivery rail 40 side.
  • the outer end of the front contact surface 567 comes into contact with the outer end of the rear surface of the rearmost conveyed object Pcb in the transport direction Tr.
  • a gap is formed on the front pressing portion 565 side of the front contact surface 567.
  • the transport box packing device 100 a plurality of processes are executed before the carried-in object Pc is accommodated in the storage box Bx. Due to the layout of the processing devices and the difference in the processing time of each processing device, for example, if all the processing devices are arranged on one transport path using a belt conveyor, a linear motor mechanism, etc., the restrictions on the installation space become large. Or, the time required for the work becomes long. Therefore, in the transport box packing device 100, the delivered object Pc is delivered using the delivery device 300, and the transport route is switched to improve the efficiency of the installation space and the efficiency of processing.
  • the transport path is a transport path along the transport loop portion 2 and a transport route along the delivery loop portion 4.
  • the box transfer loop portion 7 includes a box transfer rail 70, a box transfer linear motor mechanism 74 (see FIG. 35 and the like described later), and a box transfer shuttle 76.
  • the box transport loop portion 7 is formed in a loop shape by connecting both ends.
  • the box transport loop portion 7 includes a first straight portion 701 and a second straight portion 702 formed by the straight box transport rail 70s, and a first curved portion 703 formed by the curved box transport rail 70t, respectively.
  • the second curved portion 704 is included (see FIG. 33).
  • the linear box transport rail 70s and the curved box transport rail 70t have the same configuration except for the presence or absence of bending.
  • the box transport rail 70 will be described.
  • the sheet 9 constituting the storage box Bx will be described with reference to the drawings.
  • the sheet 9 has a bottom plate portion 91, a top plate portion 92, a front plate portion 93, and a rear plate portion 94.
  • the bottom plate portion 91 has a rectangular plate shape in the longitudinal direction in a direction orthogonal to the box transport direction Tb.
  • the front plate portion 93 is connected to the front side of the bottom plate portion 91, and the rear plate portion 94 is connected to the rear side.
  • lid portions 911 are connected to both sides of the bottom plate portion 91 intersecting the box transport direction Tb.
  • the length of the short side of the bottom plate portion 91 is the same as or substantially the same as the length of four article Pc arranged side by side.
  • the top plate portion 92 is connected to the side of the front plate portion 93 opposite to the side connected to the bottom plate portion 91.
  • the top plate portion 92 has the same size and shape as the bottom plate portion 91.
  • the lid portion 921 is connected to both sides of the top plate portion 92 in the direction intersecting the transport direction.
  • a fixing portion 922 is connected to a side of the top plate portion 92 opposite to the side connected to the front plate portion 93. When the sheet 9 is assembled to form the storage box Bx, the fixing portion 922 is fixed to the rear plate portion 94.
  • FIG. 34 is a front view of the articulated arm robot 80.
  • the articulated arm robot 80 includes a main body 801, an upper arm 802, a lower arm 803, a working portion 804, a first joint portion 805, a second joint portion 806, and a third. It has a joint portion 807 and.
  • the main body 801 is arranged at the upper end of the articulated arm robot 80.
  • the main body 801 is fixed to a skeleton (not shown) of the boxing device 500.
  • the first joint portion 805 is arranged on the main body 801.
  • the upper arm 802 is rotatably attached to the main body 801 via the first joint portion 805.
  • the first joint portion 805 has an actuator (not shown) including a motor and the like.
  • the upper arm 802 rotates and moves around the central axis of the first joint portion 805 by the operation of the actuator.
  • the tip of the upper arm 802 can reciprocate along the curved locus Tj1 shown in FIG. 34.
  • the working unit 804 has a configuration corresponding to work in each of the sheet supply unit 81, the first boxing unit 82, the second boxing unit 83, and the sealing unit 84.
  • a tool corresponding to each work may be attached to the work unit 804.
  • the working portion 804 is rotatably attached to the tip of the lower arm 803 via the third joint portion 807. By interlocking the first joint portion 805, the second joint portion 806, and the third joint portion 807, the working portion 804 can move while maintaining a constant posture regardless of the positions of the upper arm 802 and the lower arm 803. be.
  • the configuration of the working unit 804 in each of the sheet supply unit 81, the first boxing unit 82, the second boxing unit 83, and the boxing unit 84 will be described later.
  • FIG. 35 is a schematic view of the sheet supply unit 81 as viewed from the rear in the box transport direction Tb.
  • the seat supply unit 81 includes a seat mounting table 811 and a seat taking-out device 812.
  • the seat mounting table 811 is arranged close to the box transport loop portion 7.
  • a plurality of seats 9 are vertically stacked on the upper part of the seat mounting table 811.
  • the seat mounting table 811 is movable in the vertical direction, and is urged upward so that the uppermost seats of the plurality of seats 9 arranged at the top are arranged at a fixed position in the vertical direction. Has been done.
  • the control unit 600 moves the box transport shuttle 76 in the box transport direction Tb. As a result, the bent sheet 9 is sent to the first box packing portion 82 in a state of being supported by the box transport shuttle 76.
  • the first boxing portion 82 has a mounting base portion 821 and a pushing device 822.
  • the mounting base portion 821 is arranged outside the accommodating straight portion 406 of the delivery loop portion 4.
  • the mounting base portion 821 is arranged below the accommodating straight portion 406 in the vertical direction.
  • the mounting table portion 821 is arranged below the four article PCs arranged in the transport direction held by the first delivery shuttle 51 and the second delivery shuttle 52.
  • the control unit 600 operates the first delivery shuttle 51 and the second delivery shuttle 52, moves the four article PCs arranged in the transport direction to a position where they overlap with the mounting table portion 821, and stops them. Then, the control unit 600 moves the first delivery shuttle 51 and the second delivery shuttle 52 from the four articles Pc to the rear and the front in the transport direction. As a result, the four side-by-side articles Pc are placed on the mounting table portion 821.
  • the pushing device 822 has an articulated arm robot 80, and the pushing plate 823 is attached to the working portion 804 of the articulated arm robot 80.
  • the push-in plate 823 has a flat plate shape extending in the transport direction and up and down.
  • the push-in plate 823 extends downward from the working portion 804.
  • Each actuator of the first joint portion 805, the second joint portion 806, and the third joint portion 807 of the pushing device 822 is connected to the control unit 600 and operates according to an instruction from the control unit 600.
  • the pushing device 822 is operated so as to move the working unit 804 along the locus Tj21 or Tj22.
  • the push-in plate 823 moves the four article PCs mounted on the mounting table portion 821 toward the sheet 9.
  • the article Pc is moved outward from the outer end of the first delivery engaging portion 56 of the first delivery shuttle 51. From this, it is possible to move the first delivery shuttle 51.
  • the pushing device 822 along the locus Tj21, the article Pc already mounted on the mounting table portion 821 can be pushed and the article Pc can be stored in the mounting table portion 821.
  • a gate 824 may be provided on the mounting table portion 821.
  • the gate 824 remains closed until the sheet 9 moves to the first boxing section 82, and opens when the sheet 9 moves to the first boxing section 82. As a result, it is possible to prevent the article Pc pushed forward from falling.
  • the pushing device 822 can also move along the locus Tj22.
  • the article Pc mounted on the mounting table portion 821 and / or the article Pc stored on the mounting table portion 821 is bent and the sheet 9 transported by the box transport shuttle 76. It is pushed into the bottom plate portion 91, in other words, it is accommodated (see FIG. 37).
  • the number of articles Pc to be accommodated (for example, 10 sets of 4 lumps) is accommodated in the bottom plate portion 91 of the sheet 9.
  • the second boxing portion 83 has a mounting base portion 831 corresponding to the mounting base portion 821, and a pushing device 832 corresponding to the pushing device 822.
  • the push-in device 832 has a push-in plate 823 and a corresponding push-in plate 833. It also has a gate 834 corresponding to the gate 824. Also in the second boxing portion 83, the transported article Pc can be accommodated in the bottom plate portion 91 of the sheet 9 in the same manner as in the first boxing portion 82.
  • the control unit 600 sets the box.
  • the transport shuttle 76 is moved in the box transport direction Tb.
  • the sheet 9 containing the article Pc is sent to the sealing portion 84.
  • FIG. 38 is a schematic view showing a boxing device 841.
  • FIG. 39 is a diagram showing a state in which the bending tool 843 of the box sealing device 841 is in contact with the top plate portion 92.
  • FIG. 40 is a diagram showing a state in which the top plate portion 92 is bent by the box sealing device 841.
  • FIG. 41 is a diagram showing a boxing device 841 and a storage box Bx immediately after the boxing is completed.
  • the sealing portion 84 has a sealing device 841 and a link portion 842.
  • the boxing device 841 has an articulated arm robot 80, and has a configuration in which a bending tool 843 is attached to a working portion 804 of the articulated arm robot 80.
  • the box-sealing device 841 is connected to the control unit 600, and the box-sealing device 841 operates based on an instruction from the control unit 600.
  • the bending tool 843 has an anterior hanging portion 844, a rear hanging portion 845, and a pair of lateral hanging portions 846.
  • the front hanging portion 844 is arranged in front of the bending tool 843 in the transport direction.
  • the rear hanging portion 845 is arranged behind the bending tool 843 in the transport direction.
  • the lower end of the rear hanging portion 845 is tilted so as to extend to the rear side in the transport direction as it goes downward.
  • the pair of lateral hanging portions 846 are arranged in pairs in a direction intersecting the transport direction.
  • the control unit 600 brings the box transport shuttle 76 in front of the sheet 9 in the box transport direction Tb closer to the bottom plate portion 91 of the sheet 9. As a result, the front plate portion 93 is pressed, and the front plate portion 93 is orthogonal to the bottom plate portion 91 (see FIG. 39).
  • the control unit 600 operates the sealing device 841 and presses the bending tool 843 above the article Pc.
  • the lid portion 921 connected to the top plate portion 92 is pressed by the lateral hanging lower portion 846.
  • the fixing portion 922 is bent in contact with the rear hanging portion 845.
  • the lid portion 911 connected to the bottom plate portion 91, the lid portion 931 connected to the front plate portion 93, and the lid portion 941 of the rear plate portion 94 are bent of the lid portion 921 and the fixing portion 922. Bold at the same time or before folding.
  • the stored number of articles Pc is stored in the sealed storage box Bx. Then, the storage box Bx in which the article Pc is housed is sent to the carry-out conveyor Oct arranged in parallel with the box transport loop portion 7, and the storage box Bx is sent to the outside of the transport box packing device 100 by the carry-out conveyor Oct. It is carried out.
  • the present invention is not limited to this content. Further, the embodiments of the present invention can be modified in various ways as long as they do not deviate from the gist of the invention.
  • Transport box packing device 200 Transfer device 300 Transfer device 400 Transfer device 500 Box packing device 600 Control unit 601 Processing circuit 602 Storage circuit 1 Carry-in unit 11 Carry-in conveyor 111 Transfer conveyor unit 112 Conveyor motor 12 Nip roller 121 Roller motor 122 1st Pressing part 13 Pusher 131 1st pushing part 132 2nd pushing part 133 Pusher motor 2 Conveying loop part 201 1st straight part 202 2nd straight part 203 1st curved part 204 2nd curved part 205 Delivery straight part 20 Conveying rail 21 Main Rail 22 Grooved rail 221 Groove 22 Second pressing 23 Flat rail 24 Conveying linear motor mechanism 241 Coil 242 Magnet 243 Linear driver 25 Gap 26 Straw sticking part 27 Defective product exclusion part 271 Exclusion conveyor 30 Main body part 301 Convex part 302 Upper roller Support part 303 Lower roller support part 31 1st transfer shuttle 32 2nd transfer shuttle 33 Upper roller 331 Roller protrusion 34 Lower roller 35 1st transfer support part 350 Support part mounting part 351 Support plate

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Reciprocating Conveyors (AREA)

Abstract

Ce dispositif comprend : un convoyeur de transport (11) destiné à convoyer un article devant être convoyé (Pc) ; un rail de convoyeur (20) installé le long du convoyeur de transport (11) ; et une première navette de convoyeur (31) et une seconde navette de convoyeur (32). La première navette de convoyeur (31) présente une première partie de support de convoyeur (351) qui supporte un coin d'extrémité avant de direction de convoi de la surface inférieure de l'article devant être convoyé (Pc). La seconde navette de convoyeur (32) présente une seconde partie de support de convoyeur (37) qui supporte un coin d'extrémité arrière de direction de convoi de la surface inférieure de l'article devant être convoyé (Pc).
PCT/JP2021/022040 2020-06-22 2021-06-10 Dispositif de transfert WO2021261263A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-107275 2020-06-22
JP2020107275A JP7453860B2 (ja) 2020-06-22 2020-06-22 乗換装置

Publications (1)

Publication Number Publication Date
WO2021261263A1 true WO2021261263A1 (fr) 2021-12-30

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Application Number Title Priority Date Filing Date
PCT/JP2021/022040 WO2021261263A1 (fr) 2020-06-22 2021-06-10 Dispositif de transfert

Country Status (2)

Country Link
JP (1) JP7453860B2 (fr)
WO (1) WO2021261263A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022112210A1 (fr) * 2020-11-24 2022-06-02 Beckhoff Automation Gmbh Système de transport linéaire à transfert d'objet

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015525176A (ja) * 2012-06-19 2015-09-03 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 包装機械のための供給装置
JP2015536888A (ja) * 2012-12-12 2015-12-24 テトラ・ラヴァル・ホールディングス・アンド・ファイナンス・ソシエテ・アノニムＴｅｔｒａ Ｌａｖａｌ Ｈｏｌｄｉｎｇｓ ＆ Ｆｉｎａｎｃｅ Ｓ．Ａ． 物品を配列し誘導するための装置
US20160176659A1 (en) * 2014-12-17 2016-06-23 Uhlmann Pac-Systeme Gmbh & Co. Kg Transport device for conveying products
WO2019111963A1 (fr) * 2017-12-06 2019-06-13 株式会社京都製作所 Transporteur linéaire

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015525176A (ja) * 2012-06-19 2015-09-03 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 包装機械のための供給装置
JP2015536888A (ja) * 2012-12-12 2015-12-24 テトラ・ラヴァル・ホールディングス・アンド・ファイナンス・ソシエテ・アノニムＴｅｔｒａ Ｌａｖａｌ Ｈｏｌｄｉｎｇｓ ＆ Ｆｉｎａｎｃｅ Ｓ．Ａ． 物品を配列し誘導するための装置
US20160176659A1 (en) * 2014-12-17 2016-06-23 Uhlmann Pac-Systeme Gmbh & Co. Kg Transport device for conveying products
WO2019111963A1 (fr) * 2017-12-06 2019-06-13 株式会社京都製作所 Transporteur linéaire

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022112210A1 (fr) * 2020-11-24 2022-06-02 Beckhoff Automation Gmbh Système de transport linéaire à transfert d'objet

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JP2022001527A (ja) 2022-01-06

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